CN112093690A - Starting current optimization method and device, electronic equipment and storage medium - Google Patents
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
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- B66—HOISTING; LIFTING; HAULING
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Abstract
The embodiment of the application provides a starting current optimization method and device, electronic equipment and a storage medium, and relates to the technical field of cranes. Repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for a preset number of times; calculating the average value of the plurality of action currents and recording the average value as an average current; the average current is adjusted by using a preset adjustment coefficient, so that the current starting current is updated based on the adjusted average current, the starting current can be accurately set according to action feedback of an executing mechanism, and the problems of large workload and inaccurate setting of the existing manual setting method are solved.
Description
Technical Field
The application relates to the technical field of cranes, in particular to a starting current optimization method and device, electronic equipment and a storage medium.
Background
The electric control crane controls the opening size of a proportional valve in a hydraulic system by using current, and then controls the amplitude, the expansion, the rotation and other action amplitudes of the crane by using the opening size of the proportional valve. Due to differences of hardware circuits and actuating mechanisms of the crane, the minimum starting current of each action is different, and the minimum starting current is also changed along with aging of crane components and influence of environmental factors. If the starting current is not properly set, the operability and even the safe operation of the crane can be affected.
The existing setting method of the starting current mostly adopts manual setting, not only has large workload, but also cannot accurately set the starting current under the influence of subjective factors, objective factors such as environment and component aging.
Disclosure of Invention
An object of the embodiments of the present application is to provide a starting current optimization method, an apparatus, an electronic device, and a storage medium, which can accurately set a starting current according to motion feedback of an execution mechanism, and solve the problems of large workload and inaccurate setting of the existing manual setting method.
The embodiment of the application provides a starting current optimization method, which comprises the following steps:
repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for a preset number of times;
calculating the average value of the plurality of action currents and recording the average value as an average current;
and adjusting the average current by using a preset adjustment coefficient so as to update the current starting current based on the adjusted average current.
In the implementation process, because the starting currents corresponding to the action changes of the executing mechanism are different, the optimization and the updating of the starting currents can be realized by utilizing the action feedback of the executing mechanism, and compared with the manual setting of the starting currents, the influence of subjective factors is reduced, and the workload is reduced; meanwhile, the starting current is monitored in real time and adjusted, and the influence of objective factors such as environment and component aging is reduced.
Further, the adjusting the average current by using a preset adjustment coefficient to update the current starting current based on the adjusted average current includes:
calculating the difference value between the average current and the current starting current;
judging whether the difference value is larger than a preset comparison threshold value or not;
if yes, obtaining an updated starting current based on the average current and a preset adjusting coefficient;
and updating the current starting current according to the updated starting current.
In the implementation process, the magnitude of the average current reflects the average level of the action current corresponding to the action of the current execution mechanism, such as amplitude change of amplitude action, if the average level is greater than a preset comparison threshold, the current starting current needs to be updated, and the action current corresponding to the action change of the execution mechanism is monitored in real time so as to update the starting current in time.
Further, the obtaining an updated starting current based on the average current and a preset adjustment coefficient includes:
multiplying the average current by a preset adjusting coefficient to obtain a first adjusting current;
the first adjustment current is represented as:
L1=Lm×P；
wherein, L1 represents a first adjustment current, P represents an adjustment coefficient, and the value of the adjustment coefficient P is greater than 0 and less than 1;
and if the first adjusting current is in the range between the preset maximum starting current and the preset minimum starting current, determining the first adjusting current as the updated starting current.
In the implementation process, the average current is multiplied by the adjustment coefficient to obtain a first adjustment current, and the adjustment coefficient is used for adjustment, so that the starting current can be in a controllable range, and the action safety of the actuating mechanism is higher.
Further, after the step of determining whether the difference value is greater than a preset comparison threshold, the method further includes:
and if the difference value is not larger than a preset comparison threshold value or the first adjusting current is not in the range between the maximum starting current and the minimum starting current, repeatedly acquiring the action current of which the action change of the executing mechanism is larger than a preset action threshold value for a preset number of times.
In the implementation process, if the difference value between the average current and the current starting current is not between the maximum starting current and the minimum starting current, the action current of which the action change of the actuating mechanism is greater than the preset action threshold value needs to be obtained again for multiple times, and the recorded multiple action currents before replacement are refreshed; if the first adjusting current is not in the range between the maximum starting current and the minimum starting current, the action current of which the action change of the actuating mechanism is larger than the preset action threshold value needs to be obtained again for multiple times, and the action current recorded before replacement is refreshed, so that the finally obtained updated starting current is always between the preset maximum starting current and the preset minimum starting current, and the safety is ensured.
Further, before the step of updating the present starting current based on the average current, the method further comprises:
acquiring initial current when a handle acts, wherein the current change rate of the initial current is smaller than a preset current threshold;
and acquiring an initial starting current based on the initial current and a preset adjusting coefficient.
In the implementation process, the initial starting current is set for the first time, the initial current with the current change rate smaller than the preset current threshold is recorded, and the initial current is adjusted through the adjustment coefficient, so that the action safety of the actuating mechanism is improved.
Further, the obtaining of the initialization start-up current based on the initial current and a preset adjustment coefficient includes:
acquiring a second adjusting current based on the initial current and a preset adjusting coefficient;
and determining an initialization starting current based on the second adjusting current and a preset maximum starting current and a preset minimum starting current.
In the implementation process, the initialization starting current is determined according to the second adjusting current, the preset maximum starting current and the preset minimum starting current, so that the initialization current is always in a controllable range.
Further, the determining an initialization start-up current based on the second adjustment current and a preset maximum start-up current and a preset minimum start-up current includes:
if the second adjusting current is between the maximum starting current and the minimum starting current, the second adjusting current is the initialization starting current;
if the second adjustment current is larger than the maximum starting current, the maximum starting current is the initialization starting current;
if the second adjustment current is smaller than the minimum starting current, the minimum starting current is the initialization starting current.
In the implementation process, the determination method of the magnitude of the initialization starting current is to use the maximum starting current or the minimum starting current nearest to the second adjusting current as the initialization starting current according to whether the second adjusting current is between the maximum starting current and the minimum starting current, and avoid the setting of the initialization starting current to be too large or too small.
The embodiment of the present application further provides a starting current optimization device, the device includes:
the data acquisition module is used for repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for preset times;
the calculation module is used for calculating the average value of the plurality of action currents and recording the average value as an average current;
and the updating module is used for adjusting the average current by utilizing a preset adjusting coefficient so as to update the current starting current based on the adjusted average current.
In the implementation process, the action current is monitored and recorded in real time, and the action amplitude of the executing mechanism is reflected by the action current, so that the current starting current can be updated by utilizing the mean value of the action current, the starting current is optimized, and the problems of large workload and inaccurate setting caused by manual setting are solved.
The method optimizes the starting current through the action feedback of the actuating mechanism, improves the accuracy of the setting of the starting current, reduces the influence of subjective factors compared with the manual setting of the minimum starting current, reduces the workload, monitors the change of the starting current in real time so as to adjust the starting current, is a self-adaptive crane action starting current optimization method, and reduces the problem of reduced controllability caused by the influence of objective factors such as environment on the minimum starting current.
An embodiment of the present application further provides an electronic device, where the electronic device includes a memory and a processor, where the memory is used to store a computer program, and the processor runs the computer program to make the computer device execute the starting current optimization method described in any one of the above.
An embodiment of the present application further provides a readable storage medium, where computer program instructions are stored, and when the computer program instructions are read and executed by a processor, the method for optimizing the starting current is performed.
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 of the present application 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 that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a starting current optimization method provided in an embodiment of the present application;
fig. 2 is a flowchart of a starting current optimization process provided in an embodiment of the present application;
FIG. 3 is a flowchart of obtaining an updated startup current according to an embodiment of the present application;
fig. 4 is a flowchart for obtaining an initialization start-up current according to an embodiment of the present application;
fig. 5 is a block diagram of a starting current optimizing device according to an embodiment of the present disclosure;
fig. 6 is a specific structural block diagram of a starting current optimization device according to an embodiment of the present application.
Icon:
100-a data acquisition module; 200-a calculation module; 300-an update module; 310-difference calculation module; 320-a judgment module; 330-updating the starting current obtaining module; 340-starting a current update module; 350-initial current module; 360-initializing a starting current module; 370-Current initialization Module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments 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 to be construed as indicating or implying relative importance.
Example 1
Referring to fig. 1, fig. 1 is a flowchart of a starting current optimization method according to an embodiment of the present disclosure. The method comprises the following steps:
step S100: repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for a preset number of times;
step S200: calculating the average value of a plurality of action currents and recording the average value as an average current;
step S300: and adjusting the average current by using a preset adjustment coefficient so as to update the current starting current based on the adjusted average current.
The action amplitude of the actuating mechanism is reflected by the action current, and the change of the actuating current L of the actuating mechanism can be reflected by the mean value of a plurality of action currents, so that the actuating current can be optimized by the action feedback of the actuating mechanism, and the problems of large workload and inaccurate setting caused by manual setting are solved.
The actions of the executing mechanism include but are not limited to amplitude changing action, telescopic action, rotary action and hoisting action, and the corresponding action changes are as follows: the angle change of the large arm of the amplitude variation action and the pressure change of the amplitude variation oil cylinder; the length of the large arm of the telescopic action changes and the pressure of the oil cylinder changes; angle change of the rotary motion; the angle of the winding drum of the winding action changes. The corresponding motion threshold D is set by the motion change, and the motion corresponding to the motion threshold D is not limited to the angle, pressure, length, and the like.
As shown in fig. 2, for a flowchart of the starting current optimization process, the current starting current may be updated by monitoring the motion change of the actuator, such as the boom angle change of the luffing motion or the motion current L2 in which the pressure change of the luffing cylinder is greater than the preset motion threshold D, for example, recording K times, and calculating the average value of the K times of motion current, which is recorded as the average current Lm.
For example, as shown in fig. 3, to obtain the flowchart of the updated start-up current, the method may specifically include the following steps:
step S310: calculating the difference value between the average current and the current starting current;
step S320: judging whether the difference value of the average current and the current starting current is greater than a preset comparison threshold value F or not;
step S330: if the difference value between the average current and the current starting current is larger than a preset comparison threshold value F, acquiring an updated starting current based on the average current and a preset adjustment coefficient P;
specifically, the average current Lm is multiplied by a preset adjustment coefficient P to obtain a first adjustment current; the updated starting current is determined according to whether the first adjusting current is within a range of a preset maximum starting current Lmax and a preset minimum starting current Lmin.
Step S340: and updating the current starting current according to the updated starting current.
Specifically, the average current Lm is different from the current starting current, and if the difference is greater than the comparison threshold F, the average current Lm is multiplied by a preset adjustment coefficient P to obtain a first adjustment current L1, that is, L1= Lm × P, where the adjustment coefficient P is greater than 0 and less than 1, and the starting current obtained after adjustment by the adjustment coefficient P makes the action of the actuator safer.
If the first adjusting current is in the range of the maximum starting current Lmax and the minimum starting current Lmin, namely the minimum starting current Lmin < the first adjusting current < the maximum starting current Lmax, the updated starting current is the first adjusting current L1, the current starting current is replaced by the first adjusting current, and the optimization and the updating of the starting current are realized.
If the average current Lm and the current starting current are not greater than the preset comparison threshold F, it is necessary to repeatedly obtain the action current L2 of which the action change of the actuator is greater than the preset action threshold D again K times, and calculate the average value of the action current L2 recorded K times, that is, the average current Lm again for re-comparison.
If the first adjusting current is not in the range between the maximum starting current Lmax and the minimum starting current Lmin, namely the first adjusting current is larger than the maximum starting current Lmax or smaller than the minimum starting current Lmin, the action current L2 of which the action change of the actuating mechanism is larger than the preset action threshold D is repeatedly obtained for K times, the average value of the action currents L2 recorded for K times, namely the average current Lm, is calculated again for re-comparison.
The current starting current refers to a previous updated starting current or an initialized starting current, if the current starting current is the starting current for initially setting the actuator, the current starting current is an initialization process of the starting current to obtain the initialized starting current, and as shown in fig. 4, the current starting current is a flowchart for obtaining the initialized starting current, and specifically includes the following steps:
step S350: acquiring initial current when the handle acts, wherein the current change rate of the initial current is smaller than a preset current threshold;
step S360: and acquiring the initial starting current based on the initial current and a preset adjusting coefficient.
Step S360 specifically realizes the process:
multiplying the initial current by a preset adjusting coefficient P to obtain a second adjusting current; and determining the initialization starting current according to whether the second adjusting current is in the preset range of the maximum starting current and the minimum starting current.
Specifically, when the handle is operated, the initial current L1 with the current change rate smaller than the current threshold C is recorded, and the initial current L1 is multiplied by the adjustment coefficient P to obtain the second adjustment current, wherein the adjustment coefficient P is smaller than 1, so that when the second adjustment current adjusted by the adjustment coefficient P is used as the starting current, the safety of the operation of the actuator is improved.
After the second adjusting current is obtained, comparing the second adjusting current with the maximum starting current Lmax and the minimum starting current Lmin, and specifically, if the second adjusting current is between the maximum starting current Lmax and the minimum starting current Lmin, taking the second adjusting current as an initialization starting current; if the second adjusting current is larger than the maximum starting current Lmax, the maximum starting current Lmax is used as the initial starting current; and if the second adjusting current is smaller than the minimum starting current Lmin, taking the minimum starting current Lmin as the initialization starting current.
After the initialization start current is obtained, the initialization start current may be optimized and updated by using the methods in steps S100 to S300, and the current start current at the first update is the initialization start current.
The optimization method of the starting current corresponding to the telescopic action, the rotary action and the winding action executed by the executing mechanism is the same as the optimization method of the amplitude variation action, and is not repeated here. By the optimization method, the starting current can be adaptively optimized in real time according to the change of the action current when the actuating mechanism acts, the influence of main factors such as manpower and objective factors such as environment and component aging is reduced, and the accuracy of the setting of the starting current is improved.
Example 2
An embodiment of the present application provides a starting current optimization apparatus, as shown in fig. 5, which is a block diagram of a starting current optimization apparatus, and the apparatus includes:
the data acquisition module 100 is used for repeatedly acquiring the action current of the actuating mechanism, wherein the action change of the actuating mechanism is greater than a preset action threshold value;
the calculation module 200 is configured to calculate an average value of the plurality of action currents, and record the average value as an average current;
the updating module 300 is configured to adjust the average current by using a preset adjustment coefficient, so as to update the current starting current based on the adjusted average current.
By monitoring and recording the action current in real time, the action amplitude of the actuating mechanism is reflected by the action current, so that the change of the starting current can be reflected by the mean value of the action current, the current starting current is updated, the starting current is optimized, and the problems of large workload and inaccurate setting caused by manual setting are solved.
For example, as shown in fig. 6, in order to start the specific structural block diagram of the current optimization apparatus, the updating module 300 may specifically include:
a difference calculation module 310, which calculates the difference between the average current and the current starting current;
a judging module 320, configured to judge whether the difference is greater than a preset comparison threshold;
an update start current obtaining module 330, wherein if yes, the update start current is obtained based on the average current and a preset adjustment coefficient;
specifically, the average current Lm is multiplied by a preset adjustment coefficient P to obtain a first adjustment current; and determining the updated starting current according to whether the first adjusting current is in the range of the preset maximum starting current Lmax and the preset minimum starting current Lmin, and if the first adjusting current is not in the range, repeatedly acquiring the action current L2 of which the action change of the actuating mechanism is larger than the preset action threshold D again for K times.
The starting current updating module 340 updates the current starting current according to the updated starting current.
The method has the advantages that the magnitude of the updated starting current is controllable through the method, the change rule of the starting current of the executing mechanism is met, and the influence of subjective factors of manual setting and objective factors such as environment and component aging is reduced through the determination of action feedback of the executing mechanism, so that the method is more accurate.
The apparatus further includes a current initialization module 370, configured to obtain an initialization start current, which specifically includes:
an initial current module 350, configured to obtain an initial current when the handle is operated, where a current change rate of the initial current is smaller than a preset current threshold;
and an initialization start current module 360, configured to obtain an initialization start current based on the initial current and a preset adjustment coefficient.
The initialization starting current module 360 specifically implements the following processes:
multiplying the initial current by a preset adjusting coefficient P to obtain a second adjusting current; and determining the initialization starting current according to whether the second adjusting current is in the preset range of the maximum starting current and the minimum starting current.
The initial starting current is set by utilizing the initial current of which the current change rate is smaller than the preset current threshold value when the handle acts, so that the initial current is more reasonable and safer to set.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can 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 various 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, 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in 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.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
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.
Claims (10)
1. A method for startup current optimization, the method comprising:
repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for a preset number of times;
calculating the average value of the plurality of action currents and recording the average value as an average current;
and adjusting the average current by using a preset adjustment coefficient so as to update the current starting current based on the adjusted average current.
2. The starting current optimization method according to claim 1, wherein the adjusting the average current by using a preset adjustment coefficient to update the current starting current based on the adjusted average current comprises:
calculating the difference value between the average current and the current starting current;
judging whether the difference value is larger than a preset comparison threshold value or not;
if yes, obtaining an updated starting current based on the average current and a preset adjusting coefficient;
and updating the current starting current according to the updated starting current.
3. The startup current optimization method according to claim 2, wherein the obtaining an updated startup current based on the average current and a preset adjustment coefficient comprises:
multiplying the average current by a preset adjusting coefficient to obtain a first adjusting current;
the first adjustment current is represented as:
L1=Lm×P；
wherein, L1 represents a first adjustment current, P represents an adjustment coefficient, and the value of the adjustment coefficient P is greater than 0 and less than 1;
and if the first adjusting current is in the range between the preset maximum starting current and the preset minimum starting current, determining the first adjusting current as the updated starting current.
4. The startup current optimization method according to claim 3, wherein after the step of determining whether the difference is greater than a preset comparison threshold, the method further comprises:
and if the difference value is not larger than a preset comparison threshold value or the first adjusting current is not in the range between the maximum starting current and the minimum starting current, repeatedly acquiring the action current of which the action change of the executing mechanism is larger than a preset action threshold value for a preset number of times.
5. The startup current optimization method of claim 1, wherein prior to the step of updating the present startup current based on the average current, the method further comprises:
acquiring initial current when a handle acts, wherein the current change rate of the initial current is smaller than a preset current threshold;
and acquiring an initial starting current based on the initial current and a preset adjusting coefficient.
6. The method for optimizing the starting current according to claim 5, wherein the obtaining the initialization starting current based on the initial current and a preset adjustment coefficient comprises:
acquiring a second adjusting current based on the initial current and a preset adjusting coefficient;
and determining an initialization starting current based on the second adjusting current and a preset maximum starting current and a preset minimum starting current.
7. The start-up current optimization method of claim 6, wherein determining an initialization start-up current based on the second adjustment current and a preset maximum start-up current and a preset minimum start-up current comprises:
if the second adjusting current is between the maximum starting current and the minimum starting current, the second adjusting current is the initialization starting current;
if the second adjustment current is larger than the maximum starting current, the maximum starting current is the initialization starting current;
if the second adjustment current is smaller than the minimum starting current, the minimum starting current is the initialization starting current.
8. A starting current optimizing device, said device comprising:
the data acquisition module is used for repeatedly acquiring the action current of which the action change of the actuating mechanism is greater than a preset action threshold value for preset times;
the calculation module is used for calculating the average value of the plurality of action currents and recording the average value as an average current;
and the updating module is used for adjusting the average current by utilizing a preset adjusting coefficient so as to update the current starting current based on the adjusted average current.
9. An electronic device, characterized in that the electronic device comprises a memory for storing a computer program and a processor for executing the computer program to cause the computer device to perform the starting current optimization method according to any one of claims 1 to 7.
10. A readable storage medium having stored therein computer program instructions which, when read and executed by a processor, perform the startup current optimization method of any one of claims 1 to 7.
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| CN114483709A (en) * | 2021-12-29 | 2022-05-13 | 中联重科股份有限公司 | Current calibration method and device for electromagnetic valve, processor and engineering machinery |
| CN117445741A (en) * | 2023-10-31 | 2024-01-26 | 卓领物联科技(杭州)有限公司 | Charging protection method, electronic equipment, computer readable medium and charging pile |
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