CN111984053B - Current compensation method and device for pressure reducing valve, electronic equipment and storage medium - Google Patents
Current compensation method and device for pressure reducing valve, electronic equipment and storage medium Download PDFInfo
- Publication number
- CN111984053B CN111984053B CN202010856451.0A CN202010856451A CN111984053B CN 111984053 B CN111984053 B CN 111984053B CN 202010856451 A CN202010856451 A CN 202010856451A CN 111984053 B CN111984053 B CN 111984053B
- Authority
- CN
- China
- Prior art keywords
- current
- current value
- reducing valve
- pressure reducing
- state
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05F—SYSTEMS FOR REGULATING ELECTRIC OR MAGNETIC VARIABLES
- G05F1/00—Automatic systems in which deviations of an electric quantity from one or more predetermined values are detected at the output of the system and fed back to a device within the system to restore the detected quantity to its predetermined value or values, i.e. retroactive systems
- G05F1/10—Regulating voltage or current
- G05F1/46—Regulating voltage or current wherein the variable actually regulated by the final control device is dc
- G05F1/56—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices
- G05F1/565—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor
- G05F1/567—Regulating voltage or current wherein the variable actually regulated by the final control device is dc using semiconductor devices in series with the load as final control devices sensing a condition of the system or its load in addition to means responsive to deviations in the output of the system, e.g. current, voltage, power factor for temperature compensation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Automation & Control Theory (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application provides a method and a device for compensating current of a pressure reducing valve, electronic equipment and a storage medium, and relates to the technical field of pressure reducing valve control. Firstly, acquiring the temperature of a pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state; then when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature; and finally, determining the compensated current value according to the first current value, the rising fitting relation and the falling fitting relation. The method and the device for compensating the current of the pressure reducing valve, the electronic equipment and the storage medium have the advantage of being capable of compensating the current.
Description
Technical Field
The application relates to the technical field of pressure reducing valve control, in particular to a pressure reducing valve current compensation method and device, electronic equipment and a storage medium.
Background
With the development of electric control of hydraulic excavators, a direct-acting proportional pressure reducing valve (hereinafter referred to as a pressure reducing valve) is important as an important link for controlling the pilot functions of a pump and a main valve. In an electrically controlled excavator, the pressure reducing valve serves as a transmission junction of an electric controller and a hydraulic element, and the reaction and feedback of the pressure reducing valve determine the speed, the responsiveness and the precision of an electric control loop.
There are problems with existing pressure reducing valves in which the non-linear relationship of the input and output is a major factor affecting their characteristics. Due to nonlinear influence factors, the pressure reducing valve can cause that the output secondary pressure values of the pressure reducing valve are different in the same given current increasing and decreasing stages in the using process, namely, a hysteresis phenomenon exists.
However, at present, no strategy for compensating the current of the pressure reducing valve exists, so that the excavator has the problem of poor coordination in practical application.
Disclosure of Invention
The application aims to provide a pressure reducing valve current compensation method, a pressure reducing valve current compensation device, electronic equipment and a storage medium, so as to solve the problem that in the prior art, the current of a pressure reducing valve is not compensated, so that the excavator has poor coordination in practical application.
In order to achieve the above purpose, the embodiments of the present application employ the following technical solutions:
In a first aspect, an embodiment of the present application provides a method for compensating a current of a pressure reducing valve, where the method includes: acquiring the temperature of the reducing valve, a first current value and a current state at the current moment; when the first current value is in a preset value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature; and determining a compensated current value according to the first current value, the rising fitting relation and the falling fitting relation.
In a second aspect, embodiments of the present application further provide a pressure reducing valve current compensation apparatus, where the apparatus includes: the information acquisition module is used for acquiring the temperature of the pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state; the fitting relation determining module is used for determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature; and the current value determining module is used for determining a compensated current value according to the first current value, the rising fitting relation and the falling fitting relation.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory for storing one or more programs; a processor; the one or more programs, when executed by the processor, implement the pressure reducing valve current compensation method described above.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the pressure reducing valve current compensation method described above.
Compared with the prior art, the embodiment of the application has the following beneficial effects:
the embodiment of the application provides a method and a device for compensating current of a pressure reducing valve, electronic equipment and a storage medium, and the method comprises the steps of firstly obtaining the temperature of the pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state; then when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature; and finally, determining the compensated current value according to the first current value, the rising fitting relation and the falling fitting relation. The pressure reducing valve current compensation method can perform current compensation by utilizing the ascending fitting relation and the descending fitting relation, so that secondary pressure values output in the current increasing and reducing stages tend to be the same after compensation, and further the compatibility of the excavator in practical application is better.
In order to make the aforementioned objects, features and advantages of the present application comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and it will be apparent to those skilled in the art that other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a block diagram of an electronic device provided in an embodiment of the present application.
Fig. 2 is a first flowchart of a method for compensating a current of a pressure reducing valve according to an embodiment of the present disclosure.
Fig. 3 is a graph illustrating a relationship between a current and a pilot pressure provided in an embodiment of the present application.
Fig. 4 is a second flowchart of a method for compensating a current of a pressure reducing valve according to an embodiment of the present disclosure.
Fig. 5 is a third flowchart of a method for compensating a current of a pressure reducing valve according to an embodiment of the present disclosure.
Fig. 6 is a flowchart of sub-steps of S102 in fig. 2 according to an embodiment of the present disclosure.
Fig. 7 is a flowchart of a first sub-step of S104 in fig. 2 according to an embodiment of the present disclosure.
Fig. 8 is a flowchart of a second sub-step of S104 in fig. 2 according to an embodiment of the present disclosure.
Fig. 9 is a block diagram illustrating a current compensation device for a pressure reducing valve according to an embodiment of the present disclosure.
In the figure: 100-an electronic device; 101-a processor; 102-a memory; 103-a communication interface; 200-pressure reducing valve current compensation means; 210-an information acquisition module; 220-a fitting relation determination module; 230-Current value determination module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, 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 some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. 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.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships conventionally found in use of products of the application, and are used only for convenience in describing the present application and for simplification of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application.
In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
As described in the background, there are problems with existing pressure reducing valves in which the non-linear relationship of the input and output is a major factor affecting their characteristics. Due to nonlinear influence factors, the pressure reducing valve can cause that the output secondary pressure values of the pressure reducing valve are different in the same given current increasing and decreasing stages in the using process, namely, a hysteresis phenomenon exists.
Taking a pressure reducing valve on a variable pump as an example, the output secondary pressure of the pressure reducing valve acts on a piston, and because a hysteresis exists in a mechanical structure of positive flow, the hysteresis of the pressure reducing valve and the hysteresis of the mechanical structure can cause the hysteresis of the output flow of the variable pump, thereby influencing the matching of the variable pump and a pump valve of a multi-way valve. Similarly, the pressure reducing valve matched with the main valve of the excavator has the same dynamic and static performances.
Therefore, it is necessary to compensate and correct the linear relationship between the input current and the output secondary pressure of the pressure reducing valve, and to improve the dynamic and static performance and the environmental adaptability thereof. The responsiveness and the precision of the excavator control feedback loop can be further improved, and the excavator control feedback loop has better coordination and more comfortable operation experience in daily work.
In view of this, the present application provides a method for compensating current of a pressure reducing valve, in which a rising fitting relationship and a falling fitting relationship are used to perform current compensation, so that secondary pressure values output in current increasing and decreasing stages tend to be the same, and thus, the excavator has better compatibility in practical application.
It should be noted that the method for compensating the current of the pressure reducing valve provided in the present application may be applied to an electronic device 100, and fig. 1 illustrates a schematic structural block diagram of the electronic device 100 provided in the present application, where the electronic device 100 includes a memory 102, a processor 101, and a communication interface 103, and the memory 102, the processor 101, and the communication interface 103 are electrically connected to each other directly or indirectly to implement data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 102 may be used to store software programs and modules, such as program instructions or modules corresponding to the pressure reducing valve current compensation device 200 provided in the embodiment of the present application, and the processor 101 executes the software programs and modules stored in the memory 102 to execute various functional applications and data processing, thereby executing the steps of the pressure reducing valve current compensation method provided in the embodiment of the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 102 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.
The processor 101 may be an integrated circuit chip having signal processing capabilities. The Processor 101 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in FIG. 1 is merely illustrative and that electronic device 100 may include more or fewer components than shown in FIG. 1 or have a different configuration than shown in FIG. 1. The components shown in fig. 1 may be implemented in hardware, software, or a combination thereof.
The method for compensating the current of the pressure reducing valve provided by the embodiment of the application is exemplarily described below by taking the electronic device 100 as a schematic implementation subject.
Fig. 2 shows a schematic flow chart of a method for compensating a current of a pressure reducing valve according to an embodiment of the present application, which may include the following steps:
s102, obtaining the temperature of the pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state.
And S104, when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature.
And S106, determining a compensated current value according to the first current value, the rising fitting relation and the falling fitting relation.
In the actual operation process, since the corresponding relationship between the current value and the voltage value of the pressure reducing valve may change when the pressure reducing valve is at different temperatures, for example, if the temperature of the pressure reducing valve is 40 ℃, when the input current to the pressure reducing valve is 500mA, the pressure value corresponding to the pressure reducing valve is 15 bar; if the temperature of the pressure reducing valve is 50 ℃, when the input current input into the pressure reducing valve is 500mA, the corresponding pressure value of the pressure reducing valve is 17bar, so that when current compensation is needed, the current temperature of the pressure reducing valve needs to be determined firstly.
In addition, in the hydraulic excavator, the controller controls the pressure reducing valve switch, determines whether or not the switch is energized, and controls the corresponding load. Since in the control of the pressure reducing valve, three value intervals are generally included. As shown in fig. 3, the current value is relatively constant at 400mA when the pilot pressure is 0 to 12bar in the first interval, and the current is in a change at the moment when the pilot pressure is 12 to 28bar in the second interval, which is a proportional curve; in the third interval, when the pilot pressure is higher than 28bar, the current value is relatively constant and is 750 mA. When the current is relatively constant, the current does not need to be compensated, so that the current first current value needs to be acquired, and whether the first current value is in a changed value interval is determined.
It should be noted that the preset numerical value interval described in the present application is an interval in which the input current changes when the pilot pressure changes, and optionally, the preset numerical value interval is set to 400mA to 750 mA. Of course, the preset value interval may also be changed for other pressure reducing valves, and the application is not limited thereto.
It should be noted that the above-mentioned pilot pressure refers to a pilot handle pressure, that is, when an operator operates the handle, the pilot handle pressure corresponds to the pilot handle pressure, so that the controller can output a corresponding current value to the pressure reducing valve, and the pressure reducing valve outputs different pressure values according to different current values. The electronic device may be the controller according to this embodiment.
The controller also needs to determine the current state of the pressure reducing valve, for example, it may be in an ascending state, a descending state, an equilibrium state, etc., and when the current is in the ascending state or the descending state, the controller may compensate the current of the pressure reducing valve by the pressure reducing valve current compensation method of the present application. Alternatively, the controller may determine the compensated current value from the first current value, an increasing fit relationship determined from the pressure reducing valve temperature, and the decreasing fit relationship.
On this basis, before S102, an ascending fitting relationship and the descending fitting relationship need to be determined, as an implementation manner, please refer to fig. 4, and the method further includes:
s101-1, controlling the current value of the pressure reducing valve to gradually rise under different temperatures of the pressure reducing valve, and obtaining a pressure value corresponding to each current value.
S101-2, fitting the plurality of current values and the pressure values at the same temperature of the pressure reducing valve to obtain the corresponding rising fitting relations of different temperatures of the pressure reducing valve.
Fitting refers to connecting a series of points on a plane with a smooth curve. Because of the myriad possibilities for this curve, there are various methods of fitting. The fitted curve can be generally represented by a function, and different fitting names are provided according to the function. In other words, when the fitting is required, a large number of current values and voltage values need to be obtained.
In the case of performing the fitting relationship, the fitting is performed until the current value and the pressure value within the preset numerical value interval are fitted. For example, when the temperature of the pressure reducing valve is 40 ℃, when the input current value is 400mA, the pressure value output by the pressure reducing valve is 100bar, then the input current value is controlled to increase, and corresponding data is collected in real time, for example, when the input current value is 410mA, the pressure value output by the pressure reducing valve is 101bar, when the input current value is 420mA, the pressure value output by the pressure reducing valve is 102bar …, then, a plurality of current values and voltage values are fitted, and then a rising fitting relation under the condition of 40 ℃ is fitted.
As one implementation, Fitting may be performed using the toolbox current Fitting in MATLAB, for example, a plurality of points (400, 100), (410, 101), (420, 102) may be obtained by plotting the current as the x-axis and the pressure as the y-axis, and then Fitting may be performed to obtain an ascending Fitting Curve, and an ascending Fitting relationship may be obtained from the Curve. Alternatively, the rising fit relationship may also be represented by a function, which may be represented by a quadratic function y ═ ax, for example 2 And + bx + c.
Meanwhile, when data are obtained, the temperature of the pressure reducing valve needs to be changed, and the pressure value corresponding to each current value at different temperatures of the pressure reducing valve is obtained. In other words, after the data at 40 ℃ is acquired, the temperature of the transformer is adjusted to other degrees, for example, 37 ℃ or 41 ℃, and then the current value is controlled to gradually rise again, and the pressure values corresponding to different current values at this stage are acquired in real time. After the data are obtained, fitting is carried out on a plurality of current values and pressure values at the same temperature of the pressure reducing valve, and then rising fitting relations corresponding to different temperatures of the pressure reducing valve are obtained. For example, from a pressure reducing valve temperature of between 20 ℃ and 60 ℃, an ascending fit relationship is determined for each 1 ℃ increase. Namely, an ascending fitting relationship is determined at 20 ℃, 21 ℃, 22 ℃ and 23 ℃ ….
Meanwhile, as an implementation manner, before S102, referring to fig. 5, the method further includes:
s101-3, controlling the current value of the pressure reducing valve to gradually decrease under different temperatures of the pressure reducing valve, and obtaining a pressure value corresponding to each current value.
S101-4, fitting the plurality of current values and the pressure values at the same temperature of the pressure reducing valve to obtain a descending fitting relation corresponding to different temperatures of the pressure reducing valve.
It can be understood that, when obtaining the descending fit relation, the steps of obtaining the ascending fit relation are basically the same, and only when performing current control, the control current is gradually reduced, so that the determination of the descending fit curve is not repeated in this application.
As an implementation manner, referring to fig. 6, S102 includes:
s102-1, a first current value at the current moment and a third current value at the previous moment are obtained.
S102-2, judging whether the first current value is larger than the third current value, if so, executing S102-3, and if not, executing S102-4.
And S102-3, determining the current state to be a rising state.
And S102-4, judging whether the first current value is smaller than the third current value, if so, executing S102-5, and if not, executing S102-6.
And S102-5, determining the current state to be a descending state.
And S102-6, determining the current state to be an equilibrium state.
In the process of controlling the pressure reducing valve, the controller periodically obtains the current input into the pressure reducing valve, for example, if the period is 0.1S, the controller automatically obtains the current value input into the pressure reducing valve every time 0.1S passes. Therefore, after the first current value is acquired at the present time, the third current value has necessarily been acquired at the previous time, and thus the current state can be determined by way of comparison.
That is, when the current value at the present time is larger than the current value at the previous time, the current state is the rising state; when the current value at the current moment is equal to the current value at the previous moment, the current state is a balanced state; when the current value at the present moment is smaller than the current value at the previous moment, the current state is a descending state.
Moreover, the above implementation manner is only an example, and in the actual operation process, it may also be determined whether the first current value is equal to the third current value, and then it is determined whether the first current value is greater than or less than the third current value; or first determining whether the first current value is smaller than the third current value, and then determining whether the first current value is equal to or greater than the third current value.
It will be appreciated that after determining the first current value and the current state, the interface determines whether compensation for the current is required by comparing the first current value to the current state. In addition, in the present application, it is required to simultaneously satisfy that the first current value is in a preset value interval, and satisfy that the current state is in an increasing state or a decreasing state, so as to compensate the current. When the current state is in a balanced state or the first current value is not in a preset value interval, the current is not compensated, so that the controller can directly take the first current value as the compensated current value and output the compensated current value to the pressure reducing valve.
As a first optional implementation manner, the controller may compensate the current only when the current is in a falling state, and on the basis, when the current state is in a balanced state or a rising state, the controller may not compensate the current.
In this case, referring to fig. 7, S104 includes:
s104-1, determining a first voltage value corresponding to the first current value in the rising fitting relation according to the first current value and the rising fitting relation.
S104-2, determining a second current value corresponding to the first voltage value in the descending fitting relation according to the descending fitting relation of the first voltage value, and taking the second current value as a compensated current value.
When fitting is performed in the descending state, the first current value needs to be combined with the ascending fitting relation, and then the corresponding first voltage value in the ascending fitting relation is determined. After the ascending fitting relationship is determined in S101-2, the ascending fitting relationship may be represented by a curve, a function, or a list, for example, taking a function as an example, if the ascending fitting relationship is represented by a function, the first voltage value corresponding to the first current value in the ascending fitting relationship may be determined by directly substituting the first current value into a function expression of the ascending fitting relationship.
And substituting the first voltage value into a function expression corresponding to the descending fitting relation, and determining a second current value according to the first voltage value.
It can be understood that the finally determined second current value can be made to be as equal as possible to the current value in the rising state by substituting the first current value into the rising fitting curve, so that the coordination of the excavator in practical application is better. In other words, the current value in the rising state is assumed to be the standard value, so the controller compensates the current value in the falling state to make it as close as possible to the current value in the rising state, and further make the two values equal.
For example, when the pressure reducing valve needs to be controlled to output a pressure of 100bar at the same time, the current value in the descending state is 410mA, and the current value in the ascending state is 420mA, on the basis of this embodiment, the controller compensates the current value in the descending state, so that the compensated current value is 415mA, which is more equal to the current value in the ascending state.
As a second alternative implementation manner, the controller may compensate the current only when the current is in the rising state, and on the basis, the controller may not compensate the current when the current state is the equilibrium state or the falling state.
In this case, referring to fig. 8, S104 includes:
s104-3, determining a second voltage value corresponding to the first current value in the descending fitting relation according to the descending fitting relation of the first current value.
And S104-4, determining a third current value corresponding to the second voltage value in the rising fitting relation according to the fitting relation between the second voltage value and the rising fitting relation, and taking the third current value as a compensated current value.
When fitting is performed in the rising state, the first current value needs to be combined with the falling fit relation, and then the corresponding second voltage value in the falling fit relation is determined. After the descending fit relationship is determined in S101-4, the descending fit relationship may be represented in a form of a curve, a function, or a list, for example, taking a function as an example, if the descending fit relationship is represented by a function, the first current value is directly substituted into a functional expression of the descending fit relationship, so that the second voltage value corresponding to the first current value in the descending fit relationship can be determined.
And substituting the second voltage value into the function expression corresponding to the rising fitting relation, and determining a third current value according to the second voltage value.
It can be understood that the finally determined third current value can be made to be as equal as possible to the current value in the descending state by bringing the first current value into the descending fit curve, so that the coordination of the excavator in practical application is better. In other words, the current value in the falling state is assumed to be the standard value in this embodiment, so the controller compensates the current value in the rising state to make it as close as possible to the current value in the falling state, and further make the two values equal.
For example, when the pressure reducing valve needs to be controlled to output a pressure of 100bar at the same time, the current value in the descending state is 410mA, and the current value in the ascending state is 420mA, on the basis of this embodiment, the controller compensates the current value in the ascending state, so that the compensated current value is 415mA, which is more equal to the current value in the ascending state.
As a third optional implementation manner, the controller may compensate the current when the current is in the rising state and the falling state, and on this basis, the controller may not compensate the current only when the current state is the equilibrium state.
For example, when the pressure reducing valve needs to be controlled to output a pressure of 100bar at the same time, the current value in the descending state is 410mA, and the current value in the ascending state is 420mA, in this embodiment, the controller compensates the current value in the ascending state, so that the compensated current value is 414mA, and at the same time, the controller compensates the current value in the descending state, so that the compensated current value is 416mA, so that the compensated current values are equal in area.
In conclusion, the pressure reducing valve current compensation method provided by the application can compensate and correct the linear relation between the input current and the output pressure of the pressure reducing valve, and improves the dynamic and static performances and the environmental adaptability of the pressure reducing valve. The responsiveness and the precision of the excavator control feedback loop can be further improved, and the excavator control feedback loop has better coordination and more comfortable operation experience in daily work.
Based on the same inventive concept as the above-mentioned pressure reducing valve current compensation method, please refer to fig. 9, the present application further provides a pressure reducing valve current compensation apparatus 200, the pressure reducing valve current compensation apparatus 200 includes an information obtaining module, a fitting relation determining module 220, and a current value determining module 230, wherein,
The information acquisition module is used for acquiring the temperature of the pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state.
It is understood that the above S102 can be performed by the information acquisition module.
And a fitting relationship determining module 220, configured to determine, when the first current value is within a preset value interval and the current state is in an increasing state or a decreasing state, an increasing fitting relationship and a decreasing fitting relationship corresponding to the temperature according to the temperature of the pressure reducing valve, where the increasing fitting relationship and the decreasing fitting relationship are both incidence relationships formed by fitting different current values and pressure values of the pressure reducing valve at the temperature.
It is understood that the above S104 can be performed by the fitting relationship determination module 220.
A current value determining module 230, configured to determine a compensated current value according to the first current value, the rising fitting relationship, and the falling fitting relationship.
It is understood that S106 described above can be performed by the current value determining module 230.
Wherein, the device still includes:
and the information acquisition module is used for controlling the current values of the pressure reducing valves to gradually rise under different temperatures of the pressure reducing valves and acquiring the pressure value corresponding to each current value.
It is understood that the above-described S101-1 can be performed by the information acquisition unit.
And the fitting relation determining unit is used for fitting the plurality of current values and the pressure values under the same temperature of the pressure reducing valve so as to obtain the corresponding rising fitting relations of different temperatures of the pressure reducing valve.
It is understood that the above-described S101-2 can be performed by the fitting relationship determining unit.
The device also includes:
the information obtaining module 210 is configured to control the current value of the pressure reducing valve to gradually decrease at different temperatures of the pressure reducing valve, and obtain a pressure value corresponding to each current value.
It is understood that the above-mentioned S101-3 can be performed by the information acquisition module 210.
And the fitting relation determining unit is used for fitting the plurality of current values and the pressure values at the same temperature of the pressure reducing valve so as to obtain the corresponding descending fitting relations of different temperatures of the pressure reducing valve.
It is understood that the above-described S101-4 can be performed by the fitting relationship determining unit.
Wherein, the information acquisition module includes:
the information acquisition unit is used for acquiring a first current value at the current moment and a third current value at the previous moment.
It is understood that the above-described S102-1 can be performed by the information acquisition unit.
And the judging unit is used for judging whether the first current value is larger than the third current value or not.
It is understood that the above-described S102-2 can be performed by the judgment unit.
And the state determining unit is used for determining that the current state is in a rising state when the first current value is larger than the third current value.
It is understood that the above-described S102-3 can be performed by the state determination unit.
And the judging unit is used for judging whether the first current value is smaller than the third current value or not.
It is understood that the above-described S102-4 can be performed by the judging unit.
And the state determining unit is used for determining that the current state is a rising state when the first current value is smaller than the third current value.
It is understood that the above-described S102-5 can be performed by the state determination unit.
And the state determining unit is used for determining that the current state is an equilibrium state when the first current value is not less than the third current value.
It is understood that the above-described S102-6 can be performed by the state determination unit.
The fitting relationship determination module 220 includes:
and the voltage value determining unit is used for determining a corresponding first voltage value of the first current value in the rising fitting relation according to the first current value and the rising fitting relation.
It is understood that the above S104-1 can be performed by the voltage value determining unit.
And the current value determining unit is used for determining a second current value corresponding to the first voltage value in the descending fitting relation according to the descending fitting relation of the first voltage value and the descending fitting relation, and taking the second current value as the compensated current value.
It is understood that the above-described S104-2 can be performed by the current value determining unit.
The fitting relationship determination module 220 further includes:
and the voltage value determining unit is used for determining a second voltage value corresponding to the first current value in the descending fitting relation according to the descending fitting relation of the first current value.
It is understood that the above-described S104-3 can be performed by the voltage value determining unit.
And the current value determining unit is used for determining a third current value corresponding to the second voltage value in the ascending fitting relation according to the fitting relation between the second voltage value and the ascending, and taking the third current value as the compensated current value.
It is understood that the above-described S104-4 can be performed by the current value determining unit.
In summary, the present application provides a method and an apparatus for compensating a current of a pressure reducing valve, an electronic device and a storage medium, and a method includes first obtaining a temperature of the pressure reducing valve at a current moment, a first current value and a current state, where the current state includes an ascending state and a descending state; then when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature; and finally, determining the compensated current value according to the first current value, the rising fitting relation and the falling fitting relation. The pressure reducing valve current compensation method can perform current compensation by utilizing the ascending fitting relation and the descending fitting relation, so that secondary pressure values output in the current increasing and reducing stages tend to be the same after compensation, and further the compatibility of the excavator in practical application is better.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative and, for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A method of compensating for pressure reducing valve current, the method comprising:
acquiring the temperature, a first current value and a current state of the pressure reducing valve at the current moment;
when the first current value is in a preset value interval and the current state is in an ascending state or a descending state, determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature;
and determining a compensated current value according to the first current value, the rising fitting relation and the falling fitting relation.
2. The pressure reducing valve current compensation method of claim 1, wherein the step of determining a compensated current value based on the first current value, the rising fit relationship, and the falling fit relationship when the current condition is in a falling condition comprises:
determining a first voltage value corresponding to the first current value in the rising fitting relation according to the first current value and the rising fitting relation;
And determining a second current value corresponding to the first voltage value in the descending fitting relation according to the fitting relation between the first voltage value and the descending, and taking the second current value as the compensated current value.
3. The pressure reducing valve current compensation method of claim 1, wherein the step of determining a compensated current value based on the first current value, the rising fit relationship, and the falling fit relationship when the current condition is in a rising condition comprises:
determining a second voltage value corresponding to the first current value in the descending fitting relation according to the descending fitting relation of the first current value;
and determining a third current value corresponding to the second voltage value in the rising fitting relation according to the fitting relation between the second voltage value and the rising fitting relation, and taking the third current value as the compensated current value.
4. The pressure reducing valve current compensation method of claim 1, wherein prior to the step of obtaining the pressure reducing valve temperature, the first current value and the current state at the present time, the method further comprises:
under different temperatures of the pressure reducing valve, controlling the current value of the pressure reducing valve to gradually rise, and acquiring a pressure value corresponding to each current value;
Fitting the plurality of current values and the pressure values at the same temperature of the pressure reducing valve to obtain corresponding rising fitting relations of different temperatures of the pressure reducing valve;
the method further comprises the following steps:
under different temperatures of the pressure reducing valve, controlling the current value of the pressure reducing valve to gradually decrease, and acquiring a pressure value corresponding to each current value;
and fitting the plurality of current values and the pressure values at the same temperature of the pressure reducing valve to obtain the corresponding drop fitting relations of different temperatures of the pressure reducing valve.
5. The method of claim 1, wherein the step of obtaining the pressure reducing valve temperature, the first current value and the current state at the present moment comprises:
acquiring a first current value at the current moment and a third current value at the previous moment;
when the first current value is larger than the third current value, determining that the current state is a rising state;
when the first current value is smaller than the third current value, determining that the current state is a descending state;
determining that the current state is an equilibrium state when the first current value is equal to the third current value.
6. The pressure reducing valve current compensation method of claim 1, wherein the current condition further comprises an equilibrium condition, and after the step of obtaining the pressure reducing valve temperature, the first current value and the current condition at the present time, the method further comprises:
And when the current state is in a balanced state or the first current value is not in a preset value interval, taking the first current value as a compensated current value.
7. A pressure reducing valve current compensation apparatus, the apparatus comprising:
the information acquisition module is used for acquiring the temperature of the pressure reducing valve at the current moment, a first current value and a current state, wherein the current state comprises an ascending state and a descending state;
the fitting relation determining module is used for determining an ascending fitting relation and a descending fitting relation corresponding to the temperature according to the temperature of the pressure reducing valve when the first current value is in a preset numerical value interval and the current state is in an ascending state or a descending state, wherein the ascending fitting relation and the descending fitting relation are all incidence relations formed by fitting different current values and pressure values of the pressure reducing valve at the temperature;
and the current value determining module is used for determining a compensated current value according to the first current value, the rising fitting relation and the falling fitting relation.
8. The pressure reducing valve current compensation apparatus of claim 7, wherein the current value determining module includes, when the current condition is in a decreasing condition:
A voltage value determining unit, configured to determine, according to the first current value and the rising fitting relationship, a first voltage value corresponding to the first current value in the rising fitting relationship;
and the current value determining unit is used for determining a second current value corresponding to the first voltage value in the descending fitting relation according to the descending fitting relation of the first voltage value and the descending fitting relation, and taking the second current value as the compensated current value.
9. An electronic device, comprising:
a memory for storing one or more programs;
a processor;
the one or more programs, when executed by the processor, implement the method of any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010856451.0A CN111984053B (en) | 2020-08-24 | 2020-08-24 | Current compensation method and device for pressure reducing valve, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010856451.0A CN111984053B (en) | 2020-08-24 | 2020-08-24 | Current compensation method and device for pressure reducing valve, electronic equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111984053A CN111984053A (en) | 2020-11-24 |
| CN111984053B true CN111984053B (en) | 2022-07-29 |
Family
ID=73443144
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010856451.0A Active CN111984053B (en) | 2020-08-24 | 2020-08-24 | Current compensation method and device for pressure reducing valve, electronic equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111984053B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822078A (en) * | 2019-11-29 | 2020-02-21 | 安徽江淮汽车集团股份有限公司 | Electromagnetic valve compensation control method and device, electronic equipment and storage medium |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6124805A (en) * | 1984-07-13 | 1986-02-03 | Sumitomo Metal Ind Ltd | Diagnostic method for flow servo valve |
| US5715797A (en) * | 1995-06-28 | 1998-02-10 | Nippondenso Co., Ltd. | Fuel supply system for internal combustion engine and method of adjusting it |
| JP4363197B2 (en) * | 2003-03-10 | 2009-11-11 | 株式会社デンソー | Fuel injection control device for internal combustion engine |
| CN102817394B (en) * | 2012-09-07 | 2014-10-01 | 三一重机有限公司 | Hydraulic pump control system of excavator, method and excavator |
| CN103303800B (en) * | 2013-06-24 | 2015-06-03 | 中联重科股份有限公司 | Rotating control method of crane, rotating control system and crane |
| CN103671308B (en) * | 2013-12-12 | 2016-07-20 | 湖南中联重科智能技术有限公司 | A kind of hydraulic-pressure control apparatus, method, system and engineering machinery |
| CN103629341B (en) * | 2013-12-13 | 2016-03-02 | 安徽江淮汽车股份有限公司 | A kind of wet-type double-clutch automatic speed-change case Characteristics of Solenoid Valve curve compensation method |
| CN105739307B (en) * | 2016-01-29 | 2018-08-07 | 浙江大学 | The stagnant ring compensation device of proportional pressure-reducing valve based on adaptive robust control and method |
| CN106838431B (en) * | 2016-12-22 | 2019-04-02 | 中联重科股份有限公司 | A kind of control equipment, method, system and engineering machinery for solenoid valve |
| CN108488254B (en) * | 2018-03-12 | 2019-07-26 | 中国第一汽车股份有限公司 | Wet clutch pressure response hysteresis compensation method |
| CN110332257B (en) * | 2019-07-29 | 2020-07-03 | 北京航空航天大学 | Clutch pressure hysteresis control optimization method and device |
-
2020
- 2020-08-24 CN CN202010856451.0A patent/CN111984053B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110822078A (en) * | 2019-11-29 | 2020-02-21 | 安徽江淮汽车集团股份有限公司 | Electromagnetic valve compensation control method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111984053A (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Karafyllis et al. | Adaptive boundary control of constant-parameter reaction–diffusion PDEs using regulation-triggered finite-time identification | |
| Xiang et al. | Finite-time stability and stabilisation for switched linear systems | |
| Hartley | Fractional system identification: an approach using continuous order-distributions | |
| WO2000041043A1 (en) | A novel predictive and self-tuning pi control apparatus for expanded process control applications | |
| CN111984053B (en) | Current compensation method and device for pressure reducing valve, electronic equipment and storage medium | |
| Ramakrishnan et al. | Estimation of a SOPTD transfer function model using a single asymmetrical relay feedback test | |
| da Silva et al. | A robust relay feedback structure for processes under disturbances: Analysis and applications | |
| Podržaj | Contionuous VS discrete PID controller | |
| Patoding et al. | Modeling control of automatic voltage regulator with proportional integral derivative | |
| Johnson | Optimal initial conditions for full-order observers | |
| RU2414048C1 (en) | Automatic control method of parametres of electric mechanical system and device for its implementation | |
| Alfaro et al. | Two-degree-of-freedom pid controllers structures | |
| Effendi et al. | Linearization and decoupling controller for quadruple tank | |
| Alessandretti et al. | On the design of discrete-time economic model predictive controllers | |
| JPH03129401A (en) | Fuzzy controller | |
| CN110222101B (en) | Assembly for automation of an industrial process and method for planning and operating an assembly | |
| US6973357B2 (en) | Method and configuration system for producing an application-specific functional module for a programmable controller | |
| Rung et al. | Feedback control systems: design with regard to sensitivity | |
| Clark | Integral of the error squared as a performance index for automatic control systems | |
| Singh et al. | Driver development of mitsubishi FX-plc for LabVIEW | |
| Balasevicius et al. | Design of the deadbeat controller with limited output | |
| RU2756229C1 (en) | Feedback system | |
| CN109991849A (en) | A kind of time lag LPV system has memory H ∞ output feedback controller design method | |
| Wang et al. | Approximate pole placement with dominance for continuous delay systems by PID controllers | |
| TWI451215B (en) | System and method of parameter configuring for programmable logic controller |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |