Hydraulic control method, hydraulic control system, control device therefor, and working machine

Abstract

The present application belongs to the technical field of hydraulic pressure, and particularly relates to a hydraulic control method, a hydraulic control system, a control device thereof and a working machine. The hydraulic control system comprises four main valve assemblies, each of which comprises a plurality of main valve modules connected in series. Each main valve module comprises a first main oil path, a second main oil path, a main reversing valve and a pre-valve combination valve arranged in front of an oil inlet of the main reversing valve. The pre-valve combination valve is used to control the flow direction of the pressure oil of the first main oil path and / or the second main oil path to the oil inlet of the main reversing valve. The hydraulic pump group comprises eight pumps, which are used to supply oil to the main oil paths one by one. The plurality of actuators are each hydraulically connected to at least one working oil port of the main reversing valve. The hydraulic control system can be used to individually regulate the hydraulic oil flowing into each actuator according to the demand flow of each actuator when multiple actuators are in action.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic technology, and specifically relates to a hydraulic control system, a hydraulic control method, a control device for the hydraulic control system, a working machine, and a storage medium. Background Technology

[0002] As mining operations accelerate towards large-scale and intensive development, 400-ton class mining hydraulic excavators have become a hallmark core piece of equipment in large-scale mining operations. The technical performance of their hydraulic systems directly determines the efficiency and stability of mineral resource extraction, thereby affecting the overall economic benefits and market competitiveness of mining enterprises. To meet the complex operational demands of this class of excavators—high flow rate, high pressure output, and complex multi-actuator compound actions—existing technologies generally employ a multi-pump, multi-valve composite control system architecture, such as an eight-pump, four-valve hydraulic system. This system achieves synchronous operation of multiple mechanisms through multi-pump coordinated power supply and multi-valve combined control, essentially matching the power requirements of large-scale mines.

[0003] However, the traditional eight-pump four-valve hydraulic system is essentially a valve-controlled throttling control system, which has the following defects: the eight-pump four-valve hydraulic system needs to adjust the flow rate through the throttling distribution of the main control valve, which generates a lot of throttling losses. When multiple actuators are combined and the load difference is large, the high-pressure oil overflow and throttling pressure reduction will aggravate energy loss, cause the oil temperature to rise sharply, increase fuel consumption and accelerate the aging of components. Summary of the Invention

[0004] The purpose of this invention is to provide a hydraulic control system, a hydraulic control method, a control device for the hydraulic control system, a working machine, and a storage medium, so as to achieve precise control of the hydraulic oil flow rate input to each actuator when multiple actuators of an eight-pump four-valve hydraulic system are in operation.

[0005] To achieve the above objectives, the present invention provides a hydraulic control system, which includes: The first main valve assembly, the second main valve assembly, the third main valve assembly, and the fourth main valve assembly each include multiple main valve modules connected in series. Each main valve module includes a first main oil passage, a second main oil passage, a main directional valve, and a pre-valve confluence valve located before the oil inlet of the main directional valve. The pre-valve confluence valve is used to control the flow of pressurized oil from the first main oil passage and / or the second main oil passage to the oil inlet of the main directional valve. The first main oil passage and the second main oil passage in adjacent main valve modules are connected in a docking manner. The hydraulic pump unit includes a first pump and a second pump that supply oil to the two main oil circuits in the first main valve assembly in a one-to-one correspondence, a third pump and a fourth pump that supply oil to the two main oil circuits in the second main valve assembly in a one-to-one correspondence, a fifth pump and a sixth pump that supply oil to the two main oil circuits in the third main valve assembly in a one-to-one correspondence, and a seventh pump and an eighth pump that supply oil to the two main oil circuits in the fourth main valve assembly in a one-to-one correspondence. Multiple actuators, each actuator being hydraulically connected to the working port of the corresponding main directional valve in the first main valve assembly, and / or the working port of the corresponding main directional valve in the second main valve assembly, and / or the working port of the corresponding main directional valve in the third main valve assembly, and / or the working port of the corresponding main directional valve in the fourth main valve assembly.

[0006] In some embodiments, the first main valve assembly, the second main valve assembly, the third main valve assembly, and the fourth main valve assembly each include: a first main valve module, a second main valve module, a third main valve module, and a rotary drive module; The actuator includes: The first oil cylinder is hydraulically connected to the working oil port of the main directional valve of multiple first main valve modules; The second cylinder is hydraulically connected to the working port of the main directional valve of multiple second main valve modules; The third cylinder is hydraulically connected to the working port of the main directional valve of multiple third main valve modules; The first motor is hydraulically connected to the working port of the main directional valve of one of the rotary drive modules; The left and right travel motors are hydraulically connected to the working ports of the main directional valves of the other two rotary drive modules.

[0007] A second aspect of the present invention provides a hydraulic control method for the aforementioned hydraulic control system. The hydraulic control method includes: upon receiving a multi-actuator action signal, determining that the multiple actuators included in the multi-actuator action signal are multiple first target actuators; and controlling the valve-front confluence valves in each main valve module such that the multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

[0008] In some embodiments, the pre-valve confluence valve includes two pre-valve cartridge valves respectively disposed on the first main oil circuit and the second main oil circuit. Controlling the pre-valve confluence valves in each main valve module so that multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group in a one-to-one correspondence includes: matching at least one main oil circuit for each first target actuator; determining the target main valve module corresponding to each first target actuator according to the main oil circuit corresponding to each first target actuator; and controlling one or two pre-valve cartridge valves in the target main valve module to open so that each main oil circuit flows into one of the first target actuators.

[0009] In some embodiments, the hydraulic control method further includes: determining the target flow rate corresponding to each first target actuator; controlling the output flow rate of each pump corresponding to each first target actuator according to the target flow rate; or adjusting the opening degree of each confluence valve before each valve corresponding to each first target actuator according to the target flow rate.

[0010] In some implementations, controlling the pre-valve confluence valves in each main valve module so that multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group also includes: determining the target flow demand corresponding to each first target actuator; determining that the number of first target actuators is less than the number of pumps in the hydraulic pump group, and determining that pumps not connected to the corresponding first target actuators are redundant pumps; controlling each pre-valve confluence valve so that the redundant pumps supply oil to the first target actuator with the largest target flow demand, and that each pump other than the redundant pumps supplies oil to multiple first target actuators in a one-to-one correspondence.

[0011] In some embodiments, the hydraulic control method further includes: determining the target demand flow rate corresponding to each first target actuator; determining that the largest target demand flow rate is greater than a preset flow rate threshold; identifying the first target actuator with the largest target demand flow rate as the second target actuator; and controlling the valve pre-valve confluence valve in the main valve module connected to the second target actuator, so that the first main oil circuit and the second main oil circuit connected to the valve pre-valve confluence valve jointly supply oil to the second target actuator.

[0012] A third aspect of the present invention provides a control device for a hydraulic control system, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and to implement the aforementioned hydraulic control method when executing the instructions.

[0013] A fourth aspect of the present invention provides a working machine, the working machine comprising: the above-described hydraulic control system; and a control device for the above-described hydraulic control system.

[0014] A fifth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform the hydraulic control method described above.

[0015] In the above technical solution, the hydraulic control system includes four main valve assemblies, a hydraulic pump group, and multiple actuators. The hydraulic pump group includes eight pumps. Each main valve assembly includes multiple main valve modules connected in series. Each main valve module includes a first main oil circuit, a second main oil circuit, a main directional valve, and a pre-valve confluence valve located before the inlet of the main directional valve. The eight pumps supply oil to each of the eight main oil circuits. Each actuator can connect to the working ports of multiple main directional valves. By controlling the pre-valve confluence valve, each actuator performing an action can have at least one pump supplying oil to it. Using this hydraulic control system ensures that the hydraulic oil flowing into each actuator does not affect each other, and that oil is supplied according to the flow rate required by each actuator, reducing energy loss of hydraulic oil during valve control and improving the efficiency of the hydraulic control system.

[0016] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. Those skilled in the art can obtain other drawings based on the structures shown in these drawings without any inventive effort. In the drawings: Figure 1 A hydraulic schematic diagram of a hydraulic control system provided according to an embodiment of the present invention; Figure 2 A flowchart of a hydraulic control method provided according to an embodiment of the present invention.

[0018] Explanation of reference numerals in the attached figures 1 First Pump 2. Left-hand walking module 3. Left travel motor 4. Boom Module 5. Bucket Module 6 Bucket Module 7 Second pump 8 First main valve assembly 9 Third Pump 10 Right-hand drive module 11 Right Travel Motor 15 Fourth Pump 16 Second main valve assembly 17. Fifth Pump 18-turn module 19 Rotary Motor 23 Sixth Pump 24 Third main valve assembly 25 Seventh Pump 31 Eighth Pump 32 Fourth main valve assembly 33 Pre-valve cartridge valve 34 Electro-proportional flow valve 35 Main directional valve 36 boom cylinder 37. Stick cylinder 38 Bucket Hydraulic Cylinder Detailed Implementation The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0019] The hydraulic control system, hydraulic control method, control device of the hydraulic control system, working machinery, and storage medium according to the present invention are described below with reference to the accompanying drawings. Figure 1 The diagram shown is a hydraulic schematic diagram of a hydraulic control system provided according to an embodiment of the present invention. The hydraulic control system includes: The first main valve assembly 8, the second main valve assembly 16, and the third main valve assembly 24 each include multiple main valve modules connected in series. Each main valve module includes a first main oil passage, a second main oil passage, a main directional valve 35, and a pre-valve confluence valve located before the oil inlet of the main directional valve 35. The pre-valve confluence valve controls the flow of pressurized oil from the first main oil passage and / or the second main oil passage to the oil inlet of the main directional valve 35. The first and second main oil passages in adjacent main valve modules are connected in a docking manner. The hydraulic pump assembly includes a first pump 1 and a second pump 7 that supply oil to the two main oil circuits in the first main valve assembly 8, a third pump 9 and a fourth pump 15 that supply oil to the two main oil circuits in the second main valve assembly 16, a fifth pump 17 and a sixth pump 23 that supply oil to the two main oil circuits in the third main valve assembly 24, and a seventh pump 25 and an eighth pump 31 that supply oil to the two main oil circuits in the fourth main valve assembly 32. Multiple actuators, each of which is hydraulically connected to the working port of the corresponding main directional valve 35 in the first main valve assembly 8, and / or the working port of the corresponding main directional valve 35 in the second main valve assembly 16, and / or the working port of the corresponding main directional valve 35 in the third main valve assembly 24, and / or the working port of the corresponding main directional valve 35 in the fourth main valve assembly 32.

[0020] In existing multi-pump, multi-valve hydraulic systems for machinery, hydraulic oil output from multiple hydraulic pumps is transmitted to a main valve assembly. The relief valves and flow valves within the main valve assembly regulate the flow of hydraulic oil to each actuator. This structure is a typical valve-controlled hydraulic regulation structure, which leads to significant throttling and relief losses in the main valve assembly, resulting in increased hydraulic oil temperature. This not only affects the service life of hydraulic components but also further increases energy consumption.

[0021] The hydraulic control system provided in this embodiment of the invention includes four main valve assemblies, eight pumps, and multiple actuators. Each of the four main valve assemblies includes multiple main valve modules connected in series. Each main valve module includes a first main oil circuit, a second main oil circuit, a main directional valve 35, and a pre-valve confluence valve located before the inlet of the main directional valve 35. The pre-valve confluence valve controls the flow of pressurized oil from the first and / or second main oil circuits to the inlet of the main directional valve 35, thereby driving each actuator to perform actions. After receiving control signals from multiple actuators, the controller can control each pre-valve confluence valve to ensure that each actuator is connected to at least one pump. This means that the hydraulic oil output from each pump can only flow into one actuator, preventing multiple actuators from operating simultaneously and avoiding additional energy loss due to differences in hydraulic oil pressure between actuators. This reduces the overall energy consumption of the hydraulic control system and improves its operational performance. Furthermore, because there is no need for overflow regulation via post-valve confluence, the hydraulic control system provided in this embodiment of the invention can suppress the temperature rise of the hydraulic oil during operation, extending the service life of hydraulic components.

[0022] For example, when the controller receives a signal that four actuators are operating simultaneously, the controller controls the confluence valve in front of the valve so that the four pumps supply oil to the four actuators one by one. The actuators do not affect each other. The controller can control the opening degree of the corresponding pump and valve according to the flow demand of the actuators, thus achieving targeted control.

[0023] Specifically, each of the four main valve assemblies includes a first main valve module, a second main valve module, a third main valve module, and a rotary drive module. Multiple actuators are respectively a first hydraulic cylinder, a second hydraulic cylinder, a third hydraulic cylinder, a rotary motor 19, a left travel motor 3, and a right travel motor 11. The first hydraulic cylinder is hydraulically connected to the working port of the main directional valve 35 of the four first main valve modules; the second hydraulic cylinder is hydraulically connected to the working port of the main directional valve 35 of the four second main valve modules; the third hydraulic cylinder is hydraulically connected to the working port of the main directional valve 35 of the four third main valve modules; the rotary motor 19 is hydraulically connected to the working port of the main directional valve 35 of two of the rotary drive modules; and the left travel motor 3 and the right travel motor 11 are hydraulically connected to the working ports of the main directional valve 35 of the other two rotary drive modules, respectively. The controller can control the confluence valves before each valve to ensure that the hydraulic oil output from each pump flows into each actuator. By controlling the upstream confluence valve, at least eight independent main oil circuits can be obtained, so that during the operation of multiple actuators, each actuator can be supplied with oil by at least one pump.

[0024] In a specific embodiment, such as Figure 1 As shown, the first main valve module is the boom module 4, the second main valve module is the stick module 5, the third main valve module is the bucket module 6, the first hydraulic cylinder is the boom cylinder 36, the second hydraulic cylinder is the stick cylinder 37, the third hydraulic cylinder is the bucket cylinder 38, and the four rotary drive modules are two slewing modules 18, one left travel module 2, and one right travel module 10.

[0025] This invention also provides a hydraulic control method, such as... Figure 2 The diagram shown is a flowchart of a hydraulic control method provided according to an embodiment of the present invention. The hydraulic control method includes: S101, upon receiving a multi-actuator action signal, determine that the multiple actuators included in the multi-actuator action signal are multiple first target actuators; S102 controls the valve inlet confluence valve in each main valve module so that multiple first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

[0026] The controller can control the aforementioned hydraulic control system. First, upon receiving multiple actuator action signals, the controller can identify the corresponding actuators as multiple first target actuators, all of which are actuators that need to perform actions simultaneously. Subsequently, the controller can control the pre-valve confluence valves in each main valve module, connecting each of the multiple first target actuators to at least one pump for individual oil supply. That is, each actuator is connected to at least one pump for independent oil supply, and the hydraulic oil flowing into each actuator is delivered by different pumps. The actions of each actuator do not affect each other, improving the operability and execution efficiency of the hydraulic control system.

[0027] For example, when the operating machinery requires the boom cylinder 36, stick cylinder 37 and bucket cylinder 38 to operate simultaneously, a pump can be provided for each of the boom cylinder 36, stick cylinder 37 and bucket cylinder 38. The three pumps supply oil to the boom cylinder 36, stick cylinder 37 and bucket cylinder 38 respectively, and the flow rate of hydraulic oil flowing into each actuator can be adjusted according to the flow rate required by the three actuators.

[0028] Specifically, the pre-valve confluence valve includes pre-valve cartridge valves 33 respectively installed on the first main oil circuit and the second main oil circuit. The controller controls the pre-valve cartridge valves 33 to control the opening and closing of the oil inlet between the main oil circuit and the main directional valve 35. The controller can control the pre-valve cartridge valves 33 in multiple main valve modules to allow hydraulic oil from the first and second main oil circuits to flow into the corresponding inlet of the main directional valve 35. After receiving multiple actuator action signals, the controller can identify multiple first target actuators. Based on the needs of the first target actuators, it can match at least one main oil circuit for each first target actuator. Based on the main oil circuit corresponding to each first target actuator, it can identify the target main valve module corresponding to each first target actuator and control one or two pre-valve cartridge valves 33 in the target main valve module to open, allowing hydraulic oil from the main oil circuit to flow into the main directional valve 35 through the pre-valve cartridge valves 33 and further into the target actuator.

[0029] Specifically, the pre-valve confluence valve includes a pre-valve cartridge valve 33 and an electro-proportional flow valve 34. The pre-valve cartridge valve 33 typically has a high flow rate; if an electro-controlled flow valve were used for control, a large current would be required. In this embodiment of the invention, the controller is electrically connected to the electro-proportional flow valve 34. The electro-proportional flow valve 34 controls the opening and closing of the pre-valve cartridge valve 33. Control of the pre-valve cartridge valve 33 can be achieved with a small current electrical signal, reducing the power consumption of the controller and extending the service life of the controller and hydraulic components.

[0030] After determining the target flow rate requirement for each first target actuator, the controller controls the output flow rate of each pump according to the target flow rate requirement to match the pump output flow rate with the target flow rate requirement. This prevents insufficient hydraulic oil flow or excessive hydraulic oil pressure loss. Specifically, when the target flow rate requirement for the boom cylinder 37 is 150 L / min, the output flow rate of the pump supplying oil to the boom cylinder 37 can be 170 L / min, slightly greater than the required flow rate of the boom cylinder 37. This allows for a margin of hydraulic oil overflow at the main valve, preventing insufficient hydraulic oil flow from causing slow movement speed and discrepancies between the actual and expected movement speed.

[0031] After determining the target flow rate requirement for each first target actuator, the controller can adjust the opening of the upstream confluence valve according to the target flow rate requirement, thereby precisely adjusting the hydraulic oil flow rate input to each actuator and achieving a precise match between the actuator's movement speed and the expected flow rate. Specifically, after determining the target flow rate requirement for the first target actuator, the controller can control the opening of the electro-proportional flow valve 34. By controlling the opening of the electro-proportional flow valve 34, the controller indirectly controls the opening of the upstream cartridge valve 33 to adjust the flow rate flowing into each first target actuator. Using the above control method, the hydraulic oil flow rate flowing into each actuator can be precisely controlled, improving the operability of the hydraulic control system, reducing energy loss, and preventing adverse consequences such as excessive hydraulic oil overflow causing increased hydraulic oil temperature.

[0032] When operating machinery performs actions, it is generally not possible for all eight actuators to operate simultaneously. Heavy-duty operating machinery has large actuators with higher flow requirements, often necessitating multiple pumps to supply oil to actuators with high flow demands. Therefore, after determining that the number of the first target actuators is less than the number of pumps in the hydraulic pump set, the controller can designate pumps not connected to the first target actuators as redundant pumps and control the pre-valve confluence valves to ensure that the redundant pumps supply oil to the first target actuator with the highest flow demand. Additionally, each pump other than the redundant pumps supplies oil to multiple first target actuators in a one-to-one correspondence, thereby ensuring that the movement speed of the first target actuator matches the expected speed. For example, when the boom cylinder 37, boom cylinder 36, and bucket cylinder 38 are operating simultaneously, the boom cylinder 36 has a high flow demand. The controller can control the pre-valve confluence valves to allow any one or more of the redundant pumps to supply oil to the boom cylinder 36.

[0033] When the maximum target flow demand exceeds a preset flow threshold, the first target actuator can be designated as the second target actuator. The target flow demand corresponding to the second target actuator exceeds the upper limit of a single pump's output flow, making it difficult for a single pump to meet the actuator's flow requirements. The controller can control the pre-valve confluence valve in the main valve module connected to the second target actuator, causing the first and second main oil circuits connected to the pre-valve confluence valve to jointly supply oil to the second target actuator. This increases the upper limit of the second target actuator's movement speed.

[0034] In another specific embodiment, the controller can determine the rated output flow of each pump. When the target demand flow of any one or more first target actuators is greater than the rated output flow of the pump, it can be identified as a third target actuator. The controller can control the inlet confluence valve to enable one or more redundant pumps to supply oil to the third target actuator so that the hydraulic oil flowing into the third target actuator can match the target demand flow.

[0035] In one embodiment, a control device for a hydraulic control system is provided, the control device comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the hydraulic control method described above.

[0036] In one embodiment, a working machine is provided, which includes: the above-described hydraulic control system and the control device of the hydraulic control system.

[0037] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored for causing a machine to perform the hydraulic control method described above.

[0038] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0039] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0040] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0041] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A hydraulic control system, characterized in that, The hydraulic control system includes: The first main valve assembly (8), the second main valve assembly (16), the third main valve assembly (24), and the fourth main valve assembly (32) each include multiple main valve modules connected in series. Each main valve module includes a first main oil passage, a second main oil passage, a main directional valve (35), and a pre-valve confluence valve located before the oil inlet of the main directional valve (35). The pre-valve confluence valve is used to control the pressure oil flow of the first main oil passage and / or the second main oil passage to the oil inlet of the main directional valve (35). The first main oil passage and the second main oil passage in adjacent main valve modules are connected in series. The hydraulic pump assembly includes a first pump (1) and a second pump (7) that supply oil to the two main oil circuits in the first main valve assembly (8) in a one-to-one correspondence; a third pump (9) and a fourth pump (15) that supply oil to the two main oil circuits in the second main valve assembly (16) in a one-to-one correspondence; a fifth pump (17) and a sixth pump (23) that supply oil to the two main oil circuits in the third main valve assembly (24) in a one-to-one correspondence; and a seventh pump (25) and an eighth pump (31) that supply oil to the two main oil circuits in the fourth main valve assembly (32) in a one-to-one correspondence. Multiple actuators, each of which is hydraulically connected to the working port of the corresponding main directional valve (35) in the first main valve assembly (8), and / or the working port of the corresponding main directional valve (35) in the second main valve assembly (16), and / or the working port of the corresponding main directional valve (35) in the third main valve assembly (24), and / or the working port of the corresponding main directional valve (35) in the fourth main valve assembly (32).

2. The hydraulic control system according to claim 1, characterized in that, The first main valve assembly, the second main valve assembly (16), the third main valve assembly (24) and the fourth main valve assembly (32) each include: a first main valve module, a second main valve module, a third main valve module and a rotary drive module; The actuator includes: The first oil cylinder is hydraulically connected to the working oil port of the main directional valve (35) of the multiple first main valve modules; The second oil cylinder is hydraulically connected to the working oil port of the main directional valve (35) of the multiple second main valve modules; The third oil cylinder is hydraulically connected to the working oil port of the main directional valve (35) of the multiple third main valve modules; The first motor is hydraulically connected to the working port of the main directional valve (35) of two of the rotary drive modules; The left travel motor (3) and the right travel motor (11) are hydraulically connected to the working ports of the main directional valves (35) of the other two rotary drive modules, respectively.

3. A hydraulic control method, characterized in that, For a hydraulic control system according to claim 1 or 2, the hydraulic control method includes: Upon receiving a multi-actuator action signal, the multiple actuators included in the multi-actuator action signal are determined to be multiple first target actuators; Control the inlet confluence valve in each of the main valve modules so that the plurality of first target actuators are supplied with oil by at least one pump in the hydraulic pump group.

4. The hydraulic control method according to claim 3, characterized in that, The valve pre-flow confluence valve includes two pre-flow cartridge valves (33) respectively disposed on the first main oil circuit and the second main oil circuit. The control of the pre-flow confluence valves in each of the main valve modules, so that the plurality of first target actuators are supplied with oil by at least one pump in the hydraulic pump group, includes: Match at least one main oil circuit to each of the first target actuators; Based on the main oil circuit corresponding to each first target actuator, determine the target main valve module corresponding to each first target actuator; One or two valve pre-valve insert valves (33) in the target main valve module are opened so that each main oil line flows into one of the first target actuators.

5. The hydraulic control method according to claim 3, characterized in that, The hydraulic control method further includes: Determine the target demand flow corresponding to each of the first target actuators; Based on the respective target flow requirements, control the output flow of each pump corresponding to each of the first target actuators; or... Based on the target flow requirements, adjust the opening of each of the valve inlet valves corresponding to each of the first target actuators.

6. The hydraulic control method according to claim 3, characterized in that, The control of the inlet confluence valve in each of the main valve modules, so that the plurality of first target actuators are supplied with oil by at least one pump in the hydraulic pump group, also includes: Determine the target demand flow corresponding to each of the first target actuators; It is determined that the number of the first target actuators is less than the number of pumps in the hydraulic pump group, and the pumps not connected to the first target actuators are determined to be redundant pumps; Control each of the aforementioned valves to make the redundant pump supply oil to the first target actuator with the largest target flow demand, and each pump other than the redundant pump supplies oil to multiple first target actuators in a one-to-one correspondence.

7. The hydraulic control method according to claim 3, characterized in that, The hydraulic control method further includes: Determine the target demand flow corresponding to each of the first target actuators; The maximum target demand flow is determined to be greater than a preset flow threshold; The first target actuator with the largest target demand flow is identified as the second target actuator; Control the valve before the main valve module connected to the second target actuator, so that the first main oil circuit and the second main oil circuit connected to the valve before the main valve jointly supply oil to the second target actuator.

8. A control device for a hydraulic control system, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the hydraulic control method according to any one of claims 3 to 7.

9. A type of operating machinery, characterized in that, The operating machinery includes: The hydraulic control system according to claim 1 or 2; The control device for the hydraulic control system according to claim 8.

10. A machine-readable storage medium storing instructions thereon, characterized in that, This instruction is used to cause the machine to perform the hydraulic control method according to any one of claims 3 to 7.

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