CN119982167A - Regeneration control method of hydraulic system, engineering machinery control device and engineering machinery - Google Patents
Regeneration control method of hydraulic system, engineering machinery control device and engineering machinery Download PDFInfo
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Abstract
A hydraulic system regeneration control method, a construction machine control device and a construction machine. The invention belongs to the technical field of engine aftertreatment regeneration, and particularly relates to a regeneration control method of a hydraulic system. The regeneration control method of the hydraulic system comprises the steps of obtaining post-treatment carbon loading of an engine, judging that the post-treatment of the engine needs regeneration operation according to the working condition that the post-treatment carbon loading is larger than a carbon loading threshold, obtaining the rotating speed of the engine before regeneration according to the regeneration operation needed by the post-treatment of the engine, obtaining the operating parameters of the hydraulic system before regeneration according to the rotating speed of the engine before regeneration being smaller than the regeneration needed rotating speed, carrying out engine regeneration operation, obtaining the operating parameters of the hydraulic system after regeneration, and controlling a power adjusting module of the hydraulic system to adjust the flow of the hydraulic pump after regeneration to be identical with the flow of the hydraulic pump before regeneration according to the operating parameters of the hydraulic system before regeneration and the operating parameters of the hydraulic system after regeneration. According to the technical scheme, the executive component of the regenerated hydraulic system is stable, and the reliability is improved.
Description
Technical Field
The invention belongs to the technical field of engine aftertreatment regeneration, and particularly relates to a regeneration control method of a hydraulic system, an engineering machine control device and engineering machinery.
Background
At present, a hydraulic system (mainly engineering machinery) taking a diesel engine as a power source needs to eliminate carbon deposition after post-treatment at regular intervals due to emission requirements, and the elimination of carbon deposition is mainly realized by increasing the rotation speed and increasing the exhaust temperature, and most of the prior art is realized by increasing the rotation speed of the engine by mechanical stopping, but energy and time are wasted. Some manufacturers can perform regeneration operation during operation, but the flow of a hydraulic system is suddenly changed due to the increase of the rotation speed of the engine, and the action of a hydraulic executive component is suddenly changed, so that risks and uncertainty are brought to the operation.
Disclosure of Invention
The invention aims to at least solve the problem that the hydraulic system is suddenly changed during regeneration operation. The aim is achieved by the following technical scheme:
the first aspect of the present invention proposes a regeneration control method of a hydraulic system, comprising:
Acquiring the post-treatment carbon load of an engine;
Judging that the engine aftertreatment needs regeneration operation according to the fact that the aftertreatment carbon loading is larger than a carbon loading threshold and the engineering machinery is in an operation working condition;
acquiring the rotating speed of the engine before regeneration according to the regeneration operation required by the aftertreatment of the engine;
Acquiring operation parameters of a hydraulic system before regeneration according to the fact that the rotating speed of the engine before regeneration is smaller than the rotating speed required by regeneration;
performing engine regeneration operation, and acquiring operation parameters of the regenerated hydraulic system;
And controlling a power adjusting module of the hydraulic system to adjust the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration according to the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration.
According to the technical scheme of the invention, when the post-treatment carbon load of the engine is larger than the carbon load threshold and the engineering machinery is under the working condition, the engine needs to perform regeneration operation under the working condition, the rotating speed of the engine before regeneration is firstly obtained, if the rotating speed of the engine before regeneration is smaller than the rotating speed required by regeneration, under the condition of regeneration lifting, the abrupt change of the output flow of the hydraulic system is caused, so that the action of an executive element of the hydraulic system is abrupt, and risks and uncertainties are brought to the operation.
In addition, the regeneration control method of the hydraulic system according to the present invention may further have the following additional technical features:
in some embodiments of the present invention, the acquiring the hydraulic system operation parameter before regeneration according to the engine rotation speed before regeneration being less than the regeneration demand rotation speed includes:
According to the engine speed before regeneration is less than the regeneration demand speed, acquiring output torque before engine regeneration and hydraulic pump outlet pressure before engine regeneration;
Calculating the flow of the hydraulic pump before regeneration by using a formula T1 x 2 pi x n 1=eta x P1 x Q1 according to the output torque before regeneration and the rotating speed before regeneration of the engine;
wherein T1 is the output torque before the regeneration of the engine, n1 is the rotating speed before the regeneration of the engine, P1 is the outlet pressure of the hydraulic pump before the regeneration of the engine, Q1 is the flow of the hydraulic pump before the regeneration, and eta is the efficiency coefficient.
In some embodiments of the invention, the performing an engine regeneration operation and obtaining regenerated hydraulic system operating parameters includes:
Performing engine regeneration operation, and acquiring output torque after engine regeneration, hydraulic pump outlet pressure after engine regeneration and rotational speed after engine regeneration;
calculating a flow rate of the regenerated hydraulic pump by using a formula T2 x2 pi x n 2=η x P2 x Q2 according to the output torque after the engine is regenerated, the hydraulic pump outlet pressure after the engine is regenerated and the rotating speed after the engine is regenerated;
wherein, T2 is the output torque after the regeneration of the engine, n2 is the rotating speed after the regeneration of the engine, P2 is the outlet pressure of the hydraulic pump after the regeneration of the engine, and Q2 is the flow of the hydraulic pump after the regeneration.
In some embodiments of the present invention, the controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration includes:
The flow of the hydraulic pump after regeneration is compared with the flow of the hydraulic pump before regeneration, and the power of the hydraulic pump is regulated by a power regulation module of the hydraulic pump so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration.
In some embodiments of the invention, the pre-regeneration hydraulic system operating parameters include pre-engine regeneration output torque, pre-engine regeneration speed, and pre-engine regeneration hydraulic pump outlet pressure, and the post-regeneration hydraulic system operating parameters include post-engine regeneration speed.
In some embodiments of the present invention, the controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration includes:
According to the hydraulic pump outlet pressure before the regeneration of the engine is more than or equal to the starting and regulating pressure of the hydraulic pump, judging that the hydraulic pump is in a constant torque state;
calculating the output torque after the engine regeneration according to the constant torque state of the hydraulic pump by using a formula T3 x 2 pi x n3 = T4 x 2 pi x n 4;
according to the regenerated output torque of the engine, a first power value of the power adjusting module is obtained, and the power of the hydraulic pump is adjusted to the first power value, so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration;
Wherein T3 is the output torque before the regeneration of the engine, n3 is the rotation speed before the regeneration of the engine, T4 is the output torque before the regeneration of the engine, and n4 is the rotation speed after the regeneration of the engine.
In some embodiments of the invention, the pre-regeneration hydraulic system operating parameters include pre-engine hydraulic pump outlet pressure, and pre-regeneration hydraulic pump flow, and the post-regeneration hydraulic system operating parameters include post-engine regeneration rotational speed.
In some embodiments of the present invention, the controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration includes:
According to the hydraulic pump outlet pressure less than or equal to the starting and regulating pressure of the hydraulic pump before the engine regenerates, judging that the hydraulic pump is in a non-constant torque state;
Calculating the output torque after the engine regeneration according to the non-constant torque state of the hydraulic pump by using a formula eta, P3, Q3 = T5, pi, n 5;
According to the regenerated output torque of the engine, a second power value of the power adjusting module is obtained, and the power of the hydraulic pump is adjusted to the second power value, so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration;
Wherein P3 is the outlet pressure of the hydraulic pump before the regeneration of the engine, Q3 is the flow of the hydraulic pump of the engine, T5 is the torque output before the regeneration of the engine, n5 is the rotating speed after the regeneration of the engine, and eta is the efficiency coefficient.
The second aspect of the present invention provides an engineering machine control device, including:
The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the post-treatment carbon load of an engine, the rotating speed of the engine before regeneration, the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration;
The judging unit is used for judging that the post-treatment of the engine needs regeneration operation according to the fact that the post-treatment carbon load is larger than a carbon load threshold and the engineering machinery is in an operation working condition;
and the execution unit is used for performing engine regeneration operation and controlling the power regulation module of the hydraulic system to regulate the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration according to the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration.
The third aspect of the invention provides an engineering machine, comprising a processor, a memory and a bus, wherein the processor is connected with the memory through the bus, the memory is used for storing a program, the processor is used for running the program, and the program stored in the memory is executed by the processor when being run by the processor to execute the regeneration control method of the hydraulic system.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 schematically shows a schematic structural view of a hydraulic system according to an embodiment of the present invention;
FIG. 2 schematically illustrates a general logic flow diagram of a method of regeneration control of a hydraulic system according to an embodiment of the present disclosure;
fig. 3 schematically shows a logic flow diagram of a method of regeneration control of a hydraulic system according to a first embodiment of the invention;
FIG. 4 schematically illustrates a logic flow diagram of a method of regeneration control of a hydraulic system according to a second embodiment of the present invention;
fig. 5 schematically shows a block diagram of a construction machine according to an embodiment of the invention.
The reference numerals in the drawings are as follows:
10. An engine;
20. The hydraulic pump, 21, the power regulation module, 22, the first pressure sensor;
30. Load unit, 31, executive component, 32, main valve;
100. a processor;
200. A memory;
300. A bus.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "includes," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless an order of performance is explicitly stated. It should also be appreciated that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For ease of description, spatially relative terms, such as "inner," "outer," "lower," "below," "upper," "above," and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below" may include both upper and lower orientations.
Fig. 1 schematically shows a schematic structure of a hydraulic system according to an embodiment of the present invention. Fig. 2 schematically shows a general logic flow diagram of a method of regeneration control of a hydraulic system according to an embodiment of the invention. As shown in fig. 1 and 2, the present invention proposes a regeneration control method of a hydraulic system, including:
s1, acquiring an aftertreatment carbon load of the engine 10;
S2, judging that the aftertreatment of the engine 10 needs regeneration operation according to the fact that the aftertreatment carbon load is larger than a carbon load threshold and the engineering machinery is in an operation working condition;
s3, acquiring the rotating speed of the engine 10 before regeneration according to the regeneration operation required by the aftertreatment of the engine 10;
S4, acquiring operation parameters of the hydraulic system before regeneration according to the fact that the rotating speed of the engine 10 before regeneration is smaller than the rotating speed required by regeneration;
and S5, performing regeneration operation of the engine 10 and acquiring operation parameters of the regenerated hydraulic system, and S6, controlling a power adjusting module 21 of the hydraulic system to adjust the flow of the regenerated hydraulic pump 20 to be the same as the flow of the hydraulic pump 20 before regeneration according to the operation parameters of the hydraulic system before regeneration and the operation parameters of the hydraulic system after regeneration.
According to the technical scheme of the invention, when the post-treatment carbon load of the engine 10 is larger than the carbon load threshold and the engineering machinery 10 is under the working condition, the engine 10 needs to perform the regeneration operation under the working condition, the rotating speed of the engine 10 before regeneration is firstly obtained, if the rotating speed of the engine 10 before regeneration is smaller than the rotating speed required by regeneration, under the condition of regeneration lifting, the abrupt change of the output flow of the hydraulic system can be caused, so that the action of an executive element 31 of the hydraulic system has abrupt change, and risks and uncertainty are brought to the operation.
Further, in the present embodiment, as shown in fig. 1, the control method of the hydraulic system is implemented based on the hydraulic system, and the hydraulic system of the present invention includes an engine 10, a hydraulic pump 20, and a load unit 30, and the engine 10 provides a power source for the hydraulic system. The hydraulic pump 20 converts mechanical energy into hydraulic energy, in this embodiment a pump with a power control function. The outlet end of the hydraulic pump 20 is provided with a first pressure sensor 22 for sensing the outlet pressure of the hydraulic pump 20, or the inlet pressure of the main valve 32. The load cell 30 is provided with a second pressure sensor for detecting the highest pressure of the actuator 31, i.e. the load pressure.
Specifically, as shown in fig. 1, a main valve 32 is provided on the load unit 30, and the main valve 32 is used to control the movement direction of the actuator 31. The actuator 31 of the load unit 30 may be a hydraulic motor or a hydraulic cylinder for performing an action.
Specifically, as shown in fig. 1, the power adjustment module 21 of the hydraulic system may be a part of the hydraulic pump 20, or may be a separate module independent of the hydraulic pump 20, and mainly sets the power of the hydraulic pump 20 (substantially, the torque limitation, but the power setting is generally called in the industry).
In some embodiments of the present invention, based on the engine 10 having a speed less than the regeneration demand speed, the obtaining of the hydraulic system operating parameters prior to regeneration includes:
according to the fact that the rotating speed of the engine 10 before regeneration is smaller than the regeneration requirement rotating speed, the output torque of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 of the engine 10 before regeneration are obtained;
calculating a flow rate of the hydraulic pump 20 before regeneration by using the formula t1×2pi×n1=ηp1×q1, based on the output torque before regeneration of the engine 10 and the rotational speed before regeneration of the engine 10;
where T1 is the output torque of the engine 10 before regeneration, n1 is the rotational speed of the engine 10 before regeneration, P1 is the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, Q1 is the flow rate of the hydraulic pump 20 before regeneration, and η is the efficiency coefficient.
Specifically, in the present embodiment, Q1 is the theoretical flow of the hydraulic pump 20 before regeneration, which is the product of the rotational speed of the hydraulic pump 20 and the current displacement of the hydraulic pump 20, wherein the rotational speed of the hydraulic pump 20 is obtained by multiplying the rotational speed n1 of the engine 10 by the transmission ratio, and η is an efficiency coefficient, which includes the mechanical efficiency and the volumetric efficiency of the hydraulic pump 20.
In the present embodiment, the hydraulic pump 20 flow rate is calculated according to the actuator speed fluctuation demand, and the hydraulic pump 20 flow rate is equivalent to the output torque of the engine 10 when the speed stability demand is high.
In some embodiments of the present invention, performing a regeneration operation of engine 10 and obtaining operating parameters of the regenerated hydraulic system includes:
Performing a regeneration operation of the engine 10, and acquiring an output torque after the regeneration of the engine 10, an outlet pressure of the hydraulic pump 20 after the regeneration of the engine 10, and a rotational speed after the regeneration of the engine 10;
Calculating a flow rate of the regenerated hydraulic pump 20 by using a formula T2 x 2pi x n2=η x p2 x Q2 according to the regenerated output torque of the engine 10, the outlet pressure of the regenerated hydraulic pump 20 of the engine 10 and the regenerated rotational speed of the engine 10;
Wherein T2 is the output torque of the engine 10 after regeneration, n2 is the rotational speed of the engine 10 after regeneration, P2 is the outlet pressure of the hydraulic pump 20 after regeneration of the engine 10, and Q2 is the flow of the hydraulic pump 20 after regeneration.
Specifically, in the present embodiment, Q2 is the theoretical flow of the hydraulic pump 20 before regeneration, which is the product of the rotational speed of the hydraulic pump 20 and the current displacement of the hydraulic pump 20, wherein the rotational speed of the hydraulic pump 20 is obtained by multiplying the rotational speed n2 of the engine 10 by the transmission ratio, and η is an efficiency coefficient, which includes the mechanical efficiency and the volumetric efficiency of the hydraulic pump 20.
In the present embodiment, the hydraulic pump 20 flow rate is calculated according to the actuator speed fluctuation demand, and the hydraulic pump 20 flow rate is equivalent to the output torque of the engine 10 when the speed stability demand is high.
In some embodiments of the present invention, controlling the power adjustment module 21 of the hydraulic system to adjust the flow rate of the post-regeneration hydraulic pump 20 to be the same as the flow rate of the pre-regeneration hydraulic pump 20 based on the pre-regeneration hydraulic system operation parameter and the post-regeneration hydraulic system operation parameter includes:
The flow rate of the hydraulic pump 20 after regeneration and the flow rate of the hydraulic pump 20 before regeneration are compared, and the power of the hydraulic pump 20 is adjusted by the power adjustment module 21 of the hydraulic pump 20 so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.
Specifically, in the present embodiment, in comparing the flow rate of the hydraulic pump 20 after regeneration and the flow rate of the hydraulic pump 20 before regeneration, if the flow rate of the hydraulic pump 20 after regeneration exceeds the flow rate of the hydraulic pump 20 before regeneration, the output of the power adjustment module 21 of the hydraulic pump 20 is adjusted, that is, the power setting of the hydraulic pump 20 is lowered so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration. If the flow rate of the hydraulic pump 20 after regeneration is lower than the flow rate of the hydraulic pump 20 before regeneration, the output of the power adjustment module 21 of the hydraulic pump 20 is adjusted, i.e., the power setting of the hydraulic pump 20 is raised, so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.
Specifically, as shown in fig. 3, the control flow of the first control method is as follows:
Detecting that the post-treatment carbon deposit of the engine 10 reaches a regeneration threshold value, and when the engineering machinery is in an operation working condition, the required operation speed is gentle;
When the rotation speed of the engine 10 before regeneration is higher than the regeneration required rotation speed of the engine 10, the engine 10 is regenerated without increasing the rotation speed, the non-inductive regeneration function is not triggered (namely, the executive component 31 does not generate mutation during regeneration and has no mutation feeling generated by regeneration), and when the rotation speed of the engine 10 before regeneration is lower than the regeneration required rotation speed of the engine 10, the non-inductive regeneration condition is triggered;
Detecting the output torque of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, and determining the flow of the hydraulic pump 20 before regeneration;
After the customer determines regeneration, the engine 10 increases the rotation speed to enter a regeneration working condition, and the output flow of the hydraulic pump 20 after regeneration is calculated in real time and compared with the flow of the hydraulic pump 20 before regeneration;
Decreasing the power setting of the hydraulic pump 20 when the flow rate of the hydraulic pump 20 after regeneration is greater than the flow rate of the hydraulic pump 20 before regeneration;
The hydraulic system is controlled by taking the power set value of the hydraulic pump 20 as a non-inductive regeneration override parameter when the regeneration rotating speed is reached and the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration;
The current job is ended and the reproduction operation is not ended, and regenerating the operation function according to whether the client keeps the noninductive operation.
In some embodiments of the present invention, the pre-regeneration hydraulic system operating parameters include the pre-regeneration output torque of engine 10, the pre-regeneration rotational speed of engine 10, and the outlet pressure of hydraulic pump 20 of engine 10, and the post-regeneration hydraulic system operating parameters include the post-regeneration rotational speed of engine 10.
In some embodiments of the present invention, controlling the power adjustment module 21 of the hydraulic system to adjust the flow rate of the post-regeneration hydraulic pump 20 to be the same as the flow rate of the pre-regeneration hydraulic pump 20 based on the pre-regeneration hydraulic system operation parameter and the post-regeneration hydraulic system operation parameter includes:
judging that the hydraulic pump 20 is in a constant torque state according to the starting and regulating pressure of the hydraulic pump 20 which is equal to or higher than the outlet pressure of the hydraulic pump 20 before the regeneration of the engine 10;
Calculating the output torque of the engine 10 after regeneration according to the hydraulic pump 20 in a constant torque state and using the formula t3×2pi×n3=t4×2pi×n4;
Acquiring a first power value of the power adjustment module 21 according to the regenerated output torque of the engine 10, and adjusting the power of the hydraulic pump 20 to the first power value so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration;
Wherein T3 is the output torque before regeneration of the engine 10, n3 is the rotational speed before regeneration of the engine 10, T4 is the output torque before regeneration of the engine 10, and n4 is the rotational speed after regeneration of the engine 10.
Specifically, in the present embodiment, the hydraulic pump 20 has two states, the first is a constant torque state (torque is maximized and constant, power is constant at a constant rotational speed, and the outlet pressure and the displacement of the hydraulic pump 20 are inversely proportional), and the second is a non-constant torque state (torque is lower than a constant torque condition, and the outlet pressure and the displacement of the hydraulic pump 20 are independent). Whether the constant torque working condition is achieved is determined by whether the outlet pressure of the hydraulic pump 20 before regeneration reaches the set starting pressure of the torque at the moment, the constant torque working condition is achieved when the outlet pressure of the hydraulic pump 20 before regeneration is not lower than the starting pressure, and the non-constant torque working condition is achieved when the outlet pressure of the hydraulic pump 20 before regeneration is lower than the starting pressure.
Further, in the present embodiment, since the hydraulic pump 20 outlet pressure is equal to or higher than the start-up pressure of the hydraulic pump 20 after the regeneration of the engine 10, the hydraulic pump 20 flow rate is substantially unchanged when the torque is inversely proportional to the rotational speed of the engine 10 and the product is unchanged, as is known from the formula t3×2pi×n3=t4×2pi×n 4. Therefore, the flow rate of the hydraulic pump 20 before regeneration can be calculated from the output torque before regeneration of the engine 10 and the rotational speed before regeneration of the engine 10, and the corresponding output torque after regeneration of the engine 10 can be calculated from the rotational speed of the engine 10 raised after regeneration, and the hydraulic pump 20 is acted on by the power adjustment module 21, so that the flow rates of the hydraulic pump 20 before and after regeneration are maintained unchanged.
Specifically, in the present embodiment, the output torque of the engine 10 after regeneration and the output torque of the hydraulic pump 20 are in a proportional relationship, and can be obtained by a corresponding proportional coefficient, and the output torque of the hydraulic pump 20 and the power adjustment module 21 of the hydraulic pump 20 also have a corresponding proportional coefficient, so that the first power value of the power adjustment module 21 can be obtained from the output torque of the engine 10 after regeneration, and the power of the hydraulic pump 20 can be adjusted to the first power value, so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.
In some embodiments of the present invention, the pre-regeneration hydraulic system operating parameters include the pre-regeneration hydraulic pump 20 outlet pressure and the pre-regeneration hydraulic pump 20 flow rate of the engine 10, and the post-regeneration hydraulic system operating parameters include the post-regeneration rotational speed of the engine 10.
In some embodiments of the present invention, controlling the power adjustment module 21 of the hydraulic system to adjust the flow rate of the post-regeneration hydraulic pump 20 to be the same as the flow rate of the pre-regeneration hydraulic pump 20 based on the pre-regeneration hydraulic system operation parameter and the post-regeneration hydraulic system operation parameter includes:
judging that the hydraulic pump 20 is in a non-constant torque state according to the starting and regulating pressure of the hydraulic pump 20 which is less than or equal to the outlet pressure of the hydraulic pump 20 before the regeneration of the engine 10;
Calculating the output torque of the engine 10 after regeneration according to the hydraulic pump 20 in a non-constant torque state and by using the formula ηp3=t5×2pi×n5;
acquiring a second power value of the power adjustment module 21 according to the regenerated output torque of the engine 10, and adjusting the power of the hydraulic pump 20 to the second power value so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration;
Wherein P3 is the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, Q3 is the flow of the hydraulic pump 20 before regeneration, T5 is the output torque before regeneration of the engine 10, n5 is the rotational speed after regeneration of the engine 10, and eta is the efficiency coefficient.
Further, in the present embodiment, the flow rate of the hydraulic pump 20 before regeneration can be accurately measured by a flow meter at the outlet position of the hydraulic pump. The pre-regeneration hydraulic pump 20 flow rate can also be calculated by obtaining the pre-regeneration output torque of the engine 10, the pre-regeneration rotation speed of the engine 10, and the outlet pressure of the pre-regeneration hydraulic pump 20 of the engine 10, and using the formula t×2pi×n=η×p×q.
Specifically, in the case where the load sensitivity is not active in the hydraulic system, the pre-regeneration hydraulic pump 20 flow rate can also be calculated by the formula q=v×n, where V is the hydraulic pump displacement and n is the engine pre-regeneration rotational speed.
It is known from the equation ηp3=t5×2pi×n5 that when the torque is inversely proportional to the rotational speed of the engine 10 and the product is unchanged, the flow rate of the hydraulic pump 20 is substantially unchanged. Therefore, the flow rate of the hydraulic pump 20 before regeneration can be calculated by the above method, and the rotational speed of the engine 10 raised after regeneration can be used to calculate the output torque of the corresponding engine 10 after regeneration, and the power adjustment module 21 can act on the hydraulic pump 20 to maintain the flow rate of the hydraulic pump 20 before and after regeneration.
Specifically, in the present embodiment, the output torque of the engine 10 after regeneration and the output torque of the hydraulic pump 20 are in a proportional relationship, and can be obtained by a corresponding proportional coefficient, and the output torque of the hydraulic pump 20 and the power adjustment module 21 of the hydraulic pump 20 also have a corresponding proportional coefficient, so that the second power value of the power adjustment module 21 can be obtained from the output torque of the engine 10 after regeneration, and the power of the hydraulic pump 20 can be adjusted to the second power value, so that the flow rate of the hydraulic pump 20 after regeneration is the same as the flow rate of the hydraulic pump 20 before regeneration.
Specifically, as shown in fig. 4, the control flow of the second control method is:
Detecting that the post-treatment carbon deposit of the engine 10 reaches a regeneration threshold value, and when the engineering machinery is in an operation working condition, the required operation speed is gentle;
When the rotation speed of the engine 10 before regeneration is higher than the regeneration required rotation speed of the engine 10, the engine 10 is regenerated without increasing the rotation speed, the non-inductive regeneration function is not triggered (namely, the executive component 31 does not generate mutation during regeneration and has no mutation feeling generated by regeneration), and when the rotation speed of the engine 10 before regeneration is lower than the regeneration required rotation speed of the engine 10, the non-inductive regeneration condition is triggered;
monitoring the output torque of the engine 10 before regeneration and the outlet pressure of the hydraulic pump 20 before regeneration of the engine 10, and determining the flow of the hydraulic pump 20 before regeneration;
After the customer determines regeneration, the engine 10 increases the rotation speed to enter a regeneration working condition, and the comparison is carried out on the pressure regulation and the outlet pressure of the hydraulic pump 20 after regeneration;
When the outlet pressure of the hydraulic pump 20 before regeneration is not lower than the starting regulation pressure, the hydraulic pump 20 is in a constant torque working condition (constant power), the output torque after regeneration of the engine 10 is calculated by using a formula T3 x 2pi x n 3=t4 x 2pi x n4, and a first power value is determined by the output torque after regeneration of the engine 10;
When the outlet pressure of the hydraulic pump 20 before regeneration is lower than the starting regulation pressure, the hydraulic pump 20 is in a non-constant torque working condition (non-constant power), the output torque after the regeneration of the engine 10 is calculated by using a formula eta, P3, Q3=t5, pi, n5, and a second power value is determined according to the output torque after the regeneration of the engine 10;
The hydraulic system is controlled by taking the power set value of the hydraulic pump 20 as a non-inductive regeneration override parameter when the regeneration rotating speed is reached and the flow of the hydraulic pump 20 after regeneration is equal to the flow of the hydraulic pump 20 before regeneration;
The current job is ended and the reproduction operation is not ended, and regenerating the operation function according to whether the client keeps the noninductive operation.
Specifically, in the embodiment of the third control method of the present invention, the setting parameters of each rotation speed override module lower than the regeneration rotation speed are calibrated by theoretical calculation, on-site actuator speed calibration, first control method calibration, or second control method calibration, and the non-inductive regeneration is realized according to the lookup table of the real-time operation working condition (such as system pressure) and the operation parameters (such as handle opening degree), and the control flow is as follows:
Detecting that the post-treatment carbon deposit of the engine 10 reaches a regeneration threshold value, and when the engineering machinery is in an operation working condition, the required operation speed is gentle;
When the rotating speed of the engine 10 before regeneration is higher than the regeneration demand rotating speed, the engine 10 regenerates without increasing the rotating speed, the non-inductive regeneration function is not triggered, and when the rotating speed of the engine 10 before regeneration is lower than the regeneration demand rotating speed of the engine 10, the non-inductive regeneration condition is triggered;
recording the rotational speed of the engine 10 and hydraulic system parameters and artificial operation parameters at the moment;
according to the current engine 10 rotation speed, hydraulic system parameters and artificial operation parameters, during regeneration, the engine 10 is accelerated, and according to the engine 10 rotation speed, the hydraulic system parameters and the artificial operation parameters, the parameters of the power control module are determined by table lookup;
after the current operation is completed and regeneration is not completed, the actual control parameters of the main valve 32 are determined according to whether the client retains the function of the non-inductive regeneration operation.
The invention also provides an engineering machinery control device, which comprises:
An acquisition unit for acquiring a post-treatment carbon load of the engine 10, a rotational speed of the engine 10 before regeneration, a hydraulic system operation parameter before regeneration, and a hydraulic system operation parameter after regeneration;
the judging unit is used for judging that the post-treatment of the engine 10 needs regeneration operation according to the fact that the post-treatment carbon load is larger than a carbon load threshold and the engineering machinery is in an operation working condition;
And an execution unit for performing a regenerative operation of the engine 10 and controlling the power adjustment module 21 of the hydraulic system to adjust the flow rate of the post-regeneration hydraulic pump 20 to be the same as the flow rate of the pre-regeneration hydraulic pump 20 according to the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration.
The invention also provides an engineering machine, as shown in fig. 5, comprising a processor 100, a memory 200 and a bus 300, wherein the processor 100 is connected with the memory 200 through the bus 300, the memory 200 is used for storing a program, the processor 100 is used for running the program, and the regeneration control method of the hydraulic system is executed when the program stored in the memory is run by the processor 100.
Those of skill would further appreciate that the various illustrative logical blocks, modules, circuits, and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The various illustrative logical modules, and circuits described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.
In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software as a computer program product, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media may be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is properly termed a computer-readable medium. For example, if the software is transmitted from a web site, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. Disk (disk) and disc (disk) as used herein include Compact Disc (CD), laser disc, optical disc, digital Versatile Disc (DVD), floppy disk and blu-ray disc where disks (disk) usually reproduce data magnetically, while discs (disk) reproduce data optically with lasers. Combinations of the above should also be included within the scope of storage media.
The present invention is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present invention are intended to be included in the scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (10)
1. A regenerative control method of a hydraulic system, characterized by comprising:
Acquiring the post-treatment carbon load of an engine;
Judging that the engine aftertreatment needs regeneration operation according to the fact that the aftertreatment carbon loading is larger than a carbon loading threshold and the engineering machinery is in an operation working condition;
acquiring the rotating speed of the engine before regeneration according to the regeneration operation required by the aftertreatment of the engine;
Acquiring operation parameters of a hydraulic system before regeneration according to the fact that the rotating speed of the engine before regeneration is smaller than the rotating speed required by regeneration;
performing engine regeneration operation, and acquiring operation parameters of the regenerated hydraulic system;
And controlling a power adjusting module of the hydraulic system to adjust the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration according to the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration.
2. The method according to claim 1, wherein the obtaining the operation parameters of the hydraulic system before regeneration according to the engine rotation speed before regeneration being smaller than the regeneration demand rotation speed comprises:
According to the engine speed before regeneration is less than the regeneration demand speed, acquiring output torque before engine regeneration and hydraulic pump outlet pressure before engine regeneration;
Calculating the flow of the hydraulic pump before regeneration by using a formula T1 x 2 pi x n 1=eta x P1 x Q1 according to the output torque before regeneration and the rotating speed before regeneration of the engine;
wherein T1 is the output torque before the regeneration of the engine, n1 is the rotating speed before the regeneration of the engine, P1 is the outlet pressure of the hydraulic pump before the regeneration of the engine, Q1 is the flow of the hydraulic pump before the regeneration, and eta is the efficiency coefficient.
3. The method of regenerating a hydraulic system according to claim 2, wherein performing an engine regenerating operation and acquiring the regenerated hydraulic system operation parameter includes:
Performing engine regeneration operation, and acquiring output torque after engine regeneration, hydraulic pump outlet pressure after engine regeneration and rotational speed after engine regeneration;
calculating a flow rate of the regenerated hydraulic pump by using a formula T2 x2 pi x n 2=η x P2 x Q2 according to the output torque after the engine is regenerated, the hydraulic pump outlet pressure after the engine is regenerated and the rotating speed after the engine is regenerated;
wherein, T2 is the output torque after the regeneration of the engine, n2 is the rotating speed after the regeneration of the engine, P2 is the outlet pressure of the hydraulic pump after the regeneration of the engine, and Q2 is the flow of the hydraulic pump after the regeneration.
4. The method according to claim 3, wherein controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration based on the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration comprises:
The flow of the hydraulic pump after regeneration is compared with the flow of the hydraulic pump before regeneration, and the power of the hydraulic pump is regulated by a power regulation module of the hydraulic pump so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration.
5. The method according to claim 1, wherein the hydraulic system operation parameters before regeneration include an output torque before engine regeneration, a rotational speed before engine regeneration, and a hydraulic pump outlet pressure before engine regeneration, and the hydraulic system operation parameters after regeneration include a rotational speed after engine regeneration.
6. The method according to claim 5, wherein controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration based on the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration comprises:
According to the hydraulic pump outlet pressure before the regeneration of the engine is more than or equal to the starting and regulating pressure of the hydraulic pump, judging that the hydraulic pump is in a constant torque state;
calculating the output torque after the engine regeneration according to the constant torque state of the hydraulic pump by using a formula T3 x 2 pi x n3 = T4 x 2 pi x n 4;
according to the regenerated output torque of the engine, a first power value of the power adjusting module is obtained, and the power of the hydraulic pump is adjusted to the first power value, so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration;
Wherein T3 is the output torque before the regeneration of the engine, n3 is the rotation speed before the regeneration of the engine, T4 is the output torque before the regeneration of the engine, and n4 is the rotation speed after the regeneration of the engine.
7. The method according to claim 1, wherein the hydraulic system operation parameters before regeneration include an engine hydraulic pump outlet pressure before regeneration and a hydraulic pump flow before regeneration, and the hydraulic system operation parameters after regeneration include an engine post-regeneration rotation speed.
8. The method according to claim 7, wherein controlling the power adjustment module of the hydraulic system to adjust the flow rate of the hydraulic pump after regeneration to be the same as the flow rate of the hydraulic pump before regeneration according to the hydraulic system operation parameter before regeneration and the hydraulic system operation parameter after regeneration comprises:
According to the hydraulic pump outlet pressure less than or equal to the starting and regulating pressure of the hydraulic pump before the engine regenerates, judging that the hydraulic pump is in a non-constant torque state;
Calculating the output torque after the engine regeneration according to the non-constant torque state of the hydraulic pump by using a formula eta, P3, Q3 = T5, pi, n 5;
According to the regenerated output torque of the engine, a second power value of the power adjusting module is obtained, and the power of the hydraulic pump is adjusted to the second power value, so that the flow of the hydraulic pump after regeneration is the same as the flow of the hydraulic pump before regeneration;
Wherein P3 is the outlet pressure of the hydraulic pump before the regeneration of the engine, Q3 is the flow of the hydraulic pump before the regeneration, T5 is the torque output before the regeneration of the engine, n5 is the rotating speed after the regeneration of the engine, and eta is the efficiency coefficient.
9. A construction machine control device, comprising:
The system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is used for acquiring the post-treatment carbon load of an engine, the rotating speed of the engine before regeneration, the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration;
The judging unit is used for judging that the post-treatment of the engine needs regeneration operation according to the fact that the post-treatment carbon load is larger than a carbon load threshold and the engineering machinery is in an operation working condition;
and the execution unit is used for performing engine regeneration operation and controlling the power regulation module of the hydraulic system to regulate the flow of the hydraulic pump after regeneration to be the same as the flow of the hydraulic pump before regeneration according to the hydraulic system operation parameters before regeneration and the hydraulic system operation parameters after regeneration.
10. The engineering machine is characterized by comprising a processor, a memory and a bus, wherein the processor is connected with the memory through the bus, the memory is used for storing a program, the processor is used for running the program, and the regeneration control method of the hydraulic system according to any one of claims 1-8 is executed when the program stored in the memory is run by the processor.
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| CN202510110083.8A CN119982167A (en) | 2025-01-23 | 2025-01-23 | Regeneration control method of hydraulic system, engineering machinery control device and engineering machinery |
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| CN202510110083.8A CN119982167A (en) | 2025-01-23 | 2025-01-23 | Regeneration control method of hydraulic system, engineering machinery control device and engineering machinery |
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| DE102022211654A1 (en) * | 2022-11-04 | 2024-05-08 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method and device for operating a reducing agent injection system for an exhaust aftertreatment device of an internal combustion engine |
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