CN102582683B - Device and method for optimization control of random friction of four-tracked counterweight trolley - Google Patents

Abstract

The invention discloses a device and a method for optimization control of random friction of a four-tracked counterweight trolley. The device comprises a main unit and the four-tracked counterweight trolley, each track of the counterweight trolley comprises an independent hydraulic motor used for driving the track, and the device further comprises an angle control module, a speed control module, a measurement module, a detection module, a first PID (proportion integration differentiation) module, a curve correction module, a superposition module, a second PID module and a hydraulic motor control module. The angle control module is used for controlling angles of the counterweight trolley and the main unit, the speed control module is used for controlling forward speed of the counterweight trolley, the measurement module is used for measuring angles of the counterweight trolley and the main unit, and the detection module is used for detecting rotation speed of tracks of the counterweight trolley. The device and the method for optimization control of random friction of the four-tracked counterweight trolley have the advantages that the problem of frequent direction angle adjustment during synchronous rotation of the super-lifting tracked counterweight trolley can be solved, and accordingly rotation noise is reduced, and the service lives of parts can be prolonged.

Description

Optimized control device and the control method of four crawler belt counterweight trolley random frictions

Technical field

The present invention relates to the synchronization-moving mode of a kind of superlift counterweight of crane dolly, especially a kind of optimized control device and control method of four crawler belt counterweight trolley random frictions.

Background technology

Super-starting balance weight dolly is mainly used in large-tonnage crawler crane and full Terrain Cranes, and it coordinates the stability that increases arm with super lifting device, give full play to the performance of crane arm support, once expands the Applicable scope of hoisting crane.

Existing large tonnage crawler crane super-starting balance weight dolly generally adopts crawler type or rubber-tyred traveling gear, and the connection scheme of main frame and dolly substantially adopts and is rigidly connected.With respect to crawler-type traveling scheme, rubber-tyred complex structure, expensive and loss is very big.Be rigidly connected it is high to require for the mechanical characteristics of the bindiny mechanism between dolly and main frame simultaneously, and is not easy to super-starting balance weight dolly with crawler crane synchronous walking, and is unfavorable for adjusting super-starting balance weight skew, and has the liftoff hidden danger of tumbling that causes of super-starting balance weight.

For above-mentioned problem, there is multivariant four crawler belt counterweight trolley synchronous control systems and control method (China Patent Publication No. CN101973314A) and disclose a kind of 5 degree of freedom, adopt two car body four crawler belts and can synchronously advance and retreat with main frame, rotating super-starting balance weight dolly.This scheme adopts traditional PID control system, according to the desired orientation angle that under the synchronous revolving operating mode of system-computed, counterweight trolley crawler belt should reach, and the current actual angle value passed back of angular transducer, after a pid control module, set respectively the interior outside of two car bodies crawler belt of counterweight trolley, expect a correction of motor rotary speed, subsequently, again through second pid control module, according to motor tachogen current speed feedback on crawler belt, output signal drives HM Hydraulic Motor, drive outside crawler travel in dolly, thereby order about counterweight trolley around main frame synchronous revolving in the situation that, adjust crawler belt direction angle simultaneously.

Because ground has randomness and mutability to the friction drive on every crawler belt, every caterpillar block: such as, in the situation that surface evenness is inadequate, the phenomenon that there will be indivedual crawler belts to soar.The interference in this external world has increased the difficulty that on-the-spot two-stage pid parameter is adjusted, and the situation of direction angle overshoot, concussion is inevitable.The super-starting balance weight dolly of the super-tonnage crawler crane kiloton that generally weighs, the frequent adjusting of crawler belt direction angle can cause huge noise, reduces the service life of dolly simultaneously.

Summary of the invention

For the existing the problems referred to above of existing multiple degree of freedom four crawler belt counterweight trolley synchro control, the invention provides a kind of optimized control device and control method of four crawler belt counterweight trolley random frictions.

The technological means that technical solution problem of the present invention adopts is:

A kind of optimized control device of four crawler belt counterweight trolley random frictions, comprise the counterweight trolley of main frame and four crawler belts, every crawler belt of described counterweight trolley comprises independently in order to drive the HM Hydraulic Motor of crawler belt, wherein, comprise the angle control module for controlling described counterweight trolley and described main frame angle, for controlling the rate control module of counterweight trolley speed of advance, for measuring the measurement module of described counterweight trolley and described main frame angle, for detection of the detection module of described counterweight trolley crawler belt rotating speed, the one PID module, curve correcting module, laminating module, the 2nd PID module and HM Hydraulic Motor control module,

The input end of a described PID module is connected respectively with described angle control module and described measurement module, in order to receive the expected angle of described angle control module output and the actual angle of described measurement module output as parameter;

The input end of described curve correcting module is connected with the mouth of a described PID module, in order to receive the hydraulic motor rotary speed correction of a described PID module output, and output hydraulic pressure motor rotary speed second-order correction value;

The input end of described laminating module is connected respectively with mouth and the described rate control module of described curve correcting module, in order to receive the hydraulic motor rotary speed second-order correction value of described curve correcting module output and the rotating speed expectation value of the chaufeur of described rate control module output to HM Hydraulic Motor;

The mouth of described the 2nd input end of PID module and the mouth of described laminating module and described detection module is connected respectively, in order to receive the hydraulic motor rotary speed expectation value of described laminating module output and the HM Hydraulic Motor actual speed of described detection module output as parameter;

The mouth of described the 2nd PID module is connected with described HM Hydraulic Motor control module, and described the 2nd PID module output hydraulic pressure motor rotary speed value is to described HM Hydraulic Motor control module.

The optimized control device of above-mentioned four crawler belt counterweight trolley random frictions, wherein, the preset curve correction function of described curve correcting module, the concrete formula of described curve correction function is as follows:

$I_{x(z,w)}=\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$ Monotone increasing, or $I_{x(z,w)}=1-\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$

Monotone decreasing, wherein:

z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].

An optimal control method for four crawler belt counterweight trolley random frictions, wherein, comprises the optimized control device of four above-mentioned crawler belt counterweight trolley random frictions, specifically comprises the steps:

Step a, described angle control module calculate the expected angle of described counterweight trolley crawler belt according to operating mode and main frame and counterweight trolley relative position relation;

The actual angle of step b, counterweight trolley crawler belt that the expected angle obtaining in described step a and described measurement module are detected is inputted the hydraulic motor rotary speed correction that a described PID module output is expected;

Step c, the hydraulic motor rotary speed correction obtaining is inputted to described curve correcting module do further correction in described step b, formation is one group of hydraulic motor rotary speed second-order correction value that band size is identical, symbol is contrary that acts on respectively two shoes in left and right of super-starting balance weight dolly;

Steps d, by described step c, obtain one just, the chaufeur that transmits of negative one group of hydraulic motor rotary speed correction and described rate control module superposes by laminating module to the rotating speed expectation value of HM Hydraulic Motor, exports the hydraulic motor rotary speed expectation value of one group of corresponding left and right crawler belt;

The motor actual speed that the hydraulic motor rotary speed expectation value of step e, every crawler belt and described detection module detect this article of crawler belt obtaining transfers to described the 2nd PID module;

Step f, described the 2nd PID module output hydraulic pressure motor rotary speed value are to described HM Hydraulic Motor control module.

The optimal control method of above-mentioned four crawler belt counterweight trolley random frictions, wherein, curve correcting module described in described step c is revised by preset curve correction function, and the concrete formula of described curve correction function is as follows:

$I_{x(z,w)}=\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$ Monotone increasing, or $I_{x(z,w)}=1-\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$

Monotone decreasing, wherein:

z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].

The optimal control method of above-mentioned four crawler belt counterweight trolley random frictions, wherein, described HM Hydraulic Motor control module comprises motor Hydraulic Pump, described motor Hydraulic Pump comprises proportion magnetic valve, in described step f, extremely described proportion magnetic valve is to control the aperture of described proportion magnetic valve for electric current corresponding to described the 2nd PID module output hydraulic pressure motor rotary speed value, and described motor Hydraulic Pump changes the different hydraulic-driven power of output to described HM Hydraulic Motor according to the aperture of described proportion magnetic valve.

The optimal control method of above-mentioned four crawler belt counterweight trolley random frictions, wherein, the method for further revising described hydraulic motor rotary speed correction in described step c specifically comprises the steps:

Step c1, the described hydraulic motor rotary speed correction that a described PID module is exported are normalized, and convert the value between 0 to 1 to by described hydraulic motor rotary speed correction;

Step c2, the described hydraulic motor rotary speed correction after normalized in described step c1 is calculated to corresponding output valve as the independent variable of described curve correction function, the scope of described output valve is between 0 to 1;

Step c3, by the multiplying each other without normalized described hydraulic motor rotary speed correction and the output valve that described step c2 obtains of a described PID module output, obtain an absolute value and be less than or equal to the value without normalized described hydraulic motor rotary speed correction that a described PID module exports as correction result.

The optimal control method of above-mentioned four crawler belt counterweight trolley random frictions, wherein, the method that calculates corresponding output valve according to described curve correction function in described step c2 comprises the steps:

Step S1, calculate described curve correction function by Computer and regulate under parameters all curves corresponding within the scope of whole district value at different curve shapes, and the point on all described curves is converted into form with predetermined accuracy;

Step S2, the form obtaining in described step S1 is stored into described curve correcting module;

Step S3, search corresponding output valve according to the described hydraulic motor rotary speed correction after normalized with described form.

The invention has the beneficial effects as follows:

Greatly simplify the crawler belt difficulty that PID controls when synchronous revolving on the large ground of change in friction force, by the adjusting of a parameter, can both retain the regulating characteristic of PID, regulated rapidly again and control the sensitivity of correction for error.Utilize this control method for random friction, can solve super-starting balance weight pedrail in the time of synchronous revolving, frequently regulate the problem of direction angle, thereby reduced revolution noise, improved the life-span of parts.

Accompanying drawing explanation

Fig. 1 is the main frame of optimized control device and the structural representation of counterweight trolley of the present invention's four crawler belt counterweight trolley random frictions;

Fig. 2 is the structural representation of the optimized control device of the present invention's four crawler belt counterweight trolley random frictions;

Fig. 3 is the FB(flow block) of the optimal control method of the present invention's four crawler belt counterweight trolley random frictions;

Fig. 4 is that the curve correction function of the optimal control method of the present invention's four crawler belt counterweight trolley random frictions regulates the diagram of curves forming under the different value condition of parameter z in curve shape;

Fig. 5 is that the curve correction function of the optimal control method of the present invention's four crawler belt counterweight trolley random frictions regulates the diagram of curves forming under the different value condition of parameter w in curve shape;

Fig. 6 is the FB(flow block) of the method for the curve correcting module correction hydraulic motor rotary speed correction of the optimal control method of the present invention's four crawler belt counterweight trolley random frictions;

Fig. 7 is the optimal control method of the present invention's four crawler belt counterweight trolley random frictions is calculated the method for corresponding output valve FB(flow block) by curve correction function.

The specific embodiment

Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as limiting to the invention.

As depicted in figs. 1 and 2, the optimized control device of the present invention's four crawler belt counterweight trolley random frictions comprises the counterweight trolley 2 of main frame 1 and four crawler belts, every crawler belt 21 of counterweight trolley 2 comprises independently in order to drive the HM Hydraulic Motor of crawler belt, wherein, comprise the angle control module for controlling counterweight trolley 2 and main frame 1 angle, for controlling the rate control module of counterweight trolley 2 speed of advances, for measuring the measurement module of counterweight trolley 2 and main frame 1 angle, for detection of the detection module of counterweight trolley 2 crawler belt 21 rotating speeds, the one PID module, curve correcting module, laminating module, the 2nd PID module and HM Hydraulic Motor control module,

The input end of the one PID module is connected respectively with angle control module and measurement module, and the actual angle of exporting in order to expected angle and the measurement module of the output of receiving angle control module is as parameter;

The input end of curve correcting module is connected with the mouth of a PID module, in order to receive the hydraulic motor rotary speed correction of a PID module output, and output hydraulic pressure motor rotary speed second-order correction value;

The input end of laminating module is connected respectively with mouth and the rate control module of curve correcting module, in order to receive the hydraulic motor rotary speed second-order correction value of curve correcting module output and the rotating speed expectation value of the chaufeur of rate control module output to HM Hydraulic Motor; Wherein, the preset curve correction function of curve correcting module, the concrete formula of curve correction function is as follows:

$I_{x(z,w)}=\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$ Monotone increasing, or $I_{x(z,w)}=1-\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$

Monotone decreasing, wherein:

z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].Curve correction function essence is that one group of curve with its formation of second order differential equation of two adjustable parameters is divided into three continuous sections mutually, the absolute value of each section slope meets the first characteristic of little (curve is mild), rear large (curve is precipitous), less (curve is mild), and meet ordinate value with abscissa value monotone increasing or the characteristic of successively decreasing, the curve that curve correction function forms meets multistage differentiate and still keeps continuous characteristic, this characteristic can guarantee that the output of a PID module still keeps level and smooth after curve correction function is processed, without step.In curve monotonically increasing situation, in the time of w=10, z from 0.1 variation tendency that is increased to 100 curves as shown in Figure 4, in the time of z=10, w from 0.1 variation tendency that is increased to 100 curves as shown in Figure 5, only needs to adjust wherein any one parameter z or w and can arrive the object that makes the mild transition of friction force.

The mouth of the 2nd input end of PID module and the mouth of laminating module and detection module is connected respectively, in order to receive the hydraulic motor rotary speed expectation value of laminating module output and the HM Hydraulic Motor actual speed of detection module output as parameter;

The mouth of the 2nd PID module is connected with HM Hydraulic Motor control module, and the 2nd PID module output hydraulic pressure motor rotary speed value is to HM Hydraulic Motor control module.

The present invention also comprises a kind of optimal control method of four crawler belt counterweight trolley random frictions, wherein, comprises the optimized control device of four above-mentioned crawler belt counterweight trolley random frictions, as shown in Figure 3, specifically comprises the steps:

Step a, angle control module are according to the expected angle of operating mode and main frame 1 and counterweight trolley 2 relative position relations calculating counterweight trolley 2 crawler belts;

The hydraulic motor rotary speed correction that actual angle input the one PID module output of step b, counterweight trolley 2 crawler belts that the expected angle obtaining in step a and measurement module are detected is expected;

Step c, the hydraulic motor rotary speed correction input curve correcting module obtaining in step b is done to further correction, formation is one group of hydraulic motor rotary speed second-order correction value that band size is identical, symbol is contrary that acts on respectively two shoes in left and right of super-starting balance weight dolly 2; Wherein curve correcting module is revised by preset curve correction function, and the concrete formula of curve correction function is as follows:

$I_{x(z,w)}=\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$ Monotone increasing, or $I_{x(z,w)}=1-\frac{1}{\mathrm{\β}(z,w)}{\∫}_0^x{t}^{z-1}{(1-t)}^{w-1}\mathrm{dt}$

Monotone decreasing, wherein: z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].Further revise the method for hydraulic motor rotary speed correction as shown in Figure 6, specifically comprise the steps:

Step c1, the hydraulic motor rotary speed correction that a PID module is exported are normalized, and convert the value between 0 to 1 to by hydraulic motor rotary speed correction;

Step c2, the hydraulic motor rotary speed correction after normalized in step c1 is calculated to corresponding output valve as the independent variable of curve correction function, the scope of output valve is between 0 to 1;

Step c3, by the multiplying each other without normalized hydraulic motor rotary speed correction and the output valve that step c2 obtains of a PID module output, obtain an absolute value and be less than or equal to the value without normalized hydraulic motor rotary speed correction that a PID module exports as correction result.

The value difference that regulates parameter according to curve shape, the curve of curve correction function has different shapes, for identical input, can have different output valves.

Steps d, by step c, obtain one just, the chaufeur that transmits of negative one group of hydraulic motor rotary speed correction and rate control module superposes by laminating module to the rotating speed expectation value of HM Hydraulic Motor, exports the hydraulic motor rotary speed expectation value of one group of corresponding left and right crawler belt;

The motor actual speed that the hydraulic motor rotary speed expectation value of step e, every crawler belt and detection module detect this article of crawler belt obtaining transfers to the 2nd PID module;

Step f, the 2nd PID module output hydraulic pressure motor rotary speed value are to HM Hydraulic Motor control module, wherein, HM Hydraulic Motor control module comprises motor Hydraulic Pump, motor Hydraulic Pump comprises proportion magnetic valve, electric current corresponding to the 2nd PID module output hydraulic pressure motor rotary speed value is to the aperture of proportion magnetic valve with control ratio electromagnetic valve, and motor Hydraulic Pump changes the different hydraulic-driven power of output to HM Hydraulic Motor according to the aperture of proportion magnetic valve.The crawler belt revolution that fluid motor-driven is corresponding, due to the propulsive effort difference of each HM Hydraulic Motor, the rotating speed of both sides crawler belt is also different, thereby has changed the direction angle of counterweight trolley 2.

The present invention makes final output milder by the method for curve correcting module is set between a PID module and the 2nd PID module, has effectively reduced the situation of hyperharmonic concussion.

On technique scheme basis, wherein, the method that calculates corresponding output valve according to curve correction function in step c2 comprises the steps:

Step S1, calculate curve correction function by Computer and regulate under parameters all curves corresponding within the scope of whole district value at different curve shapes, and the point on all curves is converted into form with predetermined accuracy;

Step S2, the form obtaining in step S1 is stored into curve correcting module;

Step S3, according to the hydraulic motor rotary speed correction after normalized with in form, search corresponding output valve.

Because the computing of curve correction function is comparatively complicated, if interior time is carried out direct computing meeting and causes system response slow, and the present invention adopts in advance to form image and with the sampling precision of being scheduled to, image sampling is converted to form on computing machine and stores, method make each calculating all be converted to the work of simply tabling look-up, can effectively improve the speed of response of system.

The foregoing is only preferred embodiment of the present invention; not thereby limit claim of the present invention; so the equivalent structure that all utilizations specification sheets of the present invention and diagramatic content have been done changes; or the replacement of those skilled in the art's conventional techniques means, is all included in protection scope of the present invention.

Claims (6)

1. the optimized control device of a crawler belt counterweight trolley random friction, comprise the counterweight trolley of main frame and four crawler belts, every crawler belt of described counterweight trolley comprises independently in order to drive the HM Hydraulic Motor of crawler belt, it is characterized in that, comprise the angle control module for controlling described counterweight trolley and described main frame angle, for controlling the rate control module of counterweight trolley speed of advance, for measuring the measurement module of described counterweight trolley and described main frame angle, for detection of the detection module of described counterweight trolley crawler belt rotating speed, the one PID module, curve correcting module, laminating module, the 2nd PID module and HM Hydraulic Motor control module,

The input end of a described PID module is connected respectively with described angle control module and described measurement module, in order to receive the expected angle of described angle control module output and the actual angle of described measurement module output as parameter;

The input end of described curve correcting module is connected with the mouth of a described PID module, in order to receive the hydraulic motor rotary speed correction of a described PID module output, and output hydraulic pressure motor rotary speed second-order correction value;

The input end of described laminating module is connected respectively with mouth and the described rate control module of described curve correcting module, in order to receive the hydraulic motor rotary speed second-order correction value of described curve correcting module output and the rotating speed expectation value of the chaufeur of described rate control module output to HM Hydraulic Motor;

The mouth of described the 2nd input end of PID module and the mouth of described laminating module and described detection module is connected respectively, in order to receive the hydraulic motor rotary speed expectation value of described laminating module output and the HM Hydraulic Motor actual speed of described detection module output as parameter;

The mouth of described the 2nd PID module is connected with described HM Hydraulic Motor control module, and described the 2nd PID module output hydraulic pressure motor rotary speed value is to described HM Hydraulic Motor control module;

The preset curve correction function of described curve correcting module, the concrete formula of described curve correction function is as follows:

monotone increasing, or

Monotone decreasing, wherein:

z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].

2. an optimal control method for four crawler belt counterweight trolley random frictions, is characterized in that, comprises the optimized control device of four crawler belt counterweight trolley random frictions as claimed in claim 1, specifically comprises the steps:

Step a, described angle control module calculate the expected angle of described counterweight trolley crawler belt according to operating mode and main frame and counterweight trolley relative position relation;

The actual angle of step b, counterweight trolley crawler belt that the expected angle obtaining in described step a and described measurement module are detected is inputted the hydraulic motor rotary speed correction that a described PID module output is expected;

Step c, the hydraulic motor rotary speed correction obtaining is inputted to described curve correcting module do further correction in described step b, formation is one group of hydraulic motor rotary speed second-order correction value that size is identical, symbol is contrary that acts on respectively two crawler belts in left and right of super-starting balance weight dolly;

Steps d, by described step c, obtain one just, the chaufeur that transmits of negative one group of hydraulic motor rotary speed second-order correction value and described rate control module superposes by laminating module to the rotating speed expectation value of HM Hydraulic Motor, exports the hydraulic motor rotary speed expectation value of one group of corresponding left and right crawler belt;

The HM Hydraulic Motor actual speed that the hydraulic motor rotary speed expectation value of step e, every crawler belt and described detection module detect this article of crawler belt obtaining transfers to described the 2nd PID module;

Step f, described the 2nd PID module output hydraulic pressure motor rotary speed value are to described HM Hydraulic Motor control module.

3. the optimal control method of four crawler belt counterweight trolley random frictions as claimed in claim 2, is characterized in that, curve correcting module described in described step c is revised by preset curve correction function, and the concrete formula of described curve correction function is as follows:

monotone increasing, or

Monotone decreasing, wherein:

z, w is respectively curve shape and regulates parameter, and the scope of independent variable x is fixed as [0,1].

4. the optimal control method of four crawler belt counterweight trolley random frictions as claimed in claim 2, it is characterized in that, described HM Hydraulic Motor control module comprises motor Hydraulic Pump, described motor Hydraulic Pump comprises proportion magnetic valve, in described step f, extremely described proportion magnetic valve is to control the aperture of described proportion magnetic valve for electric current corresponding to described the 2nd PID module output hydraulic pressure motor rotary speed value, and described motor Hydraulic Pump changes the different hydraulic-driven power of output to described HM Hydraulic Motor according to the aperture of described proportion magnetic valve.

5. the optimal control method of four crawler belt counterweight trolley random frictions as claimed in claim 3, is characterized in that, the method for further revising described hydraulic motor rotary speed correction in described step c specifically comprises the steps:

Step c1, the described hydraulic motor rotary speed correction that a described PID module is exported are normalized, and convert the value between 0 to 1 to by described hydraulic motor rotary speed correction;

Step c2, the described hydraulic motor rotary speed correction after normalized in described step c1 is calculated to corresponding output valve as the independent variable of described curve correction function, the scope of described output valve is between 0 to 1;

Step c3, by the multiplying each other without normalized described hydraulic motor rotary speed correction and the output valve that described step c2 obtains of a described PID module output, obtain an absolute value and be less than or equal to the value without normalized described hydraulic motor rotary speed correction that a described PID module exports as correction result.

6. the optimal control method of four crawler belt counterweight trolley random frictions as claimed in claim 5, is characterized in that, the method that calculates corresponding output valve according to described curve correction function in described step c2 comprises the steps:

Step S1, calculate described curve correction function by Computer and regulate under parameters all curves corresponding within the scope of whole district value at different curve shapes, and the point on all described curves is converted into form with predetermined accuracy;

Step S2, the form obtaining in described step S1 is stored into described curve correcting module;

Step S3, search corresponding output valve according to the described hydraulic motor rotary speed correction after normalized with described form.

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