CN115030245B

CN115030245B - Positive flow excavator, control method, control device and controller thereof

Info

Publication number: CN115030245B
Application number: CN202210564306.4A
Authority: CN
Inventors: 高见厂; 袁野; 吴元峰; 魏学平; 岳宝根; 狄祥
Original assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Current assignee: Zoomlion Earth Moving Machinery Co Ltd; Shaanxi Zoomlion West Earthmoving Machinery Co Ltd
Priority date: 2022-05-23
Filing date: 2022-05-23
Publication date: 2024-02-06
Anticipated expiration: 2042-05-23
Also published as: CN115030245A

Abstract

The embodiment of the invention provides a positive flow excavator, a control method, a control device and a controller thereof, wherein the control method for the positive flow excavator comprises the following steps: determining that a bucket rod adduction solenoid calibration request signal is received, wherein the bucket rod adduction solenoid calibration request signal is triggered in response to a request to calibrate the bucket rod adduction solenoid; initializing the value of a preset calibration parameter of the bucket rod adduction electromagnetic valve to be a preset value of the preset calibration parameter, wherein the preset calibration parameter is the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve; executing a calibration process to obtain a calibration value of the preset calibration parameter; and updating the preset value to the calibration value. The embodiment of the invention can effectively avoid the phenomena of nodding or bagging and the like caused by the consistency difference of elements such as the electromagnetic valve and the like, ensures the operability of the leveling action, improves the comfort level of operators and further improves the leveling operation efficiency.

Description

Positive flow excavator, control method, control device and controller thereof

Technical Field

The invention relates to the technical field of excavator control, in particular to a positive flow excavator, a control method, a control device and a controller thereof.

Background

The positive flow excavator realizes the land leveling action by lifting the movable arm and recycling the bucket rod, because the movable arm is lifted to overcome the gravity to work, the pressure of a large cavity of the movable arm is higher than that of a small cavity of the bucket rod, hydraulic oil flows to the bucket rod oil cylinder with smaller load more easily, and the bucket rod adopts an electric control valve core to ensure the operability of land leveling operation, and realizes the coordination of the movable arm and the bucket rod by adjusting the output current of an electromagnetic valve for the internal retraction of the bucket rod by a controller. Due to the difference of consistency of electromagnetic valve elements, parameter values set in a sample debugging stage cannot be adapted to batch models, so that phenomena such as nodding or packing and the like are easily caused during flat ground operation, comfort level of operators is reduced, and flat ground operation efficiency is further affected. Therefore, there is an urgent need to propose a technical solution to solve the above technical problems in the prior art.

Disclosure of Invention

The embodiment of the invention aims to provide a positive flow excavator, a control method, a control device and a controller thereof, and solves the technical problems that in the prior art, due to the consistency difference of electromagnetic valve elements, nodding or packing and the like are generated when the positive flow excavator works on the flat ground, so that the comfort level of operators is reduced, and the working efficiency of the flat ground is further affected.

In order to achieve the above object, a first aspect of the present invention provides a control method for a positive flow excavator including a boom, an arm, and an arm adduction solenoid valve, the control method comprising: determining that a bucket rod adduction solenoid calibration request signal is received, wherein the bucket rod adduction solenoid calibration request signal is triggered in response to a request to calibrate the bucket rod adduction solenoid; initializing the value of a preset calibration parameter of the bucket rod adduction electromagnetic valve to be a preset value of the preset calibration parameter, wherein the preset calibration parameter is the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve; executing a calibration process to obtain a calibration value of a preset calibration parameter; and updating the preset value to a calibration value.

In an embodiment of the present invention, the calibration process includes: determining whether an arm adduction solenoid calibration end signal is received, wherein the arm adduction solenoid calibration end signal is triggered in response to a confirmation of an end of the calibration process; under the condition that the receiving of the calibration end signal of the bucket rod adduction electromagnetic valve is determined, taking the current value of the preset calibration parameter as a calibration value, and ending the calibration process; under the condition that the calibration end signal of the bucket rod adduction electromagnetic valve is not received, determining that the current state of the positive flow excavator is a land leveling operation state; determining the control current of the bucket rod adduction electromagnetic valve according to preset calibration parameters; outputting control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action; determining whether an increase stick adduction speed signal or a decrease stick adduction speed signal is received, wherein the increase stick adduction speed signal is triggered in response to a determination that a current level motion is present a wrapping phenomenon, and the decrease stick adduction speed signal is triggered in response to a determination that a current level motion is present a nodding phenomenon; under the condition that the receiving of the signal for increasing the adduction speed of the bucket rod is determined, updating the value of the preset calibration parameter to be the sum of the current value and the preset adjustment step length, and re-executing the calibration process; and under the condition that the receiving of the signal for reducing the adduction speed of the bucket rod is determined, updating the value of the preset calibration parameter to be the difference between the current value and the preset fine adjustment value, and re-executing the calibration process.

In the embodiment of the invention, the preset value is 10bar-15bar.

In an embodiment of the present invention, the positive flow excavator further includes a turntable and a bucket, and determining that the current state of the positive flow excavator is a land leveling operation state includes: acquiring an arm adduction pilot pressure, a boom lifting pilot pressure, an arm external swing pilot pressure, a boom lowering pilot pressure, a bucket adduction pilot pressure and a bucket external swing pilot pressure; and determining that the current state is a level ground operation state under the conditions that the arm adduction pilot pressure and the boom lifting pilot pressure are both greater than or equal to a preset opening pressure and that the arm outswing pilot pressure, the swing pilot pressure, the boom lowering pilot pressure, the bucket adduction pilot pressure and the bucket outswing pilot pressure are both less than the preset opening pressure.

In the embodiment of the invention, the preset opening pressure has a value ranging from 5bar to 7bar.

In the embodiment of the invention, determining the control current of the bucket rod adduction electromagnetic valve according to the preset calibration parameter comprises the following steps: determining the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve according to the lifting pilot pressure of the movable arm and preset calibration parameters; determining a set value of the secondary pressure of the bucket rod adduction electromagnetic valve according to the bucket rod adduction pilot pressure and the maximum secondary pressure; and determining a control current according to the set value of the secondary pressure.

In the embodiment of the invention, the positive flow excavator further comprises a first movable arm valve core, and the relation between the maximum secondary pressure and the movable arm lifting pilot pressure and the preset calibration parameter is as follows:

the set_arminopilot_maχ2 is a preset calibration parameter, P1 is the minimum secondary pressure required when the first movable arm valve element is opened, and P2 is the minimum secondary pressure required when the first movable arm valve element is fully opened.

In the embodiment of the invention, the upper limit value of the maximum secondary pressure value range is 20bar-25bar, the minimum secondary pressure value range required by the first movable arm valve core when being opened is 5bar-7bar, and the minimum secondary pressure value range required by the first movable arm valve core when being fully opened is 20bar-25bar.

In the embodiment of the invention, the relation between the set value of the secondary pressure and the pilot pressure and the maximum secondary pressure of the bucket rod adduction satisfies the following conditions:

the set_arminpilot is a Set value of the secondary pressure, the pilot_armin is an arm adduction Pilot pressure, the set_arminpilot_max is a maximum secondary pressure, and the pilot_max is an upper limit value of a value range of the arm adduction Pilot pressure.

In the embodiment of the invention, the upper limit value of the value range of the pilot pressure received by the bucket rod is 35bar-40bar.

In the embodiment of the invention, the positive flow excavator further comprises a first bucket rod valve core, and the relation between the control current and the set value of the secondary pressure is as follows:

the set_current is a control Current, set_arminopilot is a Set value of the secondary pressure, pilot_min is a minimum secondary pressure required when the first arm valve element is opened, pilot_max is a minimum secondary pressure required when the first arm valve element is fully opened, current_max is an upper limit value of a value range of the control Current, and current_min is a lower limit value of the value range of the control Current.

In the embodiment of the invention, the value range of the minimum secondary pressure required when the first bucket rod valve core is opened is 5-7 bar, the value range of the minimum secondary pressure required when the first bucket rod valve core is fully opened is 20-25 bar, the value range of the upper limit value of the value range of the control current is 600-800 mA, and the value range of the lower limit value of the value range of the control current is 200-400 mA.

In the embodiment of the invention, the value range of the preset adjustment step length is 0.1bar-1bar.

In the embodiment of the invention, the positive flow excavator further comprises an engine, an accelerator knob and an operating handle, and the control method further comprises the following steps: under the condition that the receiving of the calibrating request signal of the bucket rod adduction electromagnetic valve is confirmed, the operator is prompted to start the engine, rotate the accelerator knob to a set gear and operate the operating handle to perform the land leveling operation.

In the embodiment of the invention, the control method further comprises the following steps: determining that a calibrating request signal of the bucket rod adduction electromagnetic valve is not received; determining that the current state of the positive flow excavator is a land leveling operation state; taking the preset value as the value of the preset calibration parameter; determining the control current of the bucket rod adduction electromagnetic valve according to preset calibration parameters; and outputting control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action.

A second aspect of the present invention provides a controller configured to perform the control method for a positive flow excavator of the foregoing embodiments.

A third aspect of the present invention provides a control device for a positive-flow excavator, the positive-flow excavator including a boom, an arm adduction solenoid valve, a turntable, a bucket, a first boom spool, a first arm spool, an engine, a throttle knob, and an operation handle, the control device comprising: an arm adduction pilot pressure sensor configured to detect an arm adduction pilot pressure; a boom out-swing pilot pressure sensor configured to detect a boom out-swing pilot pressure; a rotary pilot pressure sensor configured to detect a rotary pilot pressure; a boom-up pilot pressure sensor configured to detect a boom-up pilot pressure; a boom-down pilot pressure sensor configured to detect a boom-down pilot pressure; a bucket adduction pilot pressure sensor configured to detect bucket adduction pilot pressure; a bucket outer swing pilot pressure sensor configured to detect bucket outer swing pilot pressure; the man-machine interaction equipment is configured to provide a bucket rod adduction electromagnetic valve calibration request signal, a bucket rod adduction electromagnetic valve calibration end signal, an bucket rod adduction speed signal, a bucket rod adduction speed signal reduction and/or a prompt message display; and the controller of the foregoing embodiment.

A fourth aspect of the present invention provides a positive flow excavator, comprising: a movable arm; a bucket rod; an electromagnetic valve is retracted in the bucket rod; a turntable; a bucket; a first boom spool; a first stick spool; an engine; an accelerator knob; an operation handle; and the control device for the positive flow excavator of the foregoing embodiment.

According to the embodiment of the invention, the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve is calibrated by executing the calibration process under the condition that the bucket rod adduction electromagnetic valve calibration request signal is received, the calibration value is obtained, and after the calibration is completed, the bucket rod adduction electromagnetic valve is controlled according to the calibration value during the land leveling operation, so that the phenomena of nodding or bag lifting and the like caused by the consistency difference of elements such as the electromagnetic valve and the like can be effectively avoided, the operability of the land leveling operation is ensured, the comfort of operators is improved, and the land leveling operation efficiency is further improved.

Additional features and advantages of embodiments of the invention will be set forth in the detailed description which follows.

Drawings

The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain, without limitation, the embodiments of the invention. In the drawings:

FIG. 1 is a flow diagram of a control method 100 for a positive flow excavator in accordance with an embodiment of the present invention;

fig. 2 is a schematic structural view of a control device 200 for a positive flow excavator according to an embodiment of the present invention; and

FIG. 3 is a schematic diagram of a positive flow excavator 300 according to an embodiment of the present invention;

FIG. 4 is a schematic diagram of an exemplary control system of the present invention for enhancing the grading performance of a positive flow excavator;

FIG. 5 is a timing diagram of an exemplary land leveling action determination signal according to the present invention;

FIG. 6 is a schematic diagram of the maximum secondary pressure allowed by the rod adduction solenoid 501 versus boom lift pilot pressure of an example of the present invention;

fig. 7 is a schematic diagram showing a relationship between a set value of the secondary pressure of the arm adduction solenoid 501 and the arm adduction pilot pressure, which is an example of the present invention;

fig. 8 is a schematic diagram showing the relationship between the control Current set_current output from the controller 402 to the arm adduction solenoid 501 and the Set value set_arminpilot of the secondary pressure of the arm adduction solenoid 501, according to an example of the present invention;

fig. 9 is a schematic diagram of a calibration flow of the lower limit value set_arminpilot_max2 of the range of values of the secondary pressure allowed by the arm adduction solenoid valve 501 according to the example of the present invention; and

FIG. 10 is a schematic illustration of an exemplary stick retraction solenoid calibration interface of the present invention.

Detailed Description

The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.

In the present embodiment, if directional indications (such as up, down, left, right, front, and rear … …) are included, the directional indications are merely used to explain the relative positional relationship, movement, and the like between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the protection scope of the present application.

As shown in fig. 1, in an embodiment of the present invention, there is provided a control method 100 for a positive-flow excavator including a boom, an arm, and an arm-adduction solenoid valve, the control method 100 for a positive-flow excavator including the steps of:

step S110: and determining that a bucket rod adduction solenoid calibration request signal is received, wherein the bucket rod adduction solenoid calibration request signal is triggered in response to a request to calibrate the bucket rod adduction solenoid.

Step S120: initializing the value of a preset calibration parameter of the bucket rod adduction electromagnetic valve to be a preset value of the preset calibration parameter, wherein the preset calibration parameter is the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve.

Step S130: and executing a calibration process to obtain a calibration value of the preset calibration parameter. And

Step S140: and updating the preset value to be a calibration value.

Specifically, the calibration process includes, for example, the steps of:

(a) Determining whether an arm adduction solenoid calibration end signal is received, wherein the arm adduction solenoid calibration end signal is triggered in response to a confirmation of an end of the calibration process.

(b) And under the condition that the receiving of the calibration end signal of the bucket rod adduction electromagnetic valve is determined, taking the current value of the preset calibration parameter as a calibration value, and ending the calibration process.

(c) And under the condition that the calibration end signal of the bucket rod adduction electromagnetic valve is not received, determining that the current state of the positive flow excavator is a land leveling operation state.

(d) And determining the control current of the bucket rod adduction electromagnetic valve according to the preset calibration parameters.

(e) And outputting control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action.

(f) Determining whether an increase stick adduction speed signal or a decrease stick adduction speed signal is received, wherein the increase stick adduction speed signal is triggered in response to a determination that a current stick motion is present, and the decrease stick adduction speed signal is triggered in response to a determination that a current stick motion is present.

(g) Under the condition that the receiving of the signal for increasing the adduction speed of the bucket rod is determined, updating the value of the preset calibration parameter to be the sum of the current value and the preset adjustment step length, and re-executing the calibration process. And

(h) And under the condition that the receiving speed signal for reducing the adduction speed of the bucket rod is determined, updating the value of the preset calibration parameter to be the difference between the current value and the preset fine adjustment value, and re-executing the calibration process.

Specifically, the preset value may be, for example, 10bar to 15bar, and may be, for example, 12bar.

Further, the positive flow excavator also includes, for example, a turntable and a bucket. Accordingly, determining that the current state of the positive flow excavator is a level ground active state, i.e. step (c) comprises, for example, the steps of:

(c1) The arm adduction pilot pressure, the boom lifting pilot pressure, the arm outswing pilot pressure, the swing pilot pressure, the boom lowering pilot pressure, the bucket adduction pilot pressure, and the bucket outswing pilot pressure are obtained.

And

(c2) And determining that the current state is a level ground operation state under the condition that the bucket adduction pilot pressure and the movable arm lifting pilot pressure are both greater than or equal to a preset opening pressure and the bucket outswing pilot pressure, the rotary pilot pressure, the movable arm descending pilot pressure, the bucket adduction pilot pressure and the bucket outswing pilot pressure are both smaller than the preset opening pressure.

Specifically, the preset opening pressure may have a value ranging from 5bar to 7bar, for example, and may have a value of 5bar, for example.

Specifically, the control current of the bucket rod adduction electromagnetic valve is determined according to the preset calibration parameters, namely, the step (d) comprises the following steps:

(d1) And determining the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve according to the lifting pilot pressure of the movable arm and the preset calibration parameter.

(d2) And determining a set value of the secondary pressure of the bucket rod adduction electromagnetic valve according to the bucket rod adduction pilot pressure and the maximum secondary pressure. And

(d3) The control current is determined according to the set point of the secondary pressure.

Further, the positive flow excavator, for example, further includes a first boom spool. Accordingly, in step (d 1), the relationship between the maximum secondary pressure and the boom-up pilot pressure and the preset calibration parameter, for example, satisfies:

Specifically, the upper limit value of the maximum secondary pressure is, for example, 20bar to 25bar, and specifically, for example, 25bar. The minimum secondary pressure required for opening the first boom spool may range, for example, from 5bar to 7bar, and may be, for example, 5bar. The minimum secondary pressure required when the first boom spool is fully open may range, for example, from 20bar to 25bar, and may specifically, for example, take the value of 25bar.

Specifically, in step (d 2), the relationship between the set value of the secondary pressure and the arm adduction pilot pressure and the maximum secondary pressure satisfies, for example:

Specifically, the upper limit value of the pilot pressure is set to a value ranging from 35bar to 40bar, for example, and a value of 40bar is preferable, for example.

Further, the positive flow excavator further includes, for example, a first arm spool. Accordingly, in step (d 3), the relationship between the control current and the set value of the secondary pressure satisfies, for example:

Specifically, the minimum secondary pressure required when the first arm spool is opened may be, for example, in the range of 5bar to 7bar, and may be, for example, 5bar. The minimum secondary pressure required when the first arm spool is fully open may range, for example, from 20bar to 25bar, and may specifically take, for example, 25bar. The upper limit value of the control current is, for example, 600mA to 800mA, and specifically, for example, 800mA. The lower limit value of the control current is, for example, 200mA to 400mA, and specifically, for example, 250mA.

Specifically, the preset adjustment step length may have a value ranging from 0.1bar to 1bar, for example, and may have a value of 0.1bar, for example.

Further, the control method 100 for a positive flow excavator further includes, for example, the steps of:

step S150: and determining that the calibrating request signal of the bucket rod adduction electromagnetic valve is not received.

Step S160: the current state of the positive flow excavator is determined to be a land leveling operation state.

Step S170: and taking the preset value as the value of the preset calibration parameter.

Step S180: and determining the control current of the bucket rod adduction electromagnetic valve according to the preset calibration parameters. And

Step S190: and outputting control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action.

Further, the positive flow excavator also includes, for example, an engine, a throttle knob, and an operating handle. Accordingly, the control method 100 for a positive flow excavator further includes, for example, the steps of:

under the condition that the receiving of the calibrating request signal of the bucket rod adduction electromagnetic valve is confirmed, the operator is prompted to start the engine, rotate the accelerator knob to a set gear and operate the operating handle to perform the land leveling operation.

In an embodiment of the present invention, a controller is provided, for example, configured to perform the control method 100 for a positive flow excavator according to any of the previous embodiments.

The specific functions and details of the control method 100 for the positive flow excavator may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.

Specifically, the controller may be, for example, a control device such as an industrial personal computer, an embedded system, a microprocessor, and a programmable logic device.

More specifically, the controller is, for example, a vehicle control unit of a positive flow excavator.

As shown in fig. 2, in an embodiment of the present invention, there is provided a control apparatus 200 for a positive-flow excavator including a boom, an arm-adduction solenoid valve, a turntable, a bucket, a first boom spool, a first arm spool, an engine, a throttle knob, and an operation handle, the control apparatus 200 for a positive-flow excavator including: controller 210, arm adduction pilot pressure sensor 220, arm outswing pilot pressure sensor 230, swing pilot pressure sensor 240, boom lifting pilot pressure sensor 250, boom lowering pilot pressure sensor 260, bucket adduction pilot pressure sensor 270, bucket outswing pilot pressure sensor 280, and human-machine interaction device 290.

Wherein the controller 210 is, for example, a controller according to any of the previous embodiments. The specific functions and details of the controller 210 may be referred to the related descriptions of the foregoing embodiments, and will not be repeated herein.

The arm adduction pilot pressure sensor 220 is configured to detect an arm adduction pilot pressure, for example.

The arm swing-out pilot pressure sensor 230 is configured to detect, for example, an arm swing-out pilot pressure.

The swing pilot pressure sensor 240 is configured to detect a swing pilot pressure, for example.

Boom-up pilot pressure sensor 250 is configured to detect a boom-up pilot pressure, for example.

The boom-down pilot pressure sensor 260 is configured to detect a boom-down pilot pressure, for example.

Bucket adduction pilot pressure sensor 270 is configured to detect bucket adduction pilot pressure, for example.

The bucket swing pilot pressure sensor 280 is configured to detect a bucket swing pilot pressure, for example.

Human-machine interaction device 290 is configured to provide, for example, a stick adduction solenoid calibration request signal, a stick adduction solenoid calibration end signal, an increase stick adduction speed signal, a decrease stick adduction speed signal, and/or display a prompt. The human machine interaction device 290 is, for example, a display, and may specifically be, for example, a meter of a positive flow excavator.

In an embodiment of the present invention, there is provided a positive flow excavator 300 including: control device 310, boom 320, stick 330, stick retract solenoid valve 340, turret 350, bucket 360, first boom spool 370, first stick spool 380, engine 391, throttle knob 392, and operating handle 393.

The control device 310 is, for example, the control device 200 for a positive flow excavator according to any one of the foregoing embodiments. The specific function and details of the control device 310 may refer to the related descriptions of the foregoing embodiments, and are not repeated herein.

The control method 100 for a positive flow excavator, the control device 200 for a positive flow excavator, and the positive flow excavator 300 according to the embodiment of the present invention will be described in detail with reference to a specific example, and the specific contents of the examples of the present invention are as follows:

as shown in fig. 4, a control system for improving the leveling performance of a positive flow excavator provided by the example of the present invention mainly includes a left handle 101, a right handle 102, a pilot pressure sensor group 200 (wherein 200-1 is a boom-in pilot pressure sensor, 200-2 is a boom-out pilot pressure sensor, 200-3 is a swing pilot pressure sensor, 200-4 is a boom-up pilot pressure sensor, 200-5 is a boom-down pilot pressure sensor, 200-6 is a bucket-in pilot pressure sensor, 200-7 is a bucket-out pilot pressure sensor), a main pump 1 pressure sensor 201, a main pump 2 pressure sensor 202, a main pump 1 solenoid valve 203, a main pump 2 solenoid valve 204, a main pump 1 205, a main pump 2 206, a boom cylinder 301, a boom cylinder 302, a boom 2 spool 303, a boom 1 spool 304, a boom 1 spool 305, a boom 2 spool 306, a display 401, a controller 402, an engine controller 403, an engine 404, an accelerator knob 405, a boom-in solenoid valve 501, and a boom-out solenoid valve 502.

In order to avoid the deterioration of the leveling performance caused by the consistency difference of the electromagnetic valve elements, the calibration function of the lower limit value of the maximum secondary pressure value range allowed by the bucket rod adduction electromagnetic valve 501 is added on the basis that the bucket rod 2 valve core adopts an electric control valve core, namely, the control system structure of the bucket rod 2 valve core is controlled by the controller 402 through the bucket rod adduction electromagnetic valve 501 and the bucket rod outswing electromagnetic valve 502, after calibration, the lower limit value of the maximum secondary pressure value range allowed by the bucket rod adduction electromagnetic valve 501 is set as the calibration value when the leveling operation is performed, and then the control current of the bucket rod adduction electromagnetic valve 501 is determined according to the calibration value when the leveling operation is performed, so that better operability can be ensured.

1. Determination of control current output by level ground action controller 402 to arm adduction solenoid 501

1. Determining the current state as a level ground action

When the boom-up Pilot pressure pilot_boom up is 5bar or more and the other Pilot pressures pilot_other are 5bar or more, and the Pilot pressures detected by the remaining Pilot pressure sensors of the Pilot pressure sensor group 200, that is, the boom-out Pilot pressure, the swing Pilot pressure, the boom-down Pilot pressure, the bucket-in Pilot pressure, and the bucket-out Pilot pressure are all less than 5bar, the controller 402 determines the current state as the level-operation state.

2. Determining the maximum secondary pressure allowed by the arm adduction solenoid valve 501 according to the lower limit value and the upper limit value of the value range of the maximum secondary pressure allowed to be output by the arm adduction solenoid valve 501 and the boom lifting pilot pressure

The user operates the boom-up and arm-up by operating the handle to perform a land leveling operation, and the controller 402 collects the boom-up Pilot pressure pilot_boost and calculates the maximum secondary pressure set_arminpilot_max allowed by the arm-up solenoid 501 according to the relationship between the maximum secondary pressure allowed by the arm-up solenoid 501 and the boom-up Pilot pressure pilot_boost shown in fig. 5.

Specifically, as shown in fig. 6, which is a schematic diagram of the relationship between the maximum secondary pressure allowed by the arm adduction solenoid valve 501 and the boom lifting Pilot pressure, when the boom lifting Pilot pressure pilot_boom up is 25bar or more, the maximum secondary pressure set_arminpilot_max allowed to be output by the arm adduction solenoid valve 501 is directly Set to set_arminpilot_max2. When the actual measurement value of the boom-up Pilot pressure pilot_boom up is equal to or less than 25bar and equal to or greater than 5bar, the maximum secondary pressure set_arminpilot_max that the arm adduction solenoid valve 501 is allowed to output is inversely proportional to the boom-up Pilot pressure pilot_boom up. When the boom lifting Pilot pressure pilot_boom is less than 5bar, the value is set_arminpilot_max1. The specific formula is as follows:

The set_arminopilot_max1 is an upper limit value of a value range of the maximum secondary pressure that the arm adduction solenoid valve 501 is allowed to output, and the value range of the set_arminopilot_max1 is, for example, 20bar to 25bar, and a specific value is, for example, 25bar. Set_arminopilot_max2 is the lower limit value of the range of maximum secondary pressure that the arm adduction solenoid valve 501 is allowed to output, and the value range of set_arminopilot_max2 is usually between 10bar and 15bar, and specifically, for example, the value is 12bar.

After the lower limit value set_arminpilot_max2 of the range of the secondary pressure allowed by the arm adduction solenoid valve 501 is calibrated, the lower limit value set_arminpilot_max2 of the range of the maximum secondary pressure allowed by the arm adduction solenoid valve 501 is calibrated.

In the case where the lower limit value set_arminpilot_max2 of the range of values of the secondary pressure allowed by the arm adduction solenoid valve 501 is not calibrated, the lower limit value set_arminpilot_max2 of the range of values of the maximum secondary pressure allowed by the arm adduction solenoid valve 501 is Set to its preset value, specifically, for example, the set_arminpilot_max2 value Set at the time of shipment, such as 12bar.

In the process of calibrating the lower limit value set_arminpilot_max2 of the range of the secondary pressure allowed by the arm adduction solenoid valve 501, the lower limit value set_arminpilot_max2 of the range of the maximum secondary pressure allowed by the arm adduction solenoid valve 501 is Set as the value Set in the process of calibrating.

3. Determining a set value of the secondary pressure of the arm adduction solenoid valve 501 according to the arm adduction pilot pressure and the maximum secondary pressure allowed by the arm adduction solenoid valve 501

As shown in fig. 7, which is a schematic diagram showing the relationship between the Set value of the secondary pressure of the arm adduction solenoid valve 501 and the arm adduction Pilot pressure, the controller 402 collects the arm adduction Pilot pressure pilot_armin by the arm adduction Pilot pressure sensor, and when the arm adduction Pilot pressure pilot_armin is smaller than pilot_max, sets the Set value set_arminpilot of the secondary pressure of the arm adduction solenoid valve 501 equal to the arm adduction Pilot pressure pilot_armin. When the arm adduction Pilot pressure pilot_armin is equal to or greater than pilot_max, the Set value set_arminpilot of the secondary pressure of the arm adduction solenoid valve 501 is Set to the maximum secondary pressure set_arminpilot_max allowed by the arm adduction solenoid valve 501. The pilot_max is the upper limit value of the value range of the Pilot pressure received by the arm, and the value range of the pilot_max is 35-40bar, for example 40bar. The specific formula is as follows:

4. determining the control current of the arm adduction solenoid valve 501 based on the set value of the secondary pressure of the arm adduction solenoid valve 501

As shown in fig. 8, the relationship between the control Current set_current output by the controller 402 to the arm adduction solenoid 501 and the Set value set_arminpilot of the secondary pressure of the arm adduction solenoid 501 is shown as follows:

The pilot_min is the minimum secondary pressure required when the valve element 303 of the bucket rod 2 is opened, and the pilot_max is the minimum secondary pressure required when the valve element 303 of the bucket rod 2 is fully opened. The value range of pilot_min is 5bar-7bar, the specific value is for example 5bar, the value range of pilot_max is 20bar-25bar, the specific value is for example 25bar.

2. Determination of a calibration value of the lower limit value set_arminpilot_max2 of the range of values of the secondary pressure allowed by the arm adduction solenoid valve 501

Fig. 9 is a schematic diagram showing a calibration flow of the lower limit value set_arminpilot_max2 of the range of values of the secondary pressure allowed by the arm adduction solenoid valve 501 according to the example of the present invention. The calibration process of the lower limit value set_arminpilot_max2 of the range of the secondary pressure allowed by the arm adduction solenoid valve 501 in the example of the invention mainly comprises the following steps:

(1) The operator manipulates display 401 into the stick retract solenoid calibration interface as shown in FIG. 10.

(2) The user is prompted to start the engine and the throttle knob 405 is rotated to a designated gear which is typically set at the user's usual 7-8 range to ensure the effect.

(3) The operator simultaneously operates the boom lifting and the arm retraction to perform the land leveling operation, and when the first calibration is performed, the lower limit value set_arminpilot_max2 of the range of values of the secondary pressure allowed by the arm retraction solenoid valve 501 is directly Set to a preset value, specifically, for example, the set_arminpilot_max2 value Set at the time of shipping, for example, 12bar.

(4) The operator judges the land leveling performance

When the operator simultaneously operates the boom-up and boom-up to perform the land leveling operation, the operator performs the step of determining the control current to be output to the boom-up solenoid valve 501 according to the control current output to the boom-up solenoid valve 501 by the controller 402 during the land leveling operation, thereby controlling the boom-up operation and the boom-up operation to cooperate to perform the land leveling operation. Reference is specifically made to the foregoing descriptions, and no further description is given here. The control of boom lifting may be found in the prior art and will not be described in detail.

(1) If the movable arm is lifted too fast, namely, the current land leveling machine generates a packing lifting phenomenon that the tooth point track of the land leveling work bucket is higher than that of the target work surface, the operator presses F1 to increase the bucket rod adduction speed, when the preset adjustment Step length Offset_Step is 0.1bar, the F1 key is pressed once, and the set_ArmInPilot_Max2 is increased by 0.1bar on the basis of the current value, namely, the set_ArmInPilot_Max2=set_ArmInPilot_Max2+Offset_Step.

(2) If the movable arm is lifted too slowly, namely, the phenomenon that the tooth point track of the land leveling work bucket is lower than that of the target work surface occurs when the current land leveling work is performed, the operator presses F2 to reduce the retraction speed of the bucket rod, when the preset adjustment Step length Offset_Step is 0.1bar, the F2 key is pressed once, and the set_ArmInPilot_Max2 is reduced by 0.1bar on the basis of the current value of the F2 key, namely, the set_ArmInPilot_Max=set_ArmInPilot_Max-Offset_Step.

(3) If the land leveling performance meets the land leveling operability requirement, that is, the lifting speed of the movable arm is coordinated with the adduction speed of the bucket rod, no nodding and packing phenomenon occurs, the operator presses F3 to finish the whole calibration process, and the controller 402 records the current value of set_ArmInPilot_Max2 as the calibrated value, that is, the calibrated value, for later use.

For the two cases (1) and (2), after the set_arminlilot_max2 is adjusted, the next calibration is performed by using the adjusted set_arminlilot_max2, the operator operates the movable arm lifting and the bucket adduction to perform the land leveling action and judge the land leveling performance, if the movable arm lifting is still too fast, the bucket adduction speed is increased by continuously pressing F1, and if the movable arm lifting is still too slow, the bucket adduction speed is reduced by continuously pressing F2 until the land leveling performance meets the land leveling operability requirement.

When the calibration is completed, the set_arminpilot_max2 can be taken as a calibration value during the land leveling operation, and then the calibration is executed according to the step of determining the control current output to the arm adduction solenoid valve 501 by the controller 402 during the land leveling operation, so as to determine the control current output to the arm adduction solenoid valve 501, thereby controlling the cooperation of the arm adduction operation and the movable arm lifting operation to realize the land leveling operation, avoiding the phenomena of nodding, bagging and the like caused by the consistency difference of elements such as the solenoid valve and the like, and improving the land leveling operation performance.

In summary, according to the embodiment of the invention, through the above technical scheme, the calibration process is executed under the condition that the calibration request signal of the bucket rod adduction electromagnetic valve is received, the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve is calibrated, the calibration value is obtained, after the calibration is completed, the bucket rod adduction electromagnetic valve is controlled according to the calibration value when the leveling operation is performed, the phenomena of nodding or packing and the like caused by the consistency difference of elements such as the electromagnetic valve can be effectively avoided, the operability of the leveling operation is ensured, the comfort level of operators is improved, and the leveling operation efficiency is further improved.

It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.

The foregoing is merely exemplary of the present invention and is not intended to limit the present invention. Various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are to be included in the scope of the claims of the present invention.

Claims

1. A control method for a positive flow excavator, the positive flow excavator including a boom, an arm, and an arm adduction solenoid, the control method comprising:

determining that a bucket rod adduction solenoid calibration request signal is received, wherein the bucket rod adduction solenoid calibration request signal is triggered in response to a request to calibrate the bucket rod adduction solenoid;

Initializing the value of a preset calibration parameter of the bucket rod adduction electromagnetic valve to be a preset value of the preset calibration parameter, wherein the preset calibration parameter is the lower limit value of the value range of the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve;

executing a calibration process to obtain a calibration value of the preset calibration parameter; and

updating the preset value to the calibration value;

wherein, the calibration process includes:

determining whether an arm adduction solenoid calibration end signal is received, wherein the arm adduction solenoid calibration end signal is triggered in response to a confirmation of ending the calibration process;

under the condition that the receiving of the calibration end signal of the bucket rod adduction electromagnetic valve is determined, taking the current value of the preset calibration parameter as the calibration value, and ending the calibration process;

under the condition that the calibration end signal of the bucket rod adduction electromagnetic valve is not received, determining that the current state of the positive flow excavator is a land leveling action state;

determining the control current of the bucket rod adduction electromagnetic valve according to the preset calibration parameters;

outputting the control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action;

Determining whether an increase stick adduction speed signal or a decrease stick adduction speed signal is received, wherein the increase stick adduction speed signal is triggered in response to a determination that a current level motion is present a wrapping phenomenon, and the decrease stick adduction speed signal is triggered in response to a determination that a current level motion is present a nodding phenomenon;

under the condition that the receiving of the signal for increasing the adduction speed of the bucket rod is confirmed, updating the value of the preset calibration parameter to be the sum of the current value and the preset adjustment step length, and re-executing the calibration process; and

and under the condition that the receiving of the signal for reducing the adduction speed of the bucket rod is determined, updating the value of the preset calibration parameter to be the difference between the current value and the preset adjustment step length, and re-executing the calibration process.

2. The control method according to claim 1, wherein the preset value is in a range of 10bar to 15bar.

3. The control method of claim 1, wherein the positive flow excavator further comprises a turntable and a bucket, and wherein the determining that the current state of the positive flow excavator is a level ground active state comprises:

acquiring an arm adduction pilot pressure, a boom lifting pilot pressure, an arm external swing pilot pressure, a boom lowering pilot pressure, a bucket adduction pilot pressure and a bucket external swing pilot pressure; and

And determining that the current state is a level ground operation state under the condition that the arm adduction pilot pressure and the boom lifting pilot pressure are both greater than or equal to a preset opening pressure and the arm outswing pilot pressure, the rotary pilot pressure, the boom descending pilot pressure, the bucket adduction pilot pressure and the bucket outswing pilot pressure are all smaller than the preset opening pressure.

4. A control method according to claim 3, wherein the preset cracking pressure has a value in the range of 5bar to 7bar.

5. The control method according to claim 3, wherein the determining the control current of the arm adduction solenoid valve according to the preset calibration parameter includes:

determining the maximum secondary pressure allowed by the bucket rod adduction electromagnetic valve according to the movable arm lifting pilot pressure and the preset calibration parameter;

determining a set value of the secondary pressure of the bucket rod adduction electromagnetic valve according to the bucket rod adduction pilot pressure and the maximum secondary pressure; and

and determining the control current according to the set value of the secondary pressure.

6. The control method of claim 5, wherein the positive flow excavator further comprises a first boom spool, the relationship between the maximum secondary pressure and the boom lift pilot pressure and the preset calibration parameter satisfying:

The set_arminopilot_maχ is the maximum secondary pressure, pilot_boom is the boom lifting Pilot pressure, set_arminopilot_max1 is the upper limit value of the value range of the maximum secondary pressure, set_arminopilot_max2 is the preset calibration parameter, P1 is the minimum secondary pressure required when the first boom valve element is opened, and P2 is the minimum secondary pressure required when the first boom valve element is fully opened.

7. The control method according to claim 6, wherein the upper limit value of the maximum secondary pressure is 20bar to 25bar, the minimum secondary pressure required for opening the first boom spool is 5bar to 7bar, and the minimum secondary pressure required for full opening the first boom spool is 20bar to 25bar.

8. The control method according to claim 5, characterized in that a relation between the set value of the secondary pressure and the arm adduction pilot pressure and the maximum secondary pressure satisfies:

wherein set_arminpilot is the Set value of the secondary pressure, pilot_armin is the arm adduction Pilot pressure, set_arminpilot_max is the maximum secondary pressure, and pilot_max is the upper limit value of the value range of the arm adduction Pilot pressure.

9. The control method according to claim 8, characterized in that the upper limit value of the value range of the arm adduction pilot pressure is in the value range of 35bar to 40bar.

10. The control method according to claim 5, wherein the positive-flow excavator further includes a first arm spool, and the relationship between the control current and the set value of the secondary pressure satisfies:

the set_current is the control Current, set_arminopilot is the Set value of the secondary pressure, pilot_min is the minimum secondary pressure required when the first arm valve element is opened, pilot_max is the minimum secondary pressure required when the first arm valve element is fully opened, current_max is the upper limit value of the value range of the control Current, and current_min is the lower limit value of the value range of the control Current.

11. The control method according to claim 10, wherein the minimum secondary pressure required for opening the first arm spool is in a range of 5bar to 7bar, the minimum secondary pressure required for fully opening the first arm spool is in a range of 20bar to 25bar, the upper limit value of the control current is in a range of 600mA to 800mA, and the lower limit value of the control current is in a range of 200mA to 400mA.

12. The control method according to claim 1, wherein the preset adjustment step length has a value ranging from 0.1bar to 1bar.

13. The control method of claim 1, wherein the positive flow excavator further comprises an engine, a throttle knob, and an operating handle, the control method further comprising:

under the condition that the receiving of the calibrating request signal of the bucket rod adduction electromagnetic valve is confirmed, prompting an operator to start the engine, rotating the accelerator knob to a set gear and operating the operating handle to perform a land leveling operation.

14. The control method according to claim 1, characterized by further comprising:

determining that the calibrating request signal of the bucket rod adduction electromagnetic valve is not received;

determining that the current state of the positive flow excavator is a land leveling operation state;

taking the preset value as the value of the preset calibration parameter;

determining the control current of the bucket rod adduction electromagnetic valve according to the preset calibration parameters; and

and outputting the control current to the bucket rod adduction electromagnetic valve so as to control the bucket rod to cooperate with the movable arm to realize the land leveling action.

15. A controller configured to perform the control method for a positive flow excavator according to any one of claims 1 to 14.

16. A control device for a positive flow excavator, the positive flow excavator comprising a boom, an arm adduction solenoid valve, a turntable, a bucket, a first boom spool, a first arm spool, an engine, a throttle knob, and an operating handle, the control device comprising:

an arm adduction pilot pressure sensor configured to detect an arm adduction pilot pressure;

a boom out-swing pilot pressure sensor configured to detect a boom out-swing pilot pressure;

a rotary pilot pressure sensor configured to detect a rotary pilot pressure;

a boom-up pilot pressure sensor configured to detect a boom-up pilot pressure;

a boom-down pilot pressure sensor configured to detect a boom-down pilot pressure;

a bucket adduction pilot pressure sensor configured to detect bucket adduction pilot pressure;

a bucket outer swing pilot pressure sensor configured to detect bucket outer swing pilot pressure;

the man-machine interaction equipment is configured to provide a bucket rod adduction electromagnetic valve calibration request signal, a bucket rod adduction electromagnetic valve calibration end signal, an bucket rod adduction speed signal, a bucket rod adduction speed signal reduction and/or a prompt message display; and

The controller according to claim 15.

17. A positive flow excavator, comprising:

a movable arm;

a bucket rod;

an electromagnetic valve is retracted in the bucket rod;

a turntable;

a bucket;

a first boom spool;

a first stick spool;

an engine;

an accelerator knob;

an operation handle; and

the control device for a positive flow excavator of claim 16.