CN114326844B - Control method for hydraulic working system of pure electric loader - Google Patents
Control method for hydraulic working system of pure electric loader Download PDFInfo
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- CN114326844B CN114326844B CN202111675516.2A CN202111675516A CN114326844B CN 114326844 B CN114326844 B CN 114326844B CN 202111675516 A CN202111675516 A CN 202111675516A CN 114326844 B CN114326844 B CN 114326844B
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Abstract
The invention discloses a control method of a hydraulic working system of a pure electric loader, which comprises the following steps: the whole vehicle controller VCU sends a rotating speed instruction to the algorithm selection module, and the rotating speed acquisition module acquires the actual rotating speed of a hydraulic motor in the hydraulic system in real time and sends the actual rotating speed to the algorithm selection module; the algorithm selection module judges whether the rotating speed control adopts a P control algorithm or a PI control algorithm according to the rotating speed instruction and the actual rotating speed; the torque estimation module calculates a torque value corresponding to the hydraulic system pressure acquired by the pressure acquisition module in real time according to a relational expression of the pressure and the torque obtained by a calibration method in advance, and the torque estimation module superimposes the torque value on the torque output by the rotating speed ring PI compensator or the rotating speed ring P compensator. The invention can solve the problems of slow response and shake of the motor rotating speed; when the hydraulic system is suddenly pressurized or depressurized, the response time of the rotating speed can be reduced; and the shake of the hydraulic motor is reduced.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a control method of a hydraulic working system of a pure electric loader.
Background
The hydraulic working system of the loader responds very fast to the rotating speed instruction and the external load, which puts out higher requirements on the response speed of motor control, if the motor response can not meet the rotating speed instruction or the load, the motor can shake, and the hydraulic system can generate noise, so that a specific control algorithm is required to be designed to solve the motor shake problem.
Disclosure of Invention
The invention aims to solve the technical problem of providing a control method of a hydraulic working system of a pure electric loader, which aims at the defects of the prior art, judges whether the rotating speed control adopts algorithm P control or algorithm PI control according to the rotating speed command and the actual rotating speed, combines the rotating speed command and the actual rotating speed, and can solve the problems of slow response and shaking of the rotating speed of a motor; the torque output by the torque estimation module is added to the torque output by the rotating speed ring P compensator or the rotating speed ring PI compensator, and when the hydraulic system is suddenly pressurized or depressurized, the response time of the rotating speed can be reduced; and the shake of the hydraulic motor is reduced.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a control method of a hydraulic working system of a pure electric loader comprises an algorithm selection module, a PI algorithm module, a P algorithm module and a torque estimation module;
step 1, presetting a first rotating speed, a second rotating speed and a third rotating speed, wherein the first rotating speed is less than the second rotating speed and less than the third rotating speed;
step 2, the VCU sends a rotating speed instruction to the algorithm selection module, and the rotating speed acquisition module acquires the actual rotating speed of the hydraulic motor in the hydraulic system in real time and sends the actual rotating speed to the algorithm selection module;
step 3, judging by an algorithm selection module: when the rotating speed instruction is smaller than the first rotating speed and the actual rotating speed is smaller than the second rotating speed, the algorithm selection module sends a signal to the PI algorithm module, when the rotating speed instruction is smaller than the first rotating speed and the actual rotating speed is larger than the third rotating speed, the algorithm selection module sends a signal to the P algorithm module, and when the rotating speed instruction is larger than the first rotating speed, the algorithm selection module sends a signal to the PI algorithm module;
step 4, if the PI algorithm module receives the signal, the PI algorithm module calculates to obtain the torque output by the rotating speed ring PI compensator through the rotating speed ring PI control algorithm, and if the P algorithm module receives the signal, the P algorithm module calculates to obtain the torque output by the rotating speed ring P compensator through the rotating speed ring P control algorithm;
step 5, the pressure acquisition module acquires the pressure of the hydraulic system in real time and sends a signal to the torque estimation module, the torque estimation module calculates a torque value corresponding to the pressure of the hydraulic system acquired by the pressure acquisition module in real time according to a relation between the pressure and the torque obtained by a calibration method in advance, and the torque estimation module superimposes the torque value on the torque output by the rotating speed ring PI compensator or the rotating speed ring P compensator in the step 4;
the relation between the pressure and the torque obtained by the calibration method in the step 5 is specifically:
and under the pressure-building state of the hydraulic system, setting different rotating speeds of the hydraulic motor, recording the pressure intensity of the hydraulic system and the output torque of the hydraulic motor at the rotating speeds, testing for 1 time at regular intervals to obtain a data table of the pressure intensity of the hydraulic system and the output torque of the hydraulic motor, and fitting the obtained data of the pressure intensity of the hydraulic system and the output torque of the hydraulic motor by a least square method to obtain the relation between the pressure intensity and the torque.
As a further improved technical scheme of the present invention, the step 3 further includes:
the algorithm selection module judges: when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the actual rotating speed is gradually increased, the algorithm selection module sends a signal to the P algorithm module; when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the rotating speed is gradually reduced, the algorithm selection module sends a signal to the PI algorithm module.
As a further improved technical scheme of the invention, the first rotating speed is the sum of the standby rotating speed and the interval rotating speed of the hydraulic motor, the second rotating speed is the sum of the standby rotating speed and the interval rotating speed of the hydraulic motor, and the third rotating speed is the sum of the standby rotating speed and the interval rotating speed of the hydraulic motor.
As a further improved technical scheme of the invention, the first interval rotating speed is 200rpm, the second interval rotating speed is 300rpm, and the third interval rotating speed is 400rpm.
The beneficial effects of the invention are as follows:
according to the control method of the pure electric hydraulic working system, whether the rotating speed control adopts an algorithm P control algorithm or a PI control algorithm is judged according to the rotating speed command and the actual rotating speed, and the rotating speed command and the actual rotating speed are combined, so that the problems of slow response and shaking of the rotating speed of the motor can be solved; the torque estimation module output torque is added to the output torque of the rotating speed ring P compensator or the rotating speed ring PI compensator, and when the hydraulic system is suddenly pressurized or depressurized, the response time of the rotating speed can be reduced; the shaking of the hydraulic motor is reduced, the noise of the hydraulic system and shaking of the whole vehicle are reduced, and the driving comfort of the whole vehicle is improved.
Drawings
FIG. 1 is a block diagram of the overall control algorithm of the present invention.
FIG. 2 is a block diagram of the algorithm selection logic of the algorithm selection module of the present invention.
Detailed Description
The following is a further description of embodiments of the invention, with reference to the accompanying drawings:
a control method of a hydraulic working system of a pure electric loader comprises an algorithm selection module, a PI algorithm module, a P algorithm module and a torque estimation module;
step 1, presetting a first rotating speed, a second rotating speed and a third rotating speed, wherein the first rotating speed is less than the second rotating speed and less than the third rotating speed;
step 2, the VCU sends a rotating speed instruction to the algorithm selection module, and the rotating speed acquisition module acquires the actual rotating speed of the hydraulic motor in the hydraulic system in real time and sends the actual rotating speed to the algorithm selection module;
step 3, as shown in fig. 1 and fig. 2, the algorithm selection module determines: when the rotating speed command is smaller than the first rotating speed and the actual rotating speed is smaller than the second rotating speed, the algorithm selection module sends a signal to the PI algorithm module; when the rotating speed command is smaller than the first rotating speed and the actual rotating speed is larger than the third rotating speed, the algorithm selection module sends a signal to the P algorithm module; when the rotating speed instruction is greater than the rotating speed, the algorithm selection module sends a signal to the PI algorithm module; when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the actual rotating speed is gradually increased, the algorithm selection module sends a signal to the P algorithm module; when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the rotating speed is gradually reduced, the algorithm selection module sends a signal to the PI algorithm module;
step 4, if the PI algorithm module receives the signal, the PI algorithm module calculates to obtain the torque output by the rotating speed ring PI compensator through the rotating speed ring PI control algorithm, and if the P algorithm module receives the signal, the P algorithm module calculates to obtain the torque output by the rotating speed ring P compensator through the rotating speed ring P control algorithm;
and 5, the pressure acquisition module acquires the pressure of the hydraulic system in real time and sends a signal to the torque estimation module, the torque estimation module calculates a torque value corresponding to the pressure of the hydraulic system acquired by the pressure acquisition module in real time according to a relational expression of the pressure and the torque obtained by a calibration method in advance, and the torque estimation module superimposes the torque value on the torque output by the rotating speed ring PI compensator or the rotating speed ring P compensator in the step 4 to reduce the response time of the rotating speed, thereby achieving the purpose of reducing the fluctuation of the rotating speed of the motor.
The relation between the pressure and the torque obtained by the calibration method in the step 5 is specifically:
and in a pressure-building state of the hydraulic system, setting different rotating speeds of the hydraulic motor, recording the pressure of the hydraulic system and the output torque of the hydraulic motor at the rotating speeds, testing for 1 time at regular intervals to obtain a data table of the pressure of the hydraulic system and the output torque (load) of the hydraulic motor, and fitting the obtained data of the pressure of the hydraulic system and the output torque of the hydraulic motor by a least square method to obtain a relation formula of the pressure and the torque.
Table 1 shows a calibration table of a torque estimation module of the hydraulic working system of the pure electric loader. In the table: n (N) n Indicating the rotating speed of the hydraulic motor, P n Representing the pressure of the hydraulic system, T n Indicating the hydraulic motor output torque.
| N 1 | N 2 | N 3 | ... | N n-2 | N n-1 | N n |
| P 1 | P 2 | P 3 | ... | P n-2 | P n-1 | P n |
| T 1 | T 2 | T 3 | ... | T n-2 | T n-1 | T n |
The first rotation speed of the embodiment is the sum of the standby rotation speed and the interval rotation speed of the hydraulic motor, the second rotation speed is the sum of the standby rotation speed and the interval rotation speed of the hydraulic motor, and the third rotation speed is the sum of the standby rotation speed and the interval rotation speed of the hydraulic motor.
The first interval rotation speed, the second interval rotation speed and the third interval rotation speed can be specifically set according to the field working condition, the first interval rotation speed is set to be 200rpm, the second interval rotation speed is set to be 300rpm, and the third interval rotation speed is set to be 400rpm.
The algorithm selection module judges whether the PI control algorithm or the P control algorithm is adopted for the rotation speed ring according to the rotation speed command and the actual rotation speed; the PI control algorithm and the P control algorithm are combined, so that the response speed of the motor can be improved, and the fluctuation of the rotating speed of the motor can be reduced.
When the hydraulic working system is in actual demand and the working motor command is suddenly changed, the adjusting time of the motor rotating speed is reduced, and the risk of out-of-control of the motor due to the sudden change of the rotating speed command is reduced; when external load suddenly changes, the pressure of the hydraulic system suddenly changes, the load of the motor suddenly changes, and at the moment, the rotating speed of the motor is dithered, noise and whole vehicle jitter are generated, and the driving experience of a driver is affected; due to the effect of the torque estimation module, motor rotation speed shake is reduced, noise of a hydraulic system and shake of the whole vehicle are reduced, and driving comfort of the whole vehicle is improved.
The scope of the present invention includes, but is not limited to, the above embodiments, and any alterations, modifications, and improvements made by those skilled in the art are intended to fall within the scope of the invention.
Claims (4)
1. The control method of the hydraulic working system of the pure electric loader is characterized by comprising an algorithm selection module, a PI algorithm module, a P algorithm module and a torque estimation module;
step 1, presetting a first rotating speed, a second rotating speed and a third rotating speed, wherein the first rotating speed is less than the second rotating speed and less than the third rotating speed;
step 2, the VCU sends a rotating speed instruction to the algorithm selection module, and the rotating speed acquisition module acquires the actual rotating speed of the hydraulic motor in the hydraulic system in real time and sends the actual rotating speed to the algorithm selection module;
step 3, judging by an algorithm selection module: when the rotating speed instruction is smaller than the first rotating speed and the actual rotating speed is smaller than the second rotating speed, the algorithm selection module sends a signal to the PI algorithm module, when the rotating speed instruction is smaller than the first rotating speed and the actual rotating speed is larger than the third rotating speed, the algorithm selection module sends a signal to the P algorithm module, and when the rotating speed instruction is larger than the first rotating speed, the algorithm selection module sends a signal to the PI algorithm module;
step 4, if the PI algorithm module receives the signal, the PI algorithm module calculates to obtain the torque output by the rotating speed ring PI compensator through the rotating speed ring PI control algorithm, and if the P algorithm module receives the signal, the P algorithm module calculates to obtain the torque output by the rotating speed ring P compensator through the rotating speed ring P control algorithm;
step 5, the pressure acquisition module acquires the pressure of the hydraulic system in real time and sends a signal to the torque estimation module, the torque estimation module calculates a torque value corresponding to the pressure of the hydraulic system acquired by the pressure acquisition module in real time according to a relation between the pressure and the torque obtained by a calibration method in advance, and the torque estimation module superimposes the torque value on the torque output by the rotating speed ring PI compensator or the rotating speed ring P compensator in the step 4;
the relation between the pressure and the torque obtained by the calibration method in the step 5 is specifically:
and under the pressure-building state of the hydraulic system, setting different rotating speeds of the hydraulic motor, recording the pressure intensity of the hydraulic system and the output torque of the hydraulic motor at the rotating speeds, testing for 1 time at regular intervals to obtain a data table of the pressure intensity of the hydraulic system and the output torque of the hydraulic motor, and fitting the obtained data of the pressure intensity of the hydraulic system and the output torque of the hydraulic motor by a least square method to obtain the relation between the pressure intensity and the torque.
2. The method of controlling a hydraulic working system of an electric-only loader according to claim 1, wherein the step 3 further comprises:
the algorithm selection module judges: when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the actual rotating speed is gradually increased, the algorithm selection module sends a signal to the P algorithm module; when the rotating speed command is smaller than the first rotating speed, the actual rotating speed is larger than the second rotating speed and smaller than the third rotating speed, and the rotating speed is gradually reduced, the algorithm selection module sends a signal to the PI algorithm module.
3. The control method of the hydraulic working system of the pure electric loader according to claim 2, wherein the first rotation speed is a sum of a standby rotation speed and an interval rotation speed of the hydraulic motor, the second rotation speed is a sum of a standby rotation speed and an interval rotation speed of the hydraulic motor, and the third rotation speed is a sum of a standby rotation speed and an interval rotation speed of the hydraulic motor.
4. The control method of the hydraulic working system of the pure electric loader according to claim 3, wherein the first interval rotation speed is 200rpm, the second interval rotation speed is 300rpm, and the third interval rotation speed is 400rpm.
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