阅读说明：本技术 势能回收利用的控制方法、控制器、利用系统及存储介质 (Potential energy recycling control method, controller, utilization system and storage medium ) 是由 袁朋 谭震 周成博 于 2021-06-28 设计创作，主要内容包括：本申请提供了一种势能回收利用的控制方法、控制器、势能回收利用系统以及计算机可读存储介质,以解决现有技术中势能回收利用率低的问题,控制方法包括获取双向变量泵的第一目标转速；获取工作油缸的工作指令,根据工作指令获取工作油缸的目标输出速度；当需要释放工作油缸内液压油的势能以执行工作指令时,根据双向变量泵的第一目标转速和工作油缸的目标输出速度,计算双向变量泵的目标负排量；根据目标负排量生成目标负排量指令；以及根据双向变量泵的第一目标转速,生成第一控制信息,第一控制信息用于控制动力机构驱动双向变量泵以第一目标转速转动,进而使双向变量泵带动工作泵转动,其中,双向变量泵与工作泵串连。(The application provides a potential energy recycling control method, a controller, a potential energy recycling system and a computer readable storage medium, which aim to solve the problem of low potential energy recycling rate in the prior art, and the control method comprises the steps of acquiring a first target rotating speed of a bidirectional variable pump; acquiring a working instruction of the working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction; when the potential energy of hydraulic oil in the working oil cylinder needs to be released to execute a working instruction, calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target negative displacement instruction according to the target negative displacement; and generating first control information according to the first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling the power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate, and the bidirectional variable pump is connected with the working pump in series.)

1. A control method for potential energy recycling is characterized in that a rotating shaft of a bidirectional variable pump is connected with a rotating shaft of a working pump in series, and the control method comprises the following steps:

acquiring a first target rotating speed of the bidirectional variable pump;

acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction;

when the potential energy of hydraulic oil in the working oil cylinder needs to be released to execute the working instruction, calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder;

generating a target negative displacement instruction according to the target negative displacement, wherein the target negative displacement instruction is used for switching the bidirectional variable displacement pump to a motor working mode and outputting the displacement at the target negative displacement; and

and generating first control information according to a first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.

2. The control method according to claim 1, wherein the obtaining a first target rotation speed of the bidirectional variable pump includes:

acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump;

determining a first required rotating speed of the bidirectional variable pump according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder;

acquiring a second required rotating speed of the working pump; and

and determining the target driving rotating speed of the power mechanism according to the first required rotating speed of the bidirectional variable pump and the second required rotating speed of the working pump.

3. The control method according to claim 2, wherein determining the first required rotation speed of the bidirectional variable pump based on the current rotation speed of the power mechanism and the target output speed of the working cylinder includes:

when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump meet the requirement of the target output speed, taking the current rotating speed as the first required rotating speed; and

and when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump do not meet the requirement of the target output speed, calculating the first required rotating speed according to the target output speed and the rated negative displacement.

4. The control method according to claim 3, wherein the rotating shaft of the power mechanism, the rotating shaft of the bidirectional variable pump and the rotating shaft of the working pump are sequentially connected in series and have the same rotating speed; determining a target driving rotation speed of the power mechanism according to the first required rotation speed of the bidirectional variable pump and the second required rotation speed of the working pump, wherein the target driving rotation speed of the power mechanism comprises the following steps:

acquiring the larger value of the first required rotating speed and the second required rotating speed as the target driving rotating speed of the power mechanism; and

and determining the first target rotating speed of the bidirectional variable pump and the second target rotating speed of the working pump according to the target driving rotating speed of the power mechanism, wherein the target driving rotating speed, the first target rotating speed and the second target rotating speed are equal in numerical value.

5. The control method according to claim 4, wherein acquiring the second required rotation speed of the working pump includes:

and acquiring the minimum required rotating speed of the working pump, and taking the minimum required rotating speed as the second required rotating speed of the working pump.

6. The control method according to claim 4, characterized by further comprising:

determining a second target displacement of the working pump according to a second target rotational speed of the working pump when the working pump is configured as a variable displacement pump; and

and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output the displacement at the second target displacement.

7. The control method of claim 1, wherein the bidirectional variable displacement pump includes a swash plate;

wherein generating a target negative displacement command according to the target negative displacement, the target negative displacement command being used to switch the bidirectional variable displacement pump to a motoring mode and output a displacement at the target negative displacement, comprises:

calculating a target inclination angle of the swash plate according to the target negative displacement of the bidirectional variable pump;

acquiring an actual inclination angle of the swash plate measured by an angle sensor in real time; and

and generating third control information according to the target inclination angle and the actual inclination angle measured by the angle sensor in real time, wherein the third control information is used for controlling a valve core of a proportional valve to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate until the displacement of the bidirectional variable pump is the target negative displacement.

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

when the working instruction needs to be executed by increasing hydraulic oil in the working oil cylinder, calculating the target positive displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder;

generating a target positive displacement instruction according to the target positive displacement, wherein the target positive displacement instruction is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a pump working mode and output the displacement at the target positive displacement; and

and when the target output speed in the working instruction is zero, generating a zero displacement instruction, wherein the zero displacement instruction is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a zero displacement working condition.

9. A controller applied to potential energy recycling is characterized in that a rotating shaft of a bidirectional variable pump is connected with a rotating shaft of a working pump in series, and the controller comprises:

the acquisition module is used for acquiring a first target rotating speed of the bidirectional variable pump; the device comprises a working oil cylinder, a control unit and a control unit, wherein the working oil cylinder is used for acquiring a working instruction of the working oil cylinder and acquiring a target output speed of the working oil cylinder according to the working instruction;

the analysis and calculation module is used for calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder when the potential energy of the hydraulic oil in the working oil cylinder needs to be released to execute the working instruction; and

the control module is used for generating a target negative displacement instruction according to the target negative displacement, and the target negative displacement instruction is used for switching the bidirectional variable displacement pump to a motor working mode and outputting the displacement at the target negative displacement; the bidirectional variable pump control device is used for generating first control information according to a first target rotating speed of the bidirectional variable pump, and the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.

10. A potential energy recovery system for directly applying energy recovered from a first working mechanism to a second working mechanism, comprising:

a power mechanism;

the first working mechanism comprises a working oil cylinder and a bidirectional variable pump;

the second working mechanism comprises a working pump;

a displacement control unit; and

the controller of claim 9;

and the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series.

11. The potential energy recovery system of claim 10, wherein the working pump comprises a pilot pump for maintaining the bidirectional variable pump at a pilot pressure.

12. The potential energy recycling system of claim 10, wherein the working pump comprises a first working pump and a second working pump, the first working pump is connected with a steering system and/or an accessory system, and the second working pump is connected with a braking system.

13. A computer-readable storage medium, characterized in that the storage medium stores a computer program for executing the control method according to any one of claims 1 to 8.

Technical Field

The application relates to the field of engineering machinery, in particular to a potential energy recycling control method, a potential energy recycling controller, a potential energy recycling system and a storage medium.

Background

Many devices (such as a forklift and an excavator) with a potential energy recovery function utilize a hydraulic system to drive a working mechanism thereof to perform various operations, and utilize the hydraulic system to recover potential energy of the working mechanism and convert the potential energy into other energy (such as electric energy converted by a storage battery and potential energy converted by an accumulator) for storage.

However, the existing potential energy recovery system needs to store all recovered potential energy into a storage battery for discharging, and has the disadvantages of multiple links, high energy loss and low energy utilization rate.

Disclosure of Invention

In view of this, the present application provides a potential energy recycling control method, a controller, a utilization system, and a storage medium, which solve the technical problem in the prior art that a potential energy recycling system has a low utilization rate of recycled potential energy.

According to one aspect of the present application, there is provided a control method for potential energy recycling, in which a rotating shaft of a bidirectional variable pump is connected in series with a rotating shaft of a working pump, the control method comprising: acquiring a first target rotating speed of the bidirectional variable pump; acquiring a working instruction of a working oil cylinder, and acquiring a target output speed of the working oil cylinder according to the working instruction; when the potential energy of hydraulic oil in the working oil cylinder needs to be released to execute the working instruction, calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target negative displacement instruction according to the target negative displacement, wherein the target negative displacement instruction is used for switching the bidirectional variable displacement pump to a motor working mode and outputting the displacement at the target negative displacement; and generating first control information according to a first target rotating speed of the bidirectional variable pump, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.

In one possible implementation, the obtaining the first target rotation speed of the bidirectional variable pump includes: acquiring the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump; determining a first required rotating speed of the bidirectional variable pump according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder; acquiring a second required rotating speed of the working pump; and determining the target driving rotating speed of the power mechanism according to the first required rotating speed of the bidirectional variable pump and the second required rotating speed of the working pump.

In one possible implementation manner, the determining a first required rotation speed of the bidirectional variable pump according to the current rotation speed of the power mechanism and the target output speed of the working cylinder includes: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump meet the requirement of the target output speed, taking the current rotating speed as the first required rotating speed; and when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump do not meet the requirement of the target output speed, calculating the first required rotating speed according to the target output speed and the rated negative displacement.

In one possible implementation manner, the determining the target driving rotation speed of the power mechanism according to the first required rotation speed of the bidirectional variable pump and the second required rotation speed of the working pump includes: acquiring the larger value of the first required rotating speed and the second required rotating speed as the target driving rotating speed of the power mechanism; and determining the first target rotating speed of the bidirectional variable pump and the second target rotating speed of the working pump according to the target driving rotating speed of the power mechanism, wherein the target driving rotating speed, the first target rotating speed and the second target rotating speed are equal in numerical value.

In one possible implementation, the obtaining of the second required rotation speed of the working pump includes: and acquiring the minimum required rotating speed of the working pump, and taking the minimum required rotating speed as the second required rotating speed of the working pump.

In one possible implementation manner, the control method further includes: determining a second target displacement of the working pump according to a second target rotational speed of the working pump when the working pump is configured as a variable displacement pump; and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output the displacement at the second target displacement.

In one possible implementation, the bidirectional variable displacement pump includes a swash plate; the generating a target negative displacement command according to the target negative displacement, wherein the target negative displacement command is used for switching the bidirectional variable displacement pump to a motor working mode and outputting the displacement at the target negative displacement, and comprises the following steps: calculating a target inclination angle of the swash plate according to the target negative displacement of the bidirectional variable pump; acquiring an actual inclination angle of the swash plate measured by an angle sensor in real time; and generating third control information according to the target inclination angle and the actual inclination angle measured by the angle sensor in real time, wherein the third control information is used for controlling a valve core of a proportional valve to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate until the displacement of the bidirectional variable pump is the target negative displacement.

In one possible implementation manner, the control method further includes: when the working instruction needs to be executed by increasing hydraulic oil in the working oil cylinder, calculating the target positive displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder; generating a target positive displacement instruction according to the target positive displacement, wherein the target positive displacement instruction is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a pump working mode and output the displacement at the target positive displacement; and when the target output speed in the working instruction is zero, generating a zero displacement instruction, wherein the zero displacement instruction is used for controlling the inclination angle of a swash plate of the bidirectional variable pump so as to switch the bidirectional variable pump to a zero displacement working condition.

As a second aspect of the present application, there is provided a controller for potential energy recycling, wherein a rotating shaft of a bidirectional variable pump is connected in series with a rotating shaft of a working pump, the controller comprising: the acquisition module is used for acquiring a first target rotating speed of the bidirectional variable pump; the device comprises a working oil cylinder, a control unit and a control unit, wherein the working oil cylinder is used for acquiring a working instruction of the working oil cylinder and acquiring a target output speed of the working oil cylinder according to the working instruction; the analysis and calculation module is used for calculating the target negative displacement of the bidirectional variable pump according to the first target rotating speed of the bidirectional variable pump and the target output speed of the working oil cylinder when the potential energy of the hydraulic oil in the working oil cylinder needs to be released to execute the working instruction; the control module is used for generating a target negative displacement instruction according to the target negative displacement, and the target negative displacement instruction is used for switching the bidirectional variable displacement pump to a motor working mode and outputting the displacement at the target negative displacement; the bidirectional variable pump control device is used for generating first control information according to a first target rotating speed of the bidirectional variable pump, and the first control information is used for controlling a power mechanism to drive the bidirectional variable pump to rotate at the first target rotating speed, so that the bidirectional variable pump drives the working pump to rotate.

As a third aspect of the present application, there is provided a potential energy recovery system for directly applying energy recovered from a first working mechanism to a second working mechanism, the potential energy recovery system comprising: a power mechanism; the first working mechanism comprises a working oil cylinder and a bidirectional variable pump;

the second working mechanism comprises a working pump; a displacement control unit; and the controller; and the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series.

In one possible implementation, the working pump includes a pilot pump for maintaining the bidirectional variable pump at a pilot pressure.

In a possible implementation manner, the working pump comprises a first working pump and a second working pump, the first working pump is connected with a steering system and/or an accessory system, and the second working pump is connected with a braking system.

As a fourth aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the above-described control method.

According to the control method for recycling potential energy, when the bidirectional variable pump is in a negative displacement working condition and hydraulic oil in the working oil cylinder flows through the bidirectional variable pump under the action of gravity, the hydraulic oil applies work to the bidirectional variable pump to drive a rotating shaft of the bidirectional variable pump to rotate, so that the potential energy of the hydraulic oil is converted into mechanical energy for driving the rotating shaft of the bidirectional variable pump to rotate; because the rotating shaft of the bidirectional variable pump is connected with the rotating shaft of the working pump in series, the mechanical energy of the bidirectional variable pump is transmitted to the working pump, so that the rotating shaft of the working pump rotates. In the process, the potential energy of the hydraulic oil is converted into the mechanical energy of the bidirectional variable pump and then directly applies work to the working pump, so that the energy conversion and storage links in the prior art are reduced, the energy loss is reduced, and the energy utilization rate is improved.

Drawings

Fig. 1 is a schematic structural diagram of a potential energy recycling system provided in the present application;

FIG. 2 is a block diagram of the controller shown in FIG. 1;

FIG. 3 is a schematic flow chart of a control method provided in the present application;

fig. 4 is a schematic flow chart of a control method provided in the present application;

FIG. 5 is a schematic flow chart of a control method provided in the present application;

fig. 6 is a schematic structural diagram of an electronic device provided in the present application.

Detailed Description

In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indicators in the embodiments of the present application (such as upper, lower, left, right, front, rear, top, bottom … …) are only used to explain the relative positional relationship between the components, the movement, etc. in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

According to an aspect of the present application, fig. 3 is a schematic flow chart of a potential energy recycling control method provided in one possible implementation manner of the present application, and the control method uses a hydraulic system to recycle potential energy of hydraulic oil in the working cylinder 11 of the first working mechanism and directly convert the potential energy into mechanical energy acting on a working pump of the second working mechanism.

Referring to fig. 1, in this implementation, the rotating shaft of the bidirectional variable pump 3 is connected in series with the rotating shaft of the working pump, and the control method includes the following steps:

s301: acquiring a first target rotating speed of the bidirectional variable pump 3;

s302: acquiring a working instruction of the working oil cylinder 11, and acquiring a target output speed of the working oil cylinder 11 according to the working instruction;

specifically, the working cylinder 11 is configured as a hydraulic cylinder, and is a hydraulic actuator that converts hydraulic energy of hydraulic oil into mechanical energy and performs linear reciprocating motion (or oscillating motion); in the present implementation, the working cylinder 11 is an execution unit of the first working mechanism;

specifically, the work instruction is a control signal generated by an operator through the opening degree of the operation handle 7 and used for transmitting specific work content of the work cylinder 11; the target output speed is the speed output when the operator expects the working oil cylinder to work; optionally, the working instruction may be to start and accelerate the working cylinder 11 to the target output speed, or to decelerate and brake the working cylinder 11 to a standstill \ standby state; alternatively, the target output speed may be zero, or positive or negative; specifically, when the working cylinder 11 is a lift cylinder: the target output speed when the working oil cylinder 11 is at rest/standby is zero, the target output speed when the working oil cylinder 11 is lifted is positive, and the target output speed when the working oil cylinder is lowered is negative.

S303: when the potential energy of hydraulic oil in the working oil cylinder 11 needs to be released to execute a working instruction, calculating the target negative displacement of the bidirectional variable pump 3 according to the first target rotating speed of the bidirectional variable pump 3 and the target output speed of the working oil cylinder 11;

specifically, the bidirectional variable pump 3 is a power unit of the first working mechanism, the bidirectional variable pump 3 has a first oil port and a second oil port, the working oil cylinder 11 has an oil inlet and an oil outlet, the first oil port of the bidirectional variable pump 3 is communicated with the oil tank 24, and the second oil port of the bidirectional variable pump 3 is communicated with the oil inlet and the oil outlet of the working oil cylinder 11;

the bidirectional variable displacement pump 3 in this implementation has two working modes, which are a pump working mode and a motor working mode, and three working conditions, which are a positive displacement working condition, a negative displacement working condition and a zero displacement working condition; wherein, the positive displacement working condition of the bidirectional variable pump 3 corresponds to the pump working mode of the bidirectional variable pump 3, and the negative displacement working condition corresponds to the motor working mode of the bidirectional variable pump 3;

specifically, when the bidirectional variable pump 3 is in the negative displacement working condition \ motor working mode, the hydraulic oil of the working oil cylinder 11 flows through the bidirectional variable pump 3 and flows back to the oil tank 24; when the bidirectional variable pump 3 is in a positive displacement working condition/pump working mode, hydraulic oil flows from the oil tank 24 to the working oil cylinder 11 through the bidirectional variable pump 3; when the bidirectional variable pump 3 is in a zero-displacement working condition, the working oil cylinder 11 is in a standby/static state;

in this implementation, the rotation shaft of the bidirectional variable displacement pump 3 rotates in the same direction in the pump operation mode and the motor operation mode.

S304: generating a target negative displacement instruction according to the target negative displacement, wherein the target negative displacement instruction is used for switching the bidirectional variable pump 3 to a motor working mode and outputting the displacement according to the target negative displacement;

specifically, when the hydraulic oil of the work cylinder 11 flows through the bidirectional variable pump 3 in the motor working mode, the potential energy of the hydraulic oil is converted into mechanical energy that drives the bidirectional variable pump 3 to rotate.

S305: generating first control information according to a first target rotating speed of the bidirectional variable pump 3, wherein the first control information is used for controlling a power mechanism to drive the bidirectional variable pump 3 to rotate at the first target rotating speed, and further enabling the bidirectional variable pump 3 to drive a working pump to rotate;

specifically, when the bidirectional variable displacement pump 3 rotates at a first target rotational speed and outputs a displacement at a target negative displacement, the operating speed of the operating cylinder 11 is a target output speed;

alternatively, the power mechanism may be configured as only one, in which case the power mechanism is mechanically driven with the bidirectional variable displacement pump 3. Specifically, since the power mechanism drives the bidirectional variable displacement pump 3 to rotate and the rotating shaft of the bidirectional variable displacement pump 3 is connected in series with the rotating shaft of the working pump, the power mechanism can drive the working pump to rotate by driving the bidirectional variable displacement pump 3 to rotate. Alternatively, the power mechanism may be configured as two or more than two, and respectively drives the bidirectional variable pump 3 and the working pump, in this case, the power source of the working pump comes not only from the bidirectional variable pump 3 but also from the power mechanism specially driving the working pump.

In the implementation mode, when the bidirectional variable pump 3 is in a negative displacement working condition and the hydraulic oil in the working oil cylinder 11 flows through the bidirectional variable pump 3 under the action of gravity, the hydraulic oil applies work to the bidirectional variable pump 3 to drive the rotating shaft of the bidirectional variable pump 3 to rotate, so that the potential energy of the hydraulic oil is converted into mechanical energy for driving the rotating shaft of the bidirectional variable pump 3 to rotate; because the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series, the mechanical energy of the bidirectional variable pump 3 is transmitted to the working pump, so that the rotating shaft of the working pump rotates. In the process, the potential energy of the hydraulic oil is converted into the mechanical energy of the bidirectional variable pump 3 and then directly applies work to the working pump, so that the energy conversion and storage links in the prior art are reduced, the energy loss is reduced, and the energy utilization rate is improved.

In one possible implementation, as shown in fig. 3, step S301 (obtaining the first target rotation speed of the bidirectional variable pump 3) includes:

s3011: acquiring the current rotating speed of a power mechanism and the rated negative displacement of the bidirectional variable pump 3;

specifically, the current rotating speed of the power mechanism can be acquired in real time through the speed sensor.

S3012: determining a first required rotating speed of the bidirectional variable pump 3 according to the current rotating speed of the power mechanism and the target output speed of the working oil cylinder 11;

s3013: acquiring a second required rotating speed of the working pump;

specifically, the working pump is a power unit of the second working mechanism for powering the second working mechanism;

alternatively, the working pump may be the pilot pump 12 for maintaining the pilot pressure at the second port of the bidirectional variable displacement pump 3, or may be a power unit for driving the steering system 18 and/or the accessory system 20, or may be a power unit for driving the braking system 22;

specifically, the working pumps include a pilot pump 12, a first working pump 17, and a second working pump 21; the two oil ports of the pilot pump 12 are respectively communicated with the oil tank 24 and the second oil port of the bidirectional variable pump 3, the first working pump 17 is connected with the steering system 18 and/or the accessory system 20, and the second working pump 21 is connected with the braking system 22.

S3014: determining a target driving rotating speed of the power mechanism according to the first required rotating speed of the bidirectional variable pump 3 and the second required rotating speed of the working pump;

optionally, the power mechanism comprises an energy storage device and a prime mover, the prime mover can be the motor 2 or an internal combustion engine, and the energy storage device can be the storage battery 1 or an energy storage oil tank for storing hydraulic oil potential energy.

In one possible implementation, as shown in fig. 3, step S3012 (determining the first required rotation speed of the bidirectional variable pump 3 according to the current rotation speed of the power mechanism and the target output speed of the work cylinder 11) includes:

s30121: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 meet the requirement of the target output speed, taking the current rotating speed as a first required rotating speed;

specifically, the output speed of the working cylinder 11 is calculated with the current rotation speed of the power mechanism as the calculated rotation speed value of the bidirectional variable pump 3 and the rated negative displacement as the calculated displacement value of the bidirectional variable pump 3, and when the calculated output speed value is greater than or equal to the target output speed, the current rotation speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 are considered to meet the requirement of the target output speed.

S30122: when the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 do not meet the requirement of the target output speed, calculating a first required rotating speed according to the target output speed and the rated negative displacement;

specifically, the current rotating speed of the power mechanism is taken as a rotating speed calculated value of the bidirectional variable pump 3, the rated negative displacement is taken as a displacement calculated value of the bidirectional variable pump 3, the output speed of the working oil cylinder 11 is calculated, and when the calculated value of the output speed is smaller than the target output speed, the current rotating speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 are considered not to meet the requirement of the target output speed;

specifically, the target output speed is used as the calculated output speed value of the working cylinder 11, the flow rate required by the working cylinder 11 is calculated according to the size and shape of the working cylinder 11, the rated negative displacement is used as the calculated displacement value of the bidirectional variable pump 3, and the first required rotating speed is calculated according to a specific relational expression.

In steps S30121 and S30122 of this implementation, the first required rotational speed and the target negative displacement of the bidirectional variable pump 3 are determined by determining whether the current rotational speed of the power mechanism and the rated negative displacement of the bidirectional variable pump 3 meet the requirement of the target output speed, so as to make the first required rotational speed of the bidirectional variable pump 3 as close as possible to or even equal to the current rotational speed of the power mechanism, thereby reducing the possibility of adjusting the rotational speed of the power mechanism or reducing the adjustment range of the rotational speed of the power mechanism, and facilitating reduction of energy consumption caused by speed adjustment of the power mechanism.

In one possible implementation, as shown in fig. 3, the step S3014 (determining the target driving speed of the power mechanism according to the first required speed of the bidirectional variable pump 3 and the second required speed of the working pump) includes:

s30141: acquiring the larger value of the first required rotating speed and the second required rotating speed as the target driving rotating speed of the power mechanism;

specifically, the target driving rotational speed of the power mechanism takes the larger value of the first required rotational speed and the second required rotational speed in order to satisfy the flow rate requirements of the bidirectional variable pump 3 and the working pump, respectively.

S30142: a first target rotation speed of the bidirectional variable pump 3 and a second target rotation speed of the working pump are determined according to a target driving rotation speed of the power mechanism.

As shown in fig. 1, in this implementation manner, two interfaces of the rotating shaft of the bidirectional variable pump 3 are directly connected to the power mechanism and the working pump through the couplers, that is, the rotating shaft of the power mechanism, the rotating shaft of the bidirectional variable pump 3, and the rotating shaft of the working pump are sequentially connected in series and have the same rotating speed, so that the energy transfer link is reduced, and the energy loss is reduced.

In one possible implementation, as shown in fig. 3, the step S3013 (obtaining the second required rotation speed of the working pump) includes:

s30131: acquiring the minimum required rotating speed of the working pump, and taking the minimum required rotating speed as the second required rotating speed of the working pump;

specifically, the minimum required rotating speed of the working pump is determined according to the flow requirement, the displacement or the specification of the overflow valve 13 used in cooperation with the working pump; the minimum required rotating speed is used as the second required rotating speed of the working pump, and the larger value of the first required rotating speed and the second required rotating speed is obtained to be used as the target driving rotating speed of the power mechanism, so that the target driving rotating speed is close to or equal to the current rotating speed of the power mechanism as far as possible on the basis of meeting the respective flow requirements of the bidirectional variable pump 3 and the working pump, and the energy loss caused by speed regulation of the power mechanism is reduced.

By executing step S30131 to obtain a second required rotation speed of the working pump, if the working pump is a variable displacement pump, a second target displacement of the working pump may be calculated according to the second required rotation speed, and then the working pump is controlled to output the displacement at the second target displacement according to the second target displacement, that is, steps S306 to S307 are executed:

s306: when the working pump is configured as a variable displacement pump, determining a second target displacement of the working pump according to a second target rotating speed of the working pump; and

s307: and generating second control information according to the second target displacement, wherein the second control information is used for controlling the working pump to output the displacement at the second target displacement.

In one possible implementation, as shown in fig. 3, step S304 (generating a target negative displacement command according to a target negative displacement, the target negative displacement command being used to switch the bidirectional variable pump 3 to the motor operation mode and outputting a displacement at the target negative displacement) includes:

s3041: calculating a target inclination angle of the swash plate 31 based on the target negative displacement of the bidirectional variable pump 3;

specifically, the bidirectional variable pump 3 includes a swash plate 31 and two variable control cylinders 32, the two variable control cylinders 32 being connected to opposite ends of the swash plate 31, respectively, to control an inclination angle of the swash plate 31.

S3042: acquiring the actual inclination angle of the swash plate 31 measured by the angle sensor 4 in real time; and

s3043: and generating third control information according to the target inclination angle and the actual inclination angle measured by the angle sensor 4 in real time, wherein the third control information is used for controlling the valve core of the proportional valve 5 to move to a working position corresponding to the target negative displacement so as to change the inclination angle of the swash plate 31 until the displacement of the bidirectional variable displacement pump 3 is the target negative displacement.

Specifically, the proportional valve 5 changes the pressure of the two variable control cylinders 32 by moving the valve core, so that the swash plate 31 rotates under the combined action of the two variable control cylinders 32, thereby realizing the regulation and control of the inclination angle of the swash plate 31 and further controlling the displacement of the bidirectional variable pump 3; the proportional valve 5 also controls the inclination angle of the swash plate 31 to switch the bidirectional variable displacement pump 3 between the pump operation mode and the motor operation mode.

After the steps S301 to S307 are executed, the motor 2 maintains the target driving rotation speed and drives the bidirectional variable pump 3 to rotate at the first target rotation speed, and the bidirectional variable pump outputs the displacement at the target negative displacement, so that the working oil cylinder 11 meets the requirement of the target output speed output by the handle 7; in the process that the motor 2 maintains the target driving rotating speed, hydraulic oil of the working oil cylinder 11 drives the bidirectional variable pump 3 to do work through the gate valve 9, and negative power generation torque T1 (namely T1<0) generated by the fact that the hydraulic oil drives the bidirectional variable pump 3 to do work at the moment is defined;

the motor 2 maintains a target driving rotating speed and drives the bidirectional variable pump 3 to rotate at a first target rotating speed, the working pump is driven by the bidirectional variable pump 3 to rotate at a second target rotating speed, a rotating shaft of the working pump and a rotating shaft of the bidirectional variable pump 3 are connected in series, the bidirectional variable pump 3 applies work to the working pump, and a forward power consumption torque T2 (namely T2>0) generated by the working pump to the bidirectional variable pump 3 at the moment is defined;

when T1+ T2 is more than or equal to 0, the motor 2 is in a motor mode; all potential energy of hydraulic oil of the working oil cylinder 11 recovered by the bidirectional variable pump 3 is directly converted into mechanical energy to apply work to the working pump, and insufficient energy is obtained from the storage battery 1 through the motor 2.

When T1+ T2<0, the motor 2 is in a generator mode, partial potential energy of hydraulic oil of the working oil cylinder 11 recovered by the bidirectional variable pump 3 is directly converted into mechanical energy to apply work to the working pump, and redundant energy is stored in the storage battery 1 through the motor 2.

In summary, the hydraulic oil of the working cylinder 11 drives part or all of the bidirectional variable pump 3 to do work and directly convert the part or all of the part of the recovered potential energy into mechanical energy for driving the working pump to work, the part of the recovered potential energy is directly used for doing work without any conversion, the conversion loss of the part of the potential energy is avoided, and only when T1+ T2 is less than 0, the redundant potential energy needs to be converted into electric energy through the motor 2 and stored in the storage battery 1. Compared with the prior art, the energy recovery efficiency is greatly improved. In one possible implementation manner, as shown in fig. 4, the control method further includes:

s401: when a working instruction is required to be executed by adding hydraulic oil in a working cylinder, calculating the target positive displacement of the bidirectional variable pump 3 according to the first target rotating speed of the bidirectional variable pump 3 and the target output speed of the working oil cylinder 11;

s402: generating a target positive displacement command according to the target positive displacement, wherein the target positive displacement command is used for controlling the inclination angle of a swash plate 31 of the bidirectional variable pump 3 so as to switch the bidirectional variable pump 3 to a pump working mode and output the displacement at the target positive displacement;

specifically, in the positive displacement operation, as shown in fig. 1, the working cylinder 11 is started or accelerated or decelerated or braked, and the hydraulic oil in the working cylinder 11 is increased.

S403: when the target output speed in the working instruction is zero, generating a zero displacement instruction, wherein the zero displacement instruction is used for controlling the inclination angle of a swash plate 31 of the bidirectional variable pump 3 so as to switch the bidirectional variable pump 3 to a zero displacement working condition;

specifically, as shown in fig. 1, in the zero-displacement operating condition, the working cylinder 11 is in standby/stationary, and the power mechanism operates at the target driving speed to drive the pilot pump 12 to supply oil, which flows through the pressure reducing valve 14 and the check valve 15 to the pump port of the bidirectional variable pump 3, so that the pump port has pilot pressure, thereby ensuring that the proportional valve 5 can still execute the displacement instruction when the system is in standby.

In the working process of the working oil cylinder 11, if the pressure of the pilot pump 12 is higher than the pressure of the reducing valve 14, the pilot pump 12 supplies oil and returns to the oil tank 24 through the overflow valve 13; when the pressure of the bidirectional variable pump 3 is higher than that of the pressure reducing valve 14, the pilot pump 12 supplies oil to the oil tank 24 through the relief valve 13.

In one possible implementation manner, as shown in fig. 5, the control method further includes:

s501: acquiring a first hydraulic pressure between a gate valve 9 measured by a first sensor 8 and a second oil port of the bidirectional variable pump 3; acquiring a second hydraulic pressure between the gate valve 9 and the working oil cylinder 11 measured by a second sensor 10;

s502: when the pressure difference value between the second hydraulic pressure and the first hydraulic pressure is greater than a preset threshold value, generating fourth control information, wherein the fourth control information is used for controlling the bidirectional variable pump 3 to output positive displacement so that hydraulic oil flows from the bidirectional variable pump 3 to the working oil cylinder 11, and the pressure difference value between the second hydraulic pressure and the first hydraulic pressure is smaller than or equal to the preset threshold value; and

s503: and when the difference value between the second hydraulic pressure and the first hydraulic pressure is smaller than or equal to the threshold value, generating fifth control information, wherein the fifth control information is used for controlling the conduction of the gate valve 9 between the working oil cylinder 11 and the second oil port of the bidirectional variable pump 3.

The function of steps S501 to S503 is to ensure that the hydraulic oil in the working cylinder 11 flows back to the oil tank 24 to release potential energy, and the impact is as small as possible.

In this embodiment, as shown in fig. 1, the gate valve 9 is configured as an on-off solenoid valve, and the gate valve 9 is attached to the working cylinder 11.

It will be readily appreciated that the gate valve 9 is operated to conduct, the power mechanism is operated to operate at the target drive speed, and the bidirectional variable displacement pump 3 is operated to output at the target displacement, the three operations being performed simultaneously.

In this implementation, as shown in fig. 1, when the bidirectional variable pump 3 is in the motor operating mode, the pressure of the bidirectional variable pump 3 is higher than the pressure of the pressure reducing valve 14, and thus, the suction of the negative displacement of the bidirectional variable pump 3 without being zeroed at the moment when the gate valve 9 is closed can be prevented, the pilot pressure of the bidirectional variable pump 3 is ensured in real time, and the service life of the bidirectional variable pump 3 is prolonged.

As a second aspect of the present application, fig. 2 shows a controller 6 applied to potential energy recycling provided in a possible implementation manner of the present application, and includes:

an obtaining module 61, configured to obtain a first target rotation speed of the bidirectional variable pump 3; the system is used for acquiring a working instruction of the working oil cylinder 11 and acquiring a target output speed of the working oil cylinder 11 according to the working instruction;

the analysis and calculation module 62 is configured to calculate a target negative displacement of the bidirectional variable pump 3 according to a first target rotation speed of the bidirectional variable pump 3 and a target output speed of the working cylinder 11 when the potential energy of hydraulic oil in the working cylinder 11 needs to be released to execute a working instruction; and

the control module 63 is used for generating a target negative displacement instruction according to the target negative displacement, and the target negative displacement instruction is used for switching the bidirectional variable displacement pump 3 to a motor working mode and outputting the displacement at the target negative displacement; the bidirectional variable pump control system is used for generating first control information according to a first target rotating speed of the bidirectional variable pump 3, wherein the first control information is used for controlling the power mechanism to drive the bidirectional variable pump 3 to rotate at the first target rotating speed, and further the bidirectional variable pump 3 drives the working pump to rotate;

wherein, the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series.

As a third aspect of the present application, fig. 1 shows a potential energy recycling system provided in a possible implementation manner of the present application, configured to directly apply energy recycled from a first working mechanism to a second working mechanism, where the potential energy recycling system includes: a power mechanism; the first working mechanism comprises a working oil cylinder 11; the second working mechanism comprises a bidirectional variable pump 3 and a working pump; a displacement control unit; and the controller 6 described above; wherein, the rotating shaft of the bidirectional variable pump 3 is connected with the rotating shaft of the working pump in series.

Specifically, the displacement control unit includes a proportional valve 5 and an angle sensor 4, and the controller 6 sends a command to the displacement control unit so that the displacement control unit controls the bidirectional variable displacement pump 3 to output at a target displacement according to the command.

Alternatively, as shown in fig. 1, the bidirectional variable pump 3 is configured as a positive and negative swing angle open type plunger pump, and the working cylinders 11 are two lift cylinders.

Specifically, as shown in fig. 1, the potential energy recycling system further includes a safety valve 23 connected between the second port of the bidirectional variable pump 3 and a variable control cylinder 32, and when the pressure of the second port of the bidirectional variable pump 3 exceeds a predetermined value, the safety valve 23 controls the bidirectional variable pump 3 to reduce the displacement to release the pressure;

specifically, a multi-way valve 19 is connected between the steering system and the accessory system; the overflow valve 16 is connected between the oil tank 24 and the working cylinder 11, and overflows when the pressure of the working cylinder 11 exceeds a set value, to secure the safety of the working cylinder 11.

As a fourth aspect of the present application, an electronic apparatus according to an embodiment of the present application is described with reference to fig. 6. Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

As shown in fig. 6, the electronic device 600 includes one or more processors 601 and memory 602.

Processor 601 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or information execution capabilities and may control other components in electronic device 600 to perform desired functions.

Memory 601 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or nonvolatile memory. Volatile memory can include, for example, Random Access Memory (RAM), and/or cache memory (cache), among others. The non-volatile memory may include, for example, Read Only Memory (ROM), a hard disk, flash memory, and the like. One or more computer program information may be stored on a computer readable storage medium and executed by the processor 601 to implement the control methods of the various embodiments of the present application described above or other desired functions.

In one example, the electronic device 600 may further include: an input device 603 and an output device 604, which are interconnected by a bus system and/or other form of connection mechanism (not shown).

The input device 603 may include, for example, a keyboard, a mouse, and the like.

The output device 604 can output various kinds of information to the outside. The output means 604 may comprise, for example, a display, a communication network, a remote output device connected thereto, and the like.

Of course, for simplicity, only some of the components of the electronic device 600 relevant to the present application are shown in fig. 6, and components such as buses, input/output interfaces, and the like are omitted. In addition, electronic device 600 may include any other suitable components depending on the particular application.

In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program information which, when executed by a processor, causes the processor to perform the steps in the control method according to various embodiments of the present application described in the present specification.

The computer program product may include program code for carrying out operations for embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device and partly on a remote computing device, or entirely on the remote computing device or server.

Furthermore, embodiments of the present application may also be a computer-readable storage medium having stored thereon computer program information which, when executed by a processor, causes the processor to perform the steps in the control method of the present specification according to various embodiments of the present application.

A computer-readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may include, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

The foregoing describes the general principles of the present application in conjunction with specific embodiments, however, it is noted that the advantages, effects, etc. mentioned in the present application are merely examples and are not limiting, and they should not be considered essential to the various embodiments of the present application. Furthermore, the foregoing disclosure of specific details is for the purpose of illustration and description and is not intended to be limiting, since the foregoing disclosure is not intended to be exhaustive or to limit the disclosure to the precise details disclosed.

The block diagrams of devices, apparatuses, systems referred to in this application are only given as illustrative examples and are not intended to require or imply that the connections, arrangements, configurations, etc. must be made in the manner shown in the block diagrams. These devices, apparatuses, devices, systems may be connected, arranged, configured in any manner, as will be appreciated by those skilled in the art. Words such as "including," "comprising," "having," and the like are open-ended words that mean "including, but not limited to," and are used interchangeably therewith. The words "or" and "as used herein mean, and are used interchangeably with, the words" and/or "unless the context clearly dictates otherwise. The word "such as" is used herein to mean, and is used interchangeably with, the phrase "such as but not limited to".

It should also be noted that in the devices, apparatuses, and methods of the present application, each element or step can be decomposed and/or recombined. These decompositions and/or recombinations should be considered equivalents of the present application.

The previous description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other aspects without departing from the scope of the application. Thus, the present application is not intended to be limited to the aspects shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the present invention, and any modifications, equivalents and the like that are within the spirit and principle of the present invention should be included in the scope of the present invention.