Hydraulic construction machine control method, hydraulic construction machine, device, and storage medium

Abstract

The present application relates to the technical field of engineering machinery, and in particular, to a hydraulic construction machine control method, a hydraulic construction machine, a device, and a storage medium. The method comprises: obtaining the current first hydraulic fluid temperature of a hydraulic fluid in a hydraulic construction machine, wherein the hydraulic construction machine comprises a hydraulic construction mechanism, and the hydraulic construction mechanism comprises a main valve core and a main pump; obtaining a first viscosity corresponding to the first hydraulic fluid temperature, and obtaining a first response duration spent to start the main valve core corresponding to the first hydraulic fluid temperature; determining the maximum opening degree of the main valve core on the basis of the first viscosity, and determining a starting speed of the main valve core on the basis of the first response duration; and obtaining the maximum flow of the main pump matched with the maximum opening degree of the main valve core, and obtaining a flow given speed of the main pump matched with the starting speed of the main valve core.

Description

Hydraulic working machine control method, hydraulic working machine, equipment and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202310767817.0, filed on June 27, 2023, entitled “Hydraulic working machinery control method, hydraulic working machinery, equipment and storage medium”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present application relates to the technical field of engineering machinery, and in particular to a hydraulic working machinery control method, hydraulic working machinery, equipment and storage medium. Background Art

[0004] Hydraulic excavators and other hydraulic work machines are among the most widely used types of construction machinery and play a vital role in economic development. Construction machinery typically operates in complex environments and diverse locations, requiring adaptation to a variety of operating conditions, including low and high altitudes, and low and high temperatures. Due to the high transmission efficiency of hydraulic oil, a large number of construction machinery utilize hydraulic transmission. However, hydraulic oil exhibits significant differences in properties at high and low temperatures. At low temperatures, hydraulic oil viscosity increases, resulting in greater resistance during operation of hydraulic cylinders, main valve spools, and solenoid valve spools. At high temperatures, hydraulic oil is unable to form an oil film, resulting in poor lubrication and increased friction. This significant difference in properties between high and low temperatures can lead to cold start jitter in hydraulic work machines. While hydraulic oils with different temperature ratings are currently available, replacing hydraulic oil is costly, and few customers choose to adjust to the correct temperature for their operating conditions.

[0005] Currently, hydraulic machinery uses traditional positive flow systems to address vibration by adjusting the hydraulic pump flow rate based on the hydraulic oil temperature. However, this solution only limits the main pump flow rate based on assumptions about the hydraulic oil's characteristics. If unconventional hydraulic oil is used, its characteristics may not match the preset parameters, which can still easily cause the hydraulic machinery to experience slow movement and vibration. This leads to low operating efficiency in a wide range of ambient temperatures.

[0006] Summary of the Invention

[0007] The present application provides a hydraulic working machine control method, hydraulic working machine, equipment and storage medium, which are used to solve the defect in the prior art that the hydraulic oil has large differences in characteristics under different ambient temperatures, resulting in low operating efficiency of the hydraulic working machine.

[0008] The present application provides a hydraulic working machinery control method, including: obtaining a current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, wherein the hydraulic working machinery includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport the hydraulic oil; obtaining a first viscosity corresponding to the first hydraulic oil temperature, and obtaining a first response time corresponding to the first hydraulic oil temperature for starting the main valve spool; determining the maximum opening of the main valve spool based on the first viscosity, and determining the opening speed of the main valve spool based on the first response time; obtaining the maximum flow of the main pump that matches the maximum opening of the main valve spool, and obtaining a flow setting speed of the main pump that matches the opening speed of the main valve spool.

[0009] According to a hydraulic working machinery control method provided in the present application, obtaining the first viscosity corresponding to the first hydraulic oil temperature includes: based on the first hydraulic oil temperature, querying a pre-configured viscosity correspondence, and obtaining the first viscosity corresponding to the first hydraulic oil temperature, wherein the viscosity correspondence is a correspondence between the hydraulic oil temperature and the viscosity; obtaining the first response time used to start the main valve spool corresponding to the first hydraulic oil temperature includes: based on the first hydraulic oil temperature, querying a pre-configured response correspondence, and obtaining the first response time corresponding to the first hydraulic oil temperature, wherein the response correspondence is a correspondence between the hydraulic oil temperature and the response time.

[0010] According to a hydraulic working machinery control method provided in the present application, the process of obtaining the viscosity correspondence and the response correspondence is as follows: obtaining the current second hydraulic oil temperature of the hydraulic oil; at the second hydraulic oil temperature, starting the main valve spool and the main pump; detecting the second response time of the main valve spool at the second hydraulic oil temperature; based on the second response time at the second hydraulic oil temperature, obtaining the second viscosity at the second hydraulic oil temperature; based on the second viscosity at the second hydraulic oil temperature, determining the current grade of the hydraulic oil currently used for the hydraulic operation connection and unloading; obtaining the viscosity correspondence and the response correspondence corresponding to the current grade.

[0011] According to a hydraulic working machinery control method provided in the present application, the detection of the second response time of the main valve spool at the second hydraulic oil temperature includes: obtaining the main oil circuit pressure value, wherein the main oil circuit pressure value refers to the pressure value generated by conveying the hydraulic oil through the main oil circuit; when it is determined based on the main oil circuit pressure value that the main valve spool causes the main oil circuit to overflow, obtaining the second response time of the main valve spool at the second hydraulic oil temperature.

[0012] According to a hydraulic working machinery control method provided in the present application, starting the main valve spool and the main pump at the second hydraulic oil temperature includes: obtaining a preset pilot pressure and a preset main pump flow corresponding to the second hydraulic oil temperature; starting the main valve spool with the preset pilot pressure, and starting the main pump with the preset main pump flow.

[0013] According to a hydraulic working machinery control method provided by the present application, before detecting the second response time of the main valve spool at the second hydraulic oil temperature, it also includes: closing the main valve spool and the main pump when it is determined that no overflow has occurred in the main oil circuit based on the main oil circuit pressure value; re-acquiring a new pilot pressure and a preset main pump flow, wherein the new pilot pressure is greater than the preset pilot pressure; restarting the main valve spool with the new pilot pressure, and restarting the main pump with the preset main pump flow.

[0014] According to a hydraulic working machinery control method provided in the present application, the maximum opening of the main valve spool is determined based on the first viscosity, including: calculating the Reynolds number of the hydraulic oil based on the first viscosity, the pipeline information of the main oil circuit and the current flow of the main pump; and obtaining the maximum opening of the main valve spool based on the Reynolds number.

[0015] The present application also provides a hydraulic working machine, which includes a hydraulic working mechanism and a controller. The hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport the hydraulic oil; the controller is used to obtain the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine; obtain the first viscosity corresponding to the first hydraulic oil temperature, and obtain the first response time corresponding to the first hydraulic oil temperature for starting the main valve spool; determine the maximum opening of the main valve spool based on the first viscosity, and determine the opening speed of the main valve spool based on the first response time; obtain the maximum flow of the main pump that matches the maximum opening of the main valve spool, and obtain the flow given speed of the main pump that matches the opening speed of the main valve spool.

[0016] The present application also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the hydraulic working machine control method as described above is implemented.

[0017] The present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for controlling a hydraulic working machine as described above is implemented.

[0018] The hydraulic working machinery control method, hydraulic working machinery, equipment and storage medium provided in the present application obtain the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, wherein the hydraulic working machinery includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport hydraulic oil; obtain the first viscosity corresponding to the first hydraulic oil temperature, and obtain the first response time used to start the main valve spool corresponding to the first hydraulic oil temperature; determine the maximum opening of the main valve spool based on the first viscosity, and determine the opening speed of the main valve spool based on the first response time; obtain the maximum flow of the main pump that matches the maximum opening of the main valve spool, and obtain the flow given speed of the main pump that matches the opening speed of the main valve spool. In the above process, the corresponding first viscosity and first response time are obtained through the first hydraulic oil temperature of the hydraulic oil. Through the first viscosity and the first response time, the viscosity characteristics of the hydraulic oil and the response characteristics of the main valve are introduced into the control process of the hydraulic operating machinery. At the current first hydraulic oil temperature, the maximum opening of the main valve spool, the opening speed of the main valve spool, the maximum flow of the main pump and the flow setting speed of the main pump are accurately adjusted to avoid problems such as cold machine jitter in the hydraulic operating machinery and improve the operating efficiency of the hydraulic operating machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] FIG1 is a flow chart of a hydraulic operation machine control method provided by the present application;

[0021] FIG2 is a schematic diagram of the implementation logic of the hydraulic working machine control method provided by the present application;

[0022] FIG3 is a schematic structural diagram of a hydraulic operating machine provided by the present application;

[0023] FIG4 is a schematic structural diagram of the electronic device provided in this application. DETAILED DESCRIPTION

[0024] To make the objectives, technical solutions, and advantages of this application more clear, the technical solutions of this application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of this application.

[0025] Further analysis of the relevant technologies shows that for any hydraulic working machine, the hydraulic oil of the hydraulic working machine is in different working conditions in various working environments, but due to cost and other issues, it is impossible to replace the matching hydraulic oil according to the working conditions. In the related technology, only the flow of the hydraulic pump is adjusted according to the temperature of the hydraulic oil. This method does not take into account the impact of the low temperature of the pilot oil on the performance of the hydraulic system. Secondly, the method of adjusting the flow of the hydraulic pump according to the temperature of the hydraulic oil belongs to open-loop control, and the impact of the characteristics of the hydraulic oil of different grades itself is not considered. After the hydraulic working machine is started, the hydraulic system needs to be preheated for a long time, resulting in energy waste. Based on the above, the present application provides a hydraulic working machine control method, hydraulic working machine, equipment and storage medium. The following describes a hydraulic working machine control method, hydraulic working machine, equipment and storage medium of the present application in conjunction with Figures 1 to 4.

[0026] In one embodiment, as shown in FIG1 , a hydraulic operation machine control method is implemented by the following process steps.

[0027] Step 101 : obtaining a current first hydraulic oil temperature of hydraulic oil in a hydraulic operating machine, wherein the hydraulic operating machine includes a hydraulic operating mechanism, the hydraulic operating mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport hydraulic oil.

[0028] In this embodiment, the hydraulic working machine refers to a working machine that uses hydraulic transmission to complete engineering operations. The hydraulic working machine is equipped with a hydraulic working mechanism, and various execution actions in the engineering operation are completed by the hydraulic working mechanism. For example, the hydraulic working machine includes a hydraulic excavator, and the hydraulic working mechanism equipped with the hydraulic excavator is a boom mechanism. The hydraulic working mechanism includes a main valve spool and a main pump for conveying hydraulic oil to control the hydraulic working mechanism to complete various execution actions. The hydraulic working machine also includes a controller capable of data processing, and the hydraulic working machine control method provided in this application is implemented through the software algorithm in the controller. It should be noted that the controller can be a data processing device configured locally on the hydraulic working machine, such as a vehicle control unit (VCU) of the hydraulic working equipment, or it can be a device independent of the hydraulic working machine but can communicate with components related to the hydraulic working machine, such as an intelligent mobile terminal that can communicate with the hydraulic working machine.

[0029] In this embodiment, when the hydraulic working machine is exposed to different ambient temperatures, the temperature of the hydraulic oil will change accordingly. When controlling the hydraulic working machine, obtaining the current first hydraulic oil temperature can make the control process more closely aligned with the operating conditions of the hydraulic working machine in its current operating environment, thereby improving the control accuracy of the hydraulic working machine. The first hydraulic oil temperature can be detected by a hydraulic oil temperature sensor. After the hydraulic oil temperature sensor detects the first hydraulic oil temperature, it transmits the first hydraulic oil temperature to the controller for processing, thereby implementing the hydraulic working machine control method provided in this application.

[0030] In one embodiment, before obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine, the ambient temperature and the current third hydraulic oil temperature of the hydraulic oil are obtained, and self-test initiation information is generated based on the ambient temperature and the third hydraulic oil temperature. Alternatively, upon receiving human-machine interaction information, self-test initiation information is generated based on the human-machine interaction information. Obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine is specifically as follows: Based on the self-test initiation information, the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine is obtained.

[0031] In this embodiment, if the self-test mode is to be started and the hydraulic working machine control method provided in the above embodiment is implemented, it can be automatically started based on the ambient temperature and the real-time third hydraulic oil temperature, or it can be manually started through human-computer interaction information.

[0032] During automatic startup, the ambient temperature can be collected by the ambient temperature sensor, which transmits the collected ambient temperature to the controller. At the same time, the hydraulic oil temperature sensor collects the current third hydraulic oil temperature of the hydraulic oil and transmits it to the controller. The controller processes the ambient temperature and the third hydraulic oil temperature according to the preset temperature processing rules, generates self-test startup information, and automatically enters the self-test mode based on the self-test startup information, starts to obtain the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, and starts the hydraulic working machinery control method processing flow. Furthermore, the temperature processing rules can be set according to needs and actual conditions. For example, if the ambient temperature is less than the first temperature threshold and the third hydraulic oil temperature is less than the second temperature threshold, the self-test startup information is generated; or, if the ambient temperature is within the preset first temperature range and the third hydraulic oil temperature is within the preset second temperature range, the self-test startup information is generated.

[0033] During manual start-up, the operator can manually enter the self-test mode through the human-machine interaction module (e.g., smart touch screen) on the hydraulic operating machine, that is, when the controller obtains the human-machine interaction information transmitted by the human-machine interaction module, it generates self-test start information.

[0034] The two self-test startup modes provided in this embodiment improve the flexibility and universality of the control process of the hydraulic operating machinery, thereby improving the control effect of the hydraulic operating machinery.

[0035] Step 102 : obtaining a first viscosity corresponding to a first hydraulic oil temperature, and obtaining a first response time for starting a main valve spool corresponding to the first hydraulic oil temperature.

[0036] In this embodiment, the viscosity of the hydraulic oil and the response time of the main valve spool are important indicators of the hydraulic oil's state. For any hydraulic oil used in hydraulic working machinery, there is a close correlation between the viscosity of the hydraulic oil, the response time of the main valve spool, and the hydraulic oil temperature. The first viscosity and first response time obtained based on the first hydraulic oil temperature, combined with the hydraulic oil temperature and the structural characteristics of the hydraulic working machinery itself, are beneficial for improving the operating efficiency of the hydraulic working machinery.

[0037] Step 103 : determining a maximum opening of the main valve core based on the first viscosity, and determining an opening speed of the main valve core based on the first response time.

[0038] Step 104 : obtaining a maximum flow rate of the main pump that matches the maximum opening of the main valve core, and obtaining a given flow rate speed of the main pump that matches the opening speed of the main valve core.

[0039] In this embodiment, after obtaining the first viscosity and first response time, the maximum opening of the main valve spool is determined based on the first viscosity, based on the mechanical characteristics of the hydraulic operating mechanism and the characteristics of the hydraulic oil, to ensure that the hydraulic oil at the first hydraulic oil temperature enables the hydraulic operating mechanism to operate normally. Furthermore, the response time of the main valve spool reflects the response characteristics of the main valve, and the first response time is used to determine the opening speed of the main valve spool. By changing the interference variable used as a reference for the control process of the hydraulic operating mechanism from hydraulic oil temperature to hydraulic oil viscosity, the response characteristics of the main valve are fully reflected through the response time, thereby improving the accuracy of the control process.

[0040] In this embodiment, the response time of the main valve spool can reflect the response characteristics of the main valve. Based on the first response time of the main valve spool at the current first viscosity, the current setting speed of the solenoid valve driving the main valve spool is limited based on preset rules. This determines the opening speed of the main valve spool and prevents oscillation caused by excessive resistance in the pilot system. Simultaneously, to adapt the opening speed of the main valve spool, the current setting speed of the main pump solenoid valve is limited. This determines the flow setting speed of the main pump so that the main pump flow rate is matched to the opening speed of the main valve spool and prevents overflow caused by the main valve spool not opening. Based on the opening speed of the main valve spool and the flow setting speed of the main pump, the control accuracy of the hydraulic working machine can be improved, thereby improving the operating efficiency of the hydraulic working machine. Specifically, the specific process of determining the maximum opening of the main valve spool based on the first viscosity and the specific process of determining the opening speed of the main valve spool based on the first response time can be achieved by pre-configuring relevant preset rules. These preset rules can be pre-set based on relevant technologies or experimental data in the field.

[0041] In one embodiment, the maximum opening of the main valve core is determined based on the first viscosity, specifically as follows: the Reynolds number of the hydraulic oil is calculated based on the first viscosity, the pipeline information of the main oil circuit and the current flow of the main pump; based on the Reynolds number, the maximum opening of the main valve core is obtained.

[0042] In this embodiment, after obtaining the first viscosity of the hydraulic working machine under the current operating environment, the Reynolds number of the hydraulic system of the hydraulic working machine is calculated according to the Reynolds equation, along with information such as the hydraulic piping information (e.g., pipe diameter) used in the main oil circuit of the hydraulic working machine and the current flow rate of the main pump. When the Reynolds number is small, the effect of viscosity on the flow field is greater than inertia, and the flow velocity disturbance in the flow field is attenuated by the viscosity, resulting in stable fluid flow and laminar flow. Conversely, when the Reynolds number is large, the effect of inertia on the flow field is greater than that of viscosity, and the fluid flow is less stable. Small changes in flow velocity are more likely to develop and intensify, forming a chaotic and irregular turbulent flow field.

[0043] In this embodiment, the critical Reynolds number of the hydraulic piping of the hydraulic working machine can be determined in advance through the hydraulic piping material or through laboratory measurements. By comparing the pre-acquired critical Reynolds number with the Reynolds number under the current environment calculated above, it can be determined whether the hydraulic oil in the hydraulic system is in a laminar or turbulent state at this time. To avoid unstable conditions such as turbulence in the hydraulic system piping, the maximum flow rate allowed by the hydraulic system can be calculated based on the Reynolds number according to preset rules, thereby determining the maximum opening of the main valve spool and the maximum flow rate of the main pump. The maximum opening of the main pump solenoid valve and the maximum opening of the main valve spool solenoid valve are then further calculated based on the preset rules. The maximum opening of the main pump solenoid valve and the maximum opening of the main valve spool solenoid valve are used to control the main valve spool and the main pump to perform operations. The preset rules for the above calculation or inference can be pre-set based on relevant technologies or experimental data in the field.

[0044] In one embodiment, obtaining a first viscosity corresponding to a first hydraulic oil temperature is specifically performed as follows: based on the first hydraulic oil temperature, querying a preconfigured viscosity correspondence to obtain the first viscosity corresponding to the first hydraulic oil temperature, where the viscosity correspondence is the correspondence between hydraulic oil temperature and viscosity. Obtaining a first response time for activating the main valve spool corresponding to the first hydraulic oil temperature is specifically performed as follows: based on the first hydraulic oil temperature, querying a preconfigured response correspondence to obtain the first response time corresponding to the first hydraulic oil temperature, where the response correspondence is the correspondence between hydraulic oil temperature and response time.

[0045] In this embodiment, adjustments to the maximum opening of the main valve spool, the opening speed of the main valve spool, the maximum flow rate of the main pump, and the set flow rate of the main pump can be repeatedly implemented through self-test startup information for hydraulic working machinery that has not changed the hydraulic oil. This ensures that the hydraulic working machinery can operate normally at different temperatures (i.e., at different hydraulic oil temperatures). To further improve the control accuracy of the hydraulic working machinery, viscosity and response correspondences are preconfigured. Then, when the hydraulic oil is at different hydraulic oil temperatures, viscosity information and response time information can be quickly obtained through the viscosity and response correspondences, accelerating processing speed and further improving the operating efficiency of the hydraulic working machinery.

[0046] In one embodiment, the process of obtaining the viscosity correspondence and the response correspondence is as follows: obtaining the current second hydraulic oil temperature of the hydraulic oil; starting the main valve spool and the main pump at the second hydraulic oil temperature; detecting the second response time of the main valve spool at the second hydraulic oil temperature; obtaining the second viscosity at the second hydraulic oil temperature based on the second response time at the second hydraulic oil temperature; determining the current grade of the hydraulic oil currently used by the hydraulic working machinery based on the second viscosity at the second hydraulic oil temperature; obtaining the viscosity correspondence and the response correspondence corresponding to the current grade.

[0047] In this embodiment, after the hydraulic working machine is started, the current second hydraulic oil temperature of the hydraulic oil is obtained, and the main valve spool and main pump are started to start the delivery of hydraulic oil, and the second response time of the main valve spool at the second hydraulic oil temperature is detected. After determining the second response time, the second hydraulic oil temperature and the second response time are combined and compared with the response time of the valve spool in the hydraulic oil with known viscosity, hydraulic oil temperature and other parameters experimentally measured under a standard laboratory environment, so as to obtain the actual second viscosity of the hydraulic oil currently used in the hydraulic working mechanism. Combined with the relationship between the second hydraulic oil temperature and the actual second viscosity, the current grade of the hydraulic oil currently used in the hydraulic working machine can be obtained, thereby obtaining the viscosity and response time of the hydraulic oil of the current grade at other temperatures, that is, obtaining the viscosity correspondence and response correspondence corresponding to the hydraulic oil. Among them, for multiple hydraulic oils, the viscosity correspondence and response correspondence corresponding to each type of hydraulic oil are measured in advance under a standard laboratory environment.

[0048] If the hydraulic working machine does not change its hydraulic oil, the above viscosity correspondence and response correspondence can be implemented only once. After determining the viscosity correspondence and response correspondence corresponding to the hydraulic oil in the hydraulic working machine, the first viscosity and first response time can be directly obtained by using the viscosity correspondence and response correspondence at any time after the first hydraulic oil temperature is collected, without requiring the hydraulic working machine to repeatedly perform the relevant operations to measure viscosity. This allows the hydraulic working machine to quickly measure the viscosity characteristics of the hydraulic oil at an appropriate time, thereby determining a reusable viscosity correspondence and response correspondence, thereby avoiding a significant impact on the overall performance of the hydraulic working machine and saving energy. Furthermore, after a single implementation, the hydraulic working machine can use the viscosity correspondence and response correspondence multiple times at different temperatures (i.e., at different hydraulic oil temperatures) to limit the maximum opening of the main valve spool, the opening speed of the main valve spool, the maximum flow rate of the main pump, and the flow rate setpoint of the main pump in real time, enabling the hydraulic working machine to operate normally under various ambient temperatures and improving the operating efficiency and reliability of the hydraulic working machine. If the hydraulic oil in the hydraulic working machine is changed, the above method can still be used to re-determine the viscosity correspondence and response correspondence.

[0049] In one embodiment, the second response time of the main valve spool at the second hydraulic oil temperature is detected as follows: the main oil circuit pressure value is obtained, wherein the main oil circuit pressure value refers to the pressure value generated by the hydraulic oil transported through the main oil circuit; when it is determined based on the main oil circuit pressure value that the main valve spool causes the main oil circuit to overflow, the second response time of the main valve spool at the second hydraulic oil temperature is obtained.

[0050] In this embodiment, after the main valve spool and main pump are activated and hydraulic oil delivery begins, the main oil circuit pressure is used to determine whether the main valve spool has caused the main oil circuit to overflow. Specifically, due to the high viscosity of low-temperature hydraulic oil, the main valve spool cannot respond and open instantly. This inability to open the main valve spool can cause the working device oil circuit to overflow. When the main valve spool gradually opens and the main oil circuit pressure begins to decrease, the main valve spool is considered to have completed its response. Based on this process, the valve spool's response time can be determined.

[0051] In one embodiment, at the second hydraulic oil temperature, the main valve spool and the main pump are started as follows: a preset pilot pressure and a preset main pump flow corresponding to the second hydraulic oil temperature are obtained; the main valve spool is started with the preset pilot pressure, and the main pump is started with the preset main pump flow.

[0052] In this embodiment, after the hydraulic machine is started up and the boom or other working device is initially actuated, a step signal is applied to the main valve spool. This step signal indicates the main valve spool's opening. The main valve spool has a fixed pilot pressure range, within which the pressure can be selected from low to high depending on the hydraulic oil temperature. For example, the minimum selectable pilot pressure for the main valve spool is 16 kilograms (kg). Based on this preset pilot pressure, the controller then sets a matching preset main pump flow rate.

[0053] In one embodiment, before detecting the second response time of the main valve spool at the second hydraulic oil temperature, and determining based on the main oil circuit pressure value that no overflow has occurred in the main oil circuit, the main valve spool and the main pump are closed; a new pilot pressure and a preset main pump flow are reacquired, wherein the new pilot pressure is greater than the preset pilot pressure; the main valve spool is restarted with the new pilot pressure, and the main pump is restarted with the preset main pump flow.

[0054] In this embodiment, if the main oil circuit does not overflow under the preset pilot pressure and preset main pump flow rate corresponding to a given second hydraulic oil temperature, a new pilot pressure is determined based on the pre-set pilot pressure from low to high, and the main valve spool is restarted with the new pilot pressure, and the main pump is restarted at the preset main pump flow rate. The pilot pressure of the main valve spool can be gradually increased and adjusted multiple times until the main oil circuit overflows. Experimental results show that controlling the main oil circuit to overflow can generally be completed with three to four attempts. Because the pilot pressure is set from low to high, the hydraulic oil does not cause abnormal vibrations or other abnormalities at low temperatures. Customers can perform normal operations without waiting for the hydraulic system to warm up, further ensuring the operating efficiency of hydraulic operating machinery.

[0055] In one embodiment, as shown in Figure 2, a hydraulic operating machine includes a hydraulic operating mechanism, which includes a main valve spool and a main pump. The main valve spool and main pump are used to deliver hydraulic oil. The hydraulic operating machine also includes a human-machine interface device, a control module (i.e., a controller), an ambient temperature sensor, a hydraulic oil temperature sensor, a pilot pressure sensor, a main pump pressure sensor, a boom large chamber pressure sensor, and a boom small chamber pressure sensor. The main valve spool's actuator is a main valve spool solenoid valve, and the main pump's actuator is a main pump regulator solenoid valve.

[0056] The detailed implementation logic of the hydraulic working machine control method is as follows.

[0057] When the hydraulic operating mechanism is fully opened for the first time after the hydraulic operating machine is started, the control module gives a step signal to the main valve spool. Since the main valve spool cannot be opened instantly, the main valve spool cannot be opened, causing the main oil circuit of the hydraulic operating mechanism to overflow. When the main valve spool gradually opens, the main oil circuit pressure value decreases, and the second response time is measured.

[0058] The correspondence between response time and viscosity is pre-measured in the laboratory. The measured second response time is then used to look up the second viscosity of the current hydraulic oil. Based on the relationship between viscosity and different hydraulic oil grades at different hydraulic oil temperatures, the grade of the hydraulic oil currently used in the hydraulic working machine is deduced, and the viscosity of this hydraulic oil at other hydraulic oil temperatures is then determined. A single measurement can determine the viscosity and response time of the hydraulic oil currently used in the hydraulic working machine at all hydraulic oil temperatures, thereby obtaining the corresponding viscosity and response relationships for the hydraulic oil.

[0059] When the hydraulic operating machinery is operating in different operating environments, the first hydraulic oil temperature is collected in real time. Based on the above-mentioned pre-acquired viscosity correspondence and response correspondence, the first viscosity and the first response time at the first hydraulic oil temperature can be obtained. The maximum opening of the main valve spool is determined based on the first viscosity, and the opening speed of the main valve spool is determined based on the first response time; then, the maximum flow of the main pump matching the maximum opening of the main valve spool is obtained, and the flow given speed of the main pump matching the opening speed of the main valve spool is obtained, so as to achieve precise control of the hydraulic operating machinery, avoid cold shaking and other phenomena, and improve operating efficiency.

[0060] Furthermore, before obtaining the current first hydraulic oil temperature of the hydraulic operating machine, the machine can automatically enter a self-test mode based on the ambient temperature and the third hydraulic oil temperature, or manually enter the self-test mode based on specific operator input. After entering the self-test mode, the first hydraulic oil temperature is obtained, and a hydraulic oil characteristic analysis is performed to determine the maximum opening of the main valve spool, the maximum flow rate of the main pump, the opening speed of the main valve spool, and the flow rate setting speed of the main pump.

[0061] Based on the maximum opening of the main valve spool, the opening speed of the main valve spool, the maximum flow of the main pump and the flow given speed of the main pump, the control module controls the actuator of the main valve spool (main valve spool solenoid valve) and the actuator of the main pump (main pump regulator solenoid valve) to perform corresponding actions.

[0062] The ambient temperature sensor detects ambient temperature, the hydraulic oil temperature sensor detects hydraulic oil temperature, the pilot pressure sensor detects pilot pressure, the main pump pressure sensor detects main oil circuit pressure, the boom large cavity pressure sensor detects boom large cavity pressure (correlated with main oil circuit pressure during boom movement), and the boom small cavity pressure sensor detects boom small cavity pressure (correlated with main oil circuit pressure during boom movement). If the main oil circuit pressure cannot be measured, the boom large cavity pressure or the boom small cavity pressure can be detected instead of the main oil circuit pressure to achieve precise control of the hydraulic operating machinery.

[0063] The present application provides a control method for a hydraulic working machine, which obtains a current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine, wherein the hydraulic working machine includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport the hydraulic oil; based on the first hydraulic oil temperature, a first viscosity corresponding to the first hydraulic oil temperature is obtained, and a first response time for starting the main valve spool corresponding to the first hydraulic oil temperature is obtained; based on the first viscosity, a maximum opening of the main valve spool is determined, and a maximum flow rate of the main pump is determined; based on the first response time, an opening speed of the main valve spool is determined, and a flow rate setting speed of the main pump is determined. In the above process, the corresponding first viscosity and first response time are obtained based on the first hydraulic oil temperature of the hydraulic oil, and the first viscosity and first response time are used to introduce the viscosity characteristics of the hydraulic oil and the response characteristics of the main valve into the control process of the hydraulic working machine. At the current first hydraulic oil temperature, the maximum opening of the main valve spool, the opening speed of the main valve spool, the maximum flow rate of the main pump, and the flow setting speed of the main pump are precisely adjusted, thereby avoiding problems such as cold machine jitter in the hydraulic working machine and improving the operating efficiency of the hydraulic working machine.

[0064] The hydraulic working machine provided by the present application is described below. The hydraulic working machine described below and the hydraulic working machine control method described above can be referenced to each other. As shown in Figure 3, the hydraulic working machine includes a hydraulic working mechanism and a controller. The hydraulic working mechanism includes a main valve spool and a main pump. The main valve spool and the main pump are used to transport hydraulic oil. The controller is used to obtain the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine; obtain the first viscosity corresponding to the first hydraulic oil temperature, and obtain the first response time for starting the main valve spool corresponding to the first hydraulic oil temperature; determine the maximum opening of the main valve spool based on the first viscosity, and determine the opening speed of the main valve spool based on the first response time; obtain the maximum flow of the main pump that matches the maximum opening of the main valve spool, and obtain the flow setting speed of the main pump that matches the opening speed of the main valve spool.

[0065] In one embodiment, the controller is used to query a pre-configured viscosity correspondence based on the first hydraulic oil temperature to obtain a first viscosity corresponding to the first hydraulic oil temperature, wherein the viscosity correspondence is a correspondence between the hydraulic oil temperature and the viscosity; and to query a pre-configured response correspondence based on the first hydraulic oil temperature to obtain a first response duration corresponding to the first hydraulic oil temperature, wherein the response correspondence is a correspondence between the hydraulic oil temperature and the response duration.

[0066] In one embodiment, the controller is used to obtain the viscosity correspondence and the response correspondence, and the process of obtaining the viscosity correspondence and the response correspondence is as follows: obtain the current second hydraulic oil temperature of the hydraulic oil; at the second hydraulic oil temperature, start the main valve spool and the main pump; detect the second response time of the main valve spool at the second hydraulic oil temperature; based on the second response time at the second hydraulic oil temperature, obtain the second viscosity at the second hydraulic oil temperature; based on the second viscosity at the second hydraulic oil temperature, determine the current grade of the hydraulic oil currently used by the hydraulic working machinery; obtain the viscosity correspondence and the response correspondence corresponding to the current grade.

[0067] In one embodiment, the controller is used to obtain a main oil circuit pressure value, wherein the main oil circuit pressure value refers to a pressure value generated by conveying hydraulic oil through the main oil circuit; when it is determined based on the main oil circuit pressure value that the main valve spool causes the main oil circuit to overflow, a second response time of the main valve spool at a second hydraulic oil temperature is obtained.

[0068] In one embodiment, the controller is configured to obtain a preset pilot pressure and a preset main pump flow corresponding to the second hydraulic oil temperature; start the main valve spool with the preset pilot pressure, and start the main pump with the preset main pump flow.

[0069] In one embodiment, the controller is used to detect the second response time of the main valve spool at the second hydraulic oil temperature, and when it is determined based on the main oil circuit pressure value that no overflow has occurred in the main oil circuit, close the main valve spool and the main pump; re-acquire a new pilot pressure and a preset main pump flow, wherein the new pilot pressure is greater than the preset pilot pressure; and restart the main valve spool with the new pilot pressure and restart the main pump with the preset main pump flow.

[0070] In one embodiment, the controller is configured to calculate the Reynolds number of the hydraulic oil based on the first viscosity, pipeline information of the main oil circuit, and the current flow of the main pump; and obtain the maximum opening of the main valve core based on the Reynolds number.

[0071] Figure 4 illustrates a schematic diagram of the physical structure of an electronic device. As shown in Figure 4, the electronic device may include: a processor (processor) 401, a communication interface (Communications Interface) 402, a memory (memory) 403 and a communication bus 404, wherein the processor 401, the communication interface 402, and the memory 403 communicate with each other through the communication bus 404. The processor 401 can call the logic instructions in the memory 403 to execute the hydraulic working machinery control method, which includes: obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, wherein the hydraulic working machinery includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport hydraulic oil; obtaining the first viscosity corresponding to the first hydraulic oil temperature, and obtaining the first response time used to start the main valve spool corresponding to the first hydraulic oil temperature; determining the maximum opening of the main valve spool based on the first viscosity, and determining the opening speed of the main valve spool based on the first response time; obtaining the maximum flow of the main pump that matches the maximum opening of the main valve spool, and obtaining the flow given speed of the main pump that matches the opening speed of the main valve spool.

[0072] In addition, the logic instructions in the above-mentioned memory 403 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0073] On the other hand, the present application also provides a computer program product, which includes a computer program stored on a non-transitory computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by the computer, the computer can execute the hydraulic working machinery control method provided by the above-mentioned embodiments, the method including: obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, wherein the hydraulic working machinery includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport hydraulic oil; obtaining a first viscosity corresponding to the first hydraulic oil temperature, and obtaining a first response time for starting the main valve spool corresponding to the first hydraulic oil temperature; determining the maximum opening of the main valve spool based on the first viscosity, and determining the opening speed of the main valve spool based on the first response time; obtaining the maximum flow of the main pump matching the maximum opening of the main valve spool, and obtaining the flow given speed of the main pump matching the opening speed of the main valve spool.

[0074] On the other hand, the present application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the hydraulic working machinery control method provided in the above-mentioned embodiments, the method comprising: obtaining a current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machinery, wherein the hydraulic working machinery includes a hydraulic working mechanism, the hydraulic working mechanism includes a main valve spool and a main pump, and the main valve spool and the main pump are used to transport hydraulic oil; obtaining a first viscosity corresponding to the first hydraulic oil temperature, and obtaining a first response time for starting the main valve spool corresponding to the first hydraulic oil temperature; determining the maximum opening of the main valve spool based on the first viscosity, and determining the opening speed of the main valve spool based on the first response time; obtaining the maximum flow of the main pump matching the maximum opening of the main valve spool, and obtaining a given flow speed of the main pump matching the opening speed of the main valve spool.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0076] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, or of course, by hardware. Based on this understanding, the essence of the above technical solution or the part that contributes to the existing technology can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for controlling a hydraulic working machine, comprising: Acquiring a current first hydraulic oil temperature of hydraulic oil in a hydraulic operating machine, wherein the hydraulic operating machine comprises a hydraulic operating mechanism, the hydraulic operating mechanism comprises a main valve spool and a main pump, the main valve spool and the main pump being used to transport the hydraulic oil; Acquire a first viscosity corresponding to the first hydraulic oil temperature, and acquire a first response time corresponding to the first hydraulic oil temperature for starting the spool of the main valve; determining a maximum opening of the main valve core based on the first viscosity, and determining an opening speed of the main valve core based on the first response time; The maximum flow rate of the main pump matching the maximum opening of the main valve core is obtained, and the flow rate setting speed of the main pump matching the opening speed of the main valve core is obtained.

2. The hydraulic working machine control method according to claim 1, wherein: The obtaining of a first viscosity corresponding to the first hydraulic oil temperature includes: Based on the first hydraulic oil temperature, query a pre-configured viscosity correspondence to obtain the first viscosity corresponding to the first hydraulic oil temperature, wherein the viscosity correspondence is a correspondence between hydraulic oil temperature and viscosity; The obtaining of a first response time corresponding to the first hydraulic oil temperature and used to start the main valve core includes: Based on the first hydraulic oil temperature, a pre-configured response correspondence relationship is queried to obtain the first response duration corresponding to the first hydraulic oil temperature, wherein the response correspondence relationship is a correspondence relationship between the hydraulic oil temperature and the response duration.

3. The hydraulic working machine control method according to claim 2, wherein: The process of obtaining the viscosity correspondence and the response correspondence is as follows: Acquire a current second hydraulic oil temperature of the hydraulic oil; At the second hydraulic oil temperature, starting the main valve spool and the main pump; detecting a second response time of the main valve core at the second hydraulic oil temperature; acquiring a second viscosity at the second hydraulic oil temperature based on the second response time at the second hydraulic oil temperature; The hydraulic working machine is determined based on the second viscosity at the second hydraulic oil temperature. The current grade of the hydraulic oil currently used; The viscosity correspondence and the response correspondence corresponding to the current label are obtained.

4. The hydraulic working machine control method according to claim 3, wherein: The detecting a second response time of the main valve core at the second hydraulic oil temperature includes: Obtaining a main oil circuit pressure value, wherein the main oil circuit pressure value refers to a pressure value generated by transporting the hydraulic oil through the main oil circuit; When it is determined that the main valve core causes overflow of the main oil circuit based on the main oil circuit pressure value, the second response time of the main valve core at the second hydraulic oil temperature is obtained.

5. The hydraulic working machine control method according to claim 3, wherein: The step of starting the main valve core and the main pump at the second hydraulic oil temperature includes: Obtaining a preset pilot pressure and a preset main pump flow corresponding to the second hydraulic oil temperature; The main valve spool is started with the preset pilot pressure, and the main pump is started with the preset main pump flow rate.

6. The hydraulic working machine control method according to claim 5, wherein: Before detecting the second response time of the main valve core at the second hydraulic oil temperature, the method further includes: When it is determined based on the main oil circuit pressure value that the main oil circuit does not overflow, closing the main valve core and the main pump; Re-acquiring a new pilot pressure and a preset main pump flow, wherein the new pilot pressure is greater than the preset pilot pressure; The main valve spool is restarted with the new pilot pressure, and the main pump is restarted with the preset main pump flow rate.

7. The hydraulic working machine control method according to claim 1, wherein: The determining the maximum opening of the main valve core based on the first viscosity comprises: Calculating the Reynolds number of the hydraulic oil based on the first viscosity, the pipeline information of the main oil circuit, and the current flow rate of the main pump; Based on the Reynolds number, the maximum opening of the main valve core is obtained.

8. The hydraulic working machine control method according to claim 1, wherein: Before obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine, the method further includes: Generate self-test start information based on the ambient temperature and the third current hydraulic oil temperature of the hydraulic oil; or, Based on the received human-computer interaction information, self-check start information is generated.

9. The hydraulic working machine control method according to claim 1, wherein: The step of obtaining the current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine includes: Based on the self-check start information, the first hydraulic oil temperature is obtained, The self-test start information is generated by the controller processing the ambient temperature and the third hydraulic oil temperature according to a preset temperature processing rule.

10. A hydraulic working machine, comprising a hydraulic working mechanism and a controller, wherein: The hydraulic operating mechanism comprises a main valve core and a main pump, and the main valve core and the main pump are used to transport the hydraulic oil; The controller is used to obtain a current first hydraulic oil temperature of the hydraulic oil in the hydraulic working machine; obtain a first viscosity corresponding to the first hydraulic oil temperature; and obtain a first response time for starting the main valve core corresponding to the first hydraulic oil temperature; Determine the maximum opening of the main valve core based on the first viscosity, and determine the opening speed of the main valve core based on the first response time; obtain the maximum flow of the main pump that matches the maximum opening of the main valve core, and obtain the flow given speed of the main pump that matches the opening speed of the main valve core.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the hydraulic working machine control method according to any one of claims 1 to 9 is implemented.

12. A non-transitory computer-readable storage medium having a computer program stored thereon, wherein: When the computer program is executed by a processor, the hydraulic working machine control method according to any one of claims 1 to 9 is implemented.

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