CN114352598A - Hydraulic cylinder proportional valve adjusting method and device, controller and storage medium - Google Patents
Hydraulic cylinder proportional valve adjusting method and device, controller and storage medium Download PDFInfo
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Abstract
The embodiment of the invention provides a method and a device for adjusting a proportional valve of a hydraulic cylinder, a controller and a storage medium, belonging to the technical field of data processing, wherein the method is applied to the controller, the controller is in communication connection with the proportional valve of the hydraulic cylinder, an inclination angle sensor and a pressure sensor, the inclination angle sensor is arranged on a folding screw rod, and the method comprises the following steps: the method comprises the steps of acquiring an analog quantity current value acquired by an inclination angle sensor and a hydraulic value acquired by a pressure sensor in real time, correcting the analog quantity current value to obtain a corresponding real-time angle value, obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation, enabling a hydraulic cylinder to drive a folding screw to move at a required speed, feeding back and adjusting the proportional valve analog quantity according to the hydraulic value, adjusting the proportional valve analog quantity according to the real-time angle value of the folding screw, feeding back and adjusting the proportional valve analog quantity according to the hydraulic value, and realizing more accurate adjustment of the hydraulic cylinder.
Description
Technical Field
The invention relates to the technical field of data processing, in particular to a method and a device for adjusting a proportional valve of a hydraulic cylinder, a controller and a storage medium.
Background
With the development of unmanned driving technology and 5G technology, agricultural machinery begins to develop towards unmanned agricultural production. For example, when grain is harvested, the unmanned harvester and the grain carrier work cooperatively to complete the harvesting operation of the grain. The grain conveying vehicle is also called a transfer vehicle, and a hydraulic cylinder on the transfer vehicle controls the angle of a carriage by adjusting the extension of a folding screw rod so as to unload and load grains.
In the process of extending the folding screw, the folding screw is mainly influenced by the thrust and gravity exerted by the hydraulic cylinder, and the folding screw of the transfer trolley is stressed differently in different directions, so the force exerted by the hydraulic cylinder is generally adjusted by adjusting a proportional valve of the hydraulic cylinder. However, the movement of the hydraulic cylinder is affected by various complex conditions such as position, orientation, stress and the like, and the traditional proportional valve adjusting function is difficult to accurately adjust the movement of the hydraulic cylinder under complex conditions such as a transfer trolley and the like.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, a controller and a storage medium for adjusting a proportional valve of a hydraulic cylinder, which can solve the problem that the conventional proportional valve adjusting function is difficult to accurately adjust the movement of the hydraulic cylinder in a complex situation such as a transfer vehicle.
In order to achieve the above object, the embodiments of the present invention adopt the following technical solutions.
In a first aspect, an embodiment of the present invention provides a method for adjusting a proportional valve of a hydraulic cylinder, which adopts the following technical solution.
A method for adjusting a proportional valve of a hydraulic cylinder is applied to a controller, the controller is in communication connection with the proportional valve, an inclination angle sensor and a pressure sensor of the hydraulic cylinder, the pressure sensor is connected with a hydraulic loop of the hydraulic cylinder, the inclination angle sensor is arranged on a folding screw rod connected with the hydraulic cylinder, and the method comprises the following steps:
acquiring an analog quantity current value output by the tilt angle sensor and a hydraulic value of the hydraulic cylinder acquired by the pressure sensor in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value;
obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder based on the proportional valve analog quantity so that the hydraulic cylinder drives the folding screw to move at a required speed;
and according to the hydraulic value, the analog quantity of the proportional valve is fed back and adjusted, so that the movement of the hydraulic cylinder is fed back and adjusted according to the driving condition of the hydraulic cylinder on the folding screw rod.
In a possible embodiment, the step of correcting the analog current value to obtain a corresponding real-time angle value includes:
correcting the analog quantity current value based on a measurement preset value to obtain an analog quantity correction value corresponding to the analog quantity current value;
and calculating a real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value.
In a possible embodiment, the step of calculating the real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value includes:
calculating a real-time angle value corresponding to the analog quantity correction value by adopting an angle calculation formula based on the analog quantity correction value;
the angle calculation formula includes:
α＝arcsin((k-12000)/8000)*U
wherein k is an analog quantity correction value, U is an angle conversion coefficient, and alpha is a real-time angle.
In a possible embodiment, the measured preset values comprise preset maximum values and preset minimum values;
the step of correcting the analog quantity current value based on the measurement preset value to obtain an analog quantity correction value corresponding to the analog quantity current value includes:
if the analog quantity current value is larger than or equal to the average value of the preset maximum value and the preset minimum value, calculating to obtain an analog quantity correction value by adopting a first formula and combining the analog quantity current value;
if the analog quantity current value is smaller than the average value of the preset maximum value and the preset minimum value, calculating to obtain an analog quantity correction value by adopting a second formula and combining the analog quantity current value;
the first formula includes:
k＝(A0-(A0-max-A0-min)/2)*8000/((A0-max+A0-min)/2)+12000
the second formula includes:
k＝12000-8000*((A0-max+A0-min)/2-A0)/((A0-max+A0-min)/2)
wherein A is0-maxIs a predetermined maximum value, A0-minIs a preset minimum value, k is an analog correction value, A0Is an analog current value.
In a possible embodiment, the step of calculating a proportional valve analog quantity matched with the angle variation based on the angle variation includes:
calculating a proportional valve analog value matched with the angle variation by adopting a proportional valve adjusting formula;
the proportional valve regulation formula comprises:
wherein Δ α ═ αt-αt-1A, Δ α is the angle change, A is the desired angle change, u (Δ α) is the proportional valve analog，KpAnd ki is the integral time and kt is the derivative time.
In a possible embodiment, the step of feedback-adjusting the analog quantity of the proportional valve according to the hydraulic pressure value includes:
and comparing the hydraulic value with a set threshold value in real time, and maintaining the analog quantity of the proportional valve unchanged when the hydraulic value is greater than the threshold value.
In a possible embodiment, the step of obtaining the analog current value output by the tilt sensor in real time includes:
acquiring a current value output by the tilt angle sensor in real time, monitoring the mutation speed of the current value, and filtering the current value;
if the mutation speed is larger than a preset change value, filtering a current value corresponding to the mutation speed, and sending an alarm signal;
and averaging the current values with the mutation speeds smaller than the change value to obtain an analog current value.
In a second aspect, an embodiment of the present invention provides an adjusting device for a proportional valve of a hydraulic cylinder, which adopts the following technical solution.
A hydraulic cylinder proportional valve adjusting device is applied to a controller, the controller is in communication connection with a proportional valve, an inclination angle sensor and a pressure sensor of a hydraulic cylinder, the pressure sensor is connected with a hydraulic loop of the hydraulic cylinder, the inclination angle sensor is arranged on a folding screw rod connected with the hydraulic cylinder, and the controller comprises a preprocessing module, a processing module and a feedback adjusting module;
the preprocessing module is used for acquiring an analog quantity current value output by the tilt angle sensor and a hydraulic value acquired by the pressure sensor in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value;
the processing module is used for obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder based on the proportional valve analog quantity so that the hydraulic cylinder drives the folding screw to move at a required speed;
and the feedback adjusting module is used for adjusting the analog quantity of the proportional valve in a feedback manner according to the hydraulic value so as to adjust the motion of the hydraulic cylinder in a feedback manner according to the driving condition of the hydraulic cylinder on the folding screw rod.
In a third aspect, an embodiment of the present invention provides a controller, which adopts the following technical solutions.
A controller comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the hydraulic cylinder proportional valve adjustment method of the first aspect.
In a fourth aspect, an embodiment of the present invention provides a storage medium, which adopts the following technical solutions.
A storage medium having stored thereon a computer program which, when executed by a processor, implements a hydraulic cylinder proportional valve adjustment method as set forth in the first aspect.
According to the method for adjusting the hydraulic cylinder proportional valve, the current value of the analog quantity acquired in real time is corrected to obtain the corresponding real-time angle value, namely the real-time angle value of the folding screw is obtained, the angle variation is obtained according to the real-time angle value of the folding screw, the proportional valve analog quantity matched with the angle variation is calculated according to the angle variation, the hydraulic cylinder drives the folding screw to move at a required speed, namely the proportional valve analog quantity is adjusted according to the real-time angle value of the folding screw driven by the hydraulic cylinder to more accurately adjust the hydraulic cylinder, and the proportional valve analog quantity is fed back and adjusted according to the hydraulic value of the hydraulic cylinder, so that the overlarge proportional valve analog quantity and error work doing are avoided to a certain extent, and the adjustment accuracy of the hydraulic cylinder can be greatly improved.
In order to make the aforementioned and other objects, features and advantages of the present invention 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 invention, the drawings needed 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 invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 shows a block schematic diagram of a transfer car control system capable of employing the hydraulic cylinder proportional valve adjustment method provided by an embodiment of the present invention.
FIG. 2 is a flow chart diagram illustrating a hydraulic cylinder proportional valve adjusting method provided by the embodiment of the invention.
Fig. 3 shows a schematic flow chart of part of the sub-steps of S101 in fig. 2.
Fig. 4 shows a relation diagram between an analog quantity current value and an angle under theoretical conditions related to a hydraulic cylinder proportional valve adjusting method provided by the embodiment of the invention.
Fig. 5 shows a schematic flow diagram of a further part of the substeps of S101 in fig. 2.
Fig. 6 shows a schematic flow diagram of part of the sub-steps of S101-5 in fig. 5.
Fig. 7 shows a block schematic diagram of a hydraulic cylinder proportional valve adjusting device provided by the embodiment of the invention.
FIG. 8 shows a block schematic diagram of a controller capable of applying the hydraulic cylinder proportional valve adjustment method provided by the embodiments of the present invention.
Icon: 100-a transfer car control system; 110-hydraulic cylinder; 120-a proportional valve; 130-folding screw; 140-a pressure sensor; 150-a tilt sensor; 160-a controller; 170-hydraulic cylinder proportional valve adjusting device; 180-a pre-processing module; 190-a processing module; 200-feedback regulation module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that 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.
The folding screw of the transfer vehicle (grain conveying vehicle) can adjust the height and angle of the carriage (for loading grain) after being driven by the hydraulic cylinder. During the extension of the folding screw, it is mainly influenced by the gravity and the thrust exerted by the hydraulic cylinder. Moreover, when the folding screw rods are in different directions, the lengths and postures of the rods of the folding screw rods are different, so that the needed reasoning is different. In addition, in the extension process of the folding screw, before the angle of the folding screw exceeds a certain angle, gravity is resistance, and the thrust applied by the hydraulic cylinder is larger at the moment; after the angle of the folding screw exceeds a certain angle, gravity becomes an assisting force, and the pushing force required at this time is small. Therefore, reasoning applied to the hydraulic cylinder needs to be adjusted in real time according to the real-time posture of the folding screw, and the requirement on the adjustment precision of the proportional valve of the hydraulic cylinder is high.
However, the conventional proportional valve adjusting function can only simply open and close the hydraulic valve. However, the hydraulic cylinder in a complex situation such as a special vehicle is affected by various complex conditions such as position, orientation, stress and the like, and therefore, the current proportional valve adjusting function is difficult to accurately adjust the movement of the hydraulic cylinder in such a complex situation.
In view of the above, embodiments of the present invention provide a hydraulic cylinder proportional valve adjustment scheme, which will be described below in terms of a hydraulic cylinder proportional valve adjustment method, and a controller 160 and a storage medium for implementing the method.
Referring to fig. 1, the hydraulic cylinder proportional valve method provided by the embodiment of the invention can be applied to a transfer car control system 100, wherein the transfer car control system 100 comprises a hydraulic cylinder 110, a controller 160, a folding screw 130, an inclination sensor 150 and a pressure sensor 140.
The hydraulic cylinder 110 is disposed on the transfer vehicle for driving the folding screw 130 to effect movement of the vehicle body of the transfer vehicle.
The controller 160 is communicatively coupled to the proportional valve 120, the tilt sensor 150, and the pressure sensor 140 of the hydraulic cylinder 110.
The pressure sensor 140 is connected to a hydraulic circuit of the hydraulic cylinder 110 to collect a hydraulic pressure value of the hydraulic cylinder 110.
The tilt sensor 150 is disposed on the folding screw 130 connected to the hydraulic cylinder 110, and is configured to collect an angle value of the folding screw 130.
The proportional valve 120 is a hydraulic control device, and is configured to remotely control the pressure, flow rate, or direction of the oil amount continuously and proportionally according to an input electric signal by replacing an original control portion with a proportional electromagnet in a normal pressure valve, a flow rate valve, and a direction valve. The analog quantity of the proportional valve 120 is the input electrical signal.
In addition, in this embodiment, magnetic ring shielding may be added to the ends of the tilt angle sensor 150 and the pressure sensor 140, and electromagnetic interference resistance measures such as a shielding layer and a ground wire are applied to the outer layer of the transmission line, so as to improve the acquisition accuracy of the tilt angle sensor 150 and the pressure sensor 140.
Referring to fig. 2, a flow chart of a method for adjusting a proportional valve of a hydraulic cylinder according to an embodiment of the present invention is schematically shown. This embodiment is mainly illustrated by applying the controller 160 in fig. 1 in this way. In this embodiment, the method may include the following steps.
S101, acquiring an analog quantity current value output by the tilt angle sensor and a hydraulic value acquired by the pressure sensor in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value.
Specifically, the inclination sensor 150 located on the folding screw 130 performs measurement of the angle of the folding screw 130 to output an analog current value related to the angle of the folding screw 130 and transmits the output analog current value to the controller 160, and the pressure sensor 140 collects a hydraulic value of a hydraulic circuit of the hydraulic cylinder 110 in real time and transmits the hydraulic value to the controller 160 in real time. The controller 160 receives the analog current value and the hydraulic value in real time, and corrects the analog current value to obtain a corresponding real-time angle value, i.e., an implementation angle value of the folding screw 130.
S103, obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder based on the proportional valve analog quantity so that the hydraulic cylinder drives the folding screw to move at a required speed.
Specifically, the controller 160 obtains an angle variation according to the real-time angle value, and calculates a proportional valve 120 analog quantity matched with the angle variation based on the angle variation, and the controller 160 adjusts the movement of the hydraulic cylinder 110 according to the proportional valve 120 analog quantity, so that the hydraulic cylinder 110 drives the folding screw 130 to move at a required speed.
And S105, feeding back and adjusting the analog quantity of the proportional valve according to the hydraulic value so as to feed back and adjust the movement of the hydraulic cylinder according to the driving condition of the hydraulic cylinder on the folding screw rod.
Specifically, the proportional valve 120 adjusts the hydraulic cylinder 110 according to the analog quantity of the proportional valve 120, and meanwhile, the controller 160 feeds back and adjusts the analog quantity of the proportional valve 120 according to the hydraulic value of the hydraulic cylinder 110 acquired by the pressure sensor 140 in real time, so as to avoid the hydraulic cylinder 110 from doing work by mistake to some extent.
In the method for adjusting the hydraulic cylinder proportional valve, the corresponding real-time angle value is obtained by correcting the analog quantity current value obtained in real time, namely, the real-time angle value of the folding screw 130 is obtained, so that the angle variation is obtained according to the real-time angle value of the folding screw 130, and then calculates the analog quantity of the proportional valve 120 matching with the angle variation according to the angle variation, so that the hydraulic cylinder 110 drives the folding screw 130 to move at the required speed, i.e., based on the real-time angle value of the folding screw 130 driven by the hydraulic cylinder 110, the analog quantity of the proportional valve 120 is adjusted to more accurately adjust the hydraulic cylinder 110, and, and the analog quantity of the proportional valve 120 is fed back and adjusted again according to the hydraulic pressure value of the hydraulic cylinder 110, so that closed-loop adjustment of the analog quantity of the proportional valve 120 is realized, so as to avoid the overlarge analog quantity of the proportional valve 120 and the error work to a certain extent, thereby greatly improving the adjusting accuracy of the hydraulic cylinder 110.
The real-time angle value of the folding screw 130 driven by the hydraulic cylinder 110 is taken as a basis, the influences of various complex conditions such as different positions, different directions and different stresses of the folding screw 130 are fully considered, and meanwhile, the closed-loop regulation of the analog quantity of the proportional valve 120 is realized by combining the real-time regulation of the hydraulic value of the hydraulic cylinder 110, so that the regulation accuracy is greatly improved.
Further, with reference to fig. 3 for step S101, fig. 3 is a schematic flow chart of a partial sub-step of S101, and the obtaining of the analog quantity current value collected by the tilt sensor 150 in real time is realized through the following steps.
S101-1, acquiring a current value acquired by the tilt sensor in real time, monitoring the sudden change speed of the current value, and filtering the current value.
Specifically, after the current value acquired by the tilt sensor 150 is acquired by adding the filtering time appropriately, the controller 160 filters the acquired current value in the filtering time, and monitors the abrupt change speed of the filtered current value. The abrupt change speed of the current value can be monitored first and then filtered, or the abrupt change speed can be monitored first and then filtered, or both can be carried out simultaneously.
S101-2, judging whether the mutation speed is smaller than a preset change value. If so, perform step S101-3, otherwise perform step S101-4.
And S101-3, averaging the current values with the mutation speeds smaller than the change value to obtain an analog current value.
And S101-4, filtering current values corresponding to the mutation speeds, and sending an alarm signal.
The variation value is an empirical value, and is a value determined by a technician after inducing rules according to historical data and historical experience.
The fact that the mutation speed is too large means that the acquisition accuracy is low, so that the current value in the time period with the too large mutation speed is filtered out, and the acquisition accuracy of the analog quantity current value can be improved. And an alarm signal is sent out, so that maintenance personnel can be reminded to perform maintenance in time, and the safety is improved.
The tilt sensor 150 may acquire the analog current value within a certain theoretical output range, for example, the output range may be 4 to 20mA, assuming that a value displayed on a program of the analog current value of 20mA is 20000, and a value displayed on the program of the analog current value of 4mA is 4000, in a theoretical situation, please refer to fig. 4, in which fig. 4 is a relationship between the analog current value and an angle value, that is, i.e., I isa＝12mA+sin(α)*8mA。
However, since physical factors such as current loss occur during the transmission of the analog current value, the received current value needs to be corrected.
On this basis, with reference to S101 and fig. 5, fig. 5 is a schematic flowchart of another part of sub-steps of S101, and includes the following steps to implement correction on the analog current value to obtain a corresponding real-time angle value.
S101-5, correcting the analog quantity current value based on the measured preset value to obtain an analog quantity correction value corresponding to the analog quantity current value.
And S101-6, calculating a real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value.
Specifically, the analog current value is corrected based on the measurement preset value to obtain an analog correction value, and then the real-time angle value is calculated according to the analog correction value.
Among them, the tilt sensor 150 has a certain current output range. Thus, the measured preset values include a preset maximum value and a preset minimum value. For S101-5, referring to fig. 6, the following steps may be included.
S201, judging whether the analog quantity current value is smaller than the average value of the preset maximum value and the preset minimum value. If yes, go to step S202. Otherwise, step S203 is executed.
And S202, calculating to obtain an analog quantity correction value by adopting a second formula and combining the analog quantity current value.
And S203, calculating to obtain an analog quantity correction value by adopting a first formula and combining the analog quantity current value.
Wherein the first formula comprises:
k＝(A0-(A0-max-A0-min)/2)*8000/((A0-max+A0-min)/2)+12000
the second formula includes:
k＝12000-8000*((A0-max+A0-min)/2-A0)/((A0-max+A0-min)/2)
A0-maxis a predetermined maximum value, A0-minIs a preset minimum value, k is an analog correction value, A0Is an analog current value.
After obtaining the analog current value by adopting the above steps S201 to S203, for S101-6, the method may include: and calculating a real-time angle value corresponding to the analog correction value by adopting an angle calculation formula based on the analog correction value.
Wherein, the angle calculation formula includes:
α＝arcsin((k-12000)/8000)*U
u is an angle conversion coefficient, and alpha is a real-time angle.
It should be understood that the parameters "12000" and "8000" in the first formula, the second formula and the angle calculation formula may be adaptively adjusted according to the output range and specification of the specific tilt sensor 150.
Through the upper partAfter the real-time angle value is calculated, in S103, the real-time angle value of the current second is subtracted from the real-time angle value of the previous second to obtain the angle change amount, that is, Δ α ═ αt-αt-1-a, wherein Δ α is the angular variation.
After obtaining the angle variation, in S103, the step of calculating the analog quantity of the proportional valve 120 matching the angle variation may include: and calculating a simulation value of the proportional valve 120 matched with the angle variation by adopting a proportional valve 120 regulation formula.
Wherein, the formula for adjusting the proportional valve 120 includes:
a is the desired angle change, u (Δ α) is the proportional valve 120 analog, KpAnd ki is the integral time and kt is the derivative time.
KpThe magnitude of the value can affect the response speed, i.e., KpLarger, the response speed of the controller 160 can be increased.
ki is also called the integral coefficient and is used to eliminate the residual error.
kt is also referred to as a differential coefficient, and serves to improve the dynamic performance of the controller 160, predict error trends, and correct errors in advance.
Also, during the movement of the folding screw 130 driven by the hydraulic cylinder 110, the movement may be allowed to be faster in a certain path, and may need to be slower in another path. At this time, A (desired amount of angular change), K can be changedpThe analog quantity of the proportional valve 120 is adjusted by (proportional coefficient), ki (integral time) and kt (differential time), and then the speed of the hydraulic cylinder 110 is adjusted to adjust the movement speed of the folding screw 130, so that the effect of adjusting the movement is achieved.
For example, the folding screw 130 of the transfer vehicle moves, and the intermediate process requires the folding screw 130 to move fast when the folding screw 130 is extending and retracting, but slowly to reach the end point. So that the folding screw 130 is about to reach the end pointIt is necessary to appropriately change K by decreasing ApKi and kt are calculated to adjust the moving speed of the folding screw 130 to make it move slowly.
The movement position of the folding screw 130 can be known from the real-time angle value measured by the tilt sensor 150.
After S103, the analog quantity of the proportional valve 120 matching the angle change quantity has been found, and at this time, the proportional valve 120 of the hydraulic cylinder 110 has adjusted the movement of the hydraulic cylinder 110 according to the found analog quantity of the proportional valve 120. However, the analog quantity of the proportional valve 120 cannot be increased infinitely, for example, when the hydraulic pressure reaches a maximum value, the analog quantity of the proportional valve 120 cannot be increased any more.
Therefore, the step of feedback-adjusting the analog quantity of the proportional valve 120 according to the hydraulic pressure value for S105 may include: and comparing the hydraulic pressure value with a set threshold value in real time, and maintaining the analog quantity of the proportional valve 120 unchanged when the hydraulic pressure value is greater than the threshold value.
That is, while the motion of the hydraulic cylinder 110 is controlled using the analog angle value calculated from the analog current value collected by the tilt sensor 150, the analog quantity of the proportional valve 120 is feedback-adjusted in real time according to the hydraulic pressure value of the hydraulic cylinder 110, so as to prevent the analog quantity of the proportional valve 120 from increasing infinitely to some extent.
During the movement, the pressure sensor 140 can detect the hydraulic pressure value and determine whether the hydraulic cylinder 110 is in place. When the hydraulic pressure value is at the maximum value and lasts for 3 seconds, it can be determined that the hydraulic cylinder 110 reaches the end position and cannot be extended or contracted any more. Of course, the tilt angle can also determine whether the cylinder 110 reaches the end point. Therefore, the position of the hydraulic cylinder 110 can be determined well by integrating the pressure sensor 140 and the tilt sensor 150.
According to the method for adjusting the proportional valve 120 of the hydraulic cylinder 110, the proportional valve 120 is adjusted through PID by mixing the inclination angle sensor 150 and the pressure sensor 140, PID adjustment is achieved, the opening and closing degree of the proportional valve 120 is fed back through the hydraulic value acquired by the pressure sensor 140, and the movement effect required by the hydraulic cylinder 110 is further controlled.
The method for adjusting the hydraulic cylinder 110 and the proportional valve 120 is applied to the adjustment of the hydraulic cylinder 110 of the transfer trolley, and the proportional valve 120 can be precisely and rapidly PID adjusted, so that the folding screw 130 of the transfer trolley can be folded and extended at a proper speed, and the impact force at the moment of folding in place or extending in place can be reduced or even eliminated to a certain extent.
Moreover, the method for adjusting the proportional valve 120 of the hydraulic cylinder 110 is not limited to the movement adjustment of the transfer trolley, and can also be applied to any object movement scene which needs irregular movement, different spaces and different directions and needs different pressures, wherein the PID adjustment is performed by mixing the inclination angle sensor 150 and the pressure sensor 140.
It should be understood that although the various steps in the flowcharts of fig. 2-6 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-6 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternating with other steps or at least some of the sub-steps or stages of other steps.
In one embodiment, as shown in fig. 7, a hydraulic cylinder proportional valve adjusting device 170 is provided, the hydraulic cylinder proportional valve adjusting device 170 is applied to the controller 160 in fig. 2, the controller 160 is connected to the proportional valve 120 of the hydraulic cylinder 110, the tilt sensor 150 and the pressure sensor 140 in a communication manner, the pressure sensor 140 is connected to the hydraulic circuit of the hydraulic cylinder 110, the tilt sensor 150 is disposed on the folding screw 130 connected to the hydraulic cylinder 110, and the controller 160 includes a preprocessing module 180, a processing module 190 and a feedback adjusting module 200.
The preprocessing module 180 is configured to obtain an analog current value acquired by the tilt sensor 150 and a hydraulic value of the hydraulic cylinder 110 acquired by the pressure sensor 140 in real time, and correct the analog current value to obtain a corresponding real-time angle value.
And the processing module 190 is configured to obtain an angle variation according to the real-time angle value, calculate a proportional valve 120 analog quantity matched with the angle variation based on the angle variation, and adjust the movement of the hydraulic cylinder 110 based on the proportional valve 120 analog quantity, so that the hydraulic cylinder 110 drives the folding screw 130 to move at a required speed.
And the feedback adjusting module 200 is used for feedback adjusting the analog quantity of the proportional valve 120 according to the hydraulic value so as to feedback adjust the movement of the hydraulic cylinder 110 according to the driving condition of the hydraulic cylinder 110 on the folding screw 130.
In the hydraulic cylinder proportional valve adjusting device 170, the preprocessing module 180 corrects the analog quantity current value obtained in real time to obtain a corresponding real-time angle value, namely, the real-time angle value of the folding screw 130 is obtained, the processing module 190 obtains the angle variation according to the real-time angle value of the folding screw 130, and then calculates the analog quantity of the proportional valve 120 matching with the angle variation according to the angle variation, so that the hydraulic cylinder 110 drives the folding screw 130 to move at the required speed, i.e., based on the real-time angle value of the folding screw 130 driven by the hydraulic cylinder 110, the analog quantity of the proportional valve 120 is adjusted, to adjust the hydraulic cylinder 110 more accurately, and the feedback adjustment module 200 performs feedback adjustment of the analog quantity of the proportional valve 120 again according to the hydraulic pressure value of the hydraulic cylinder 110, so as to avoid the overlarge analog quantity of the proportional valve 120 and the error work to a certain extent, thereby greatly improving the adjusting accuracy of the hydraulic cylinder 110.
For specific definition of the hydraulic cylinder proportional valve adjusting device 170, reference may be made to the above definition of the adjusting method of the hydraulic cylinder proportional valve 120, and details are not repeated here. The various modules in the hydraulic cylinder proportional valve adjusting device 170 described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules may be embedded in hardware or independent from a processor in the controller 160, or may be stored in a memory in the controller 160 in software, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a controller 160 is provided, and the controller 160 may be a server, and the internal structure thereof may be as shown in fig. 8. The controller 160 includes a processor, memory, and network interfaces connected by a system bus. Wherein the processor of the controller 160 is configured to provide computational and control capabilities. The memory of the controller 160 includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the controller 160 is used to store data generated and used in implementing the above-described method of adjusting the proportional valve 120 of the hydraulic cylinder 110. The network interface of the controller 160 is used to communicate with an external terminal through a network connection. The computer program is executed by a processor to implement a method of adjusting the proportional valve 120 of the hydraulic cylinder 110.
In one embodiment, a controller 160 is provided, and the controller 160 may be a terminal, and the internal structure thereof may be as shown in fig. 8. The controller 160 includes a processor, memory, communication interface, display screen, and input devices connected by a system bus. Wherein the processor of the controller 160 is configured to provide computational and control capabilities. The memory of the controller 160 includes a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the controller 160 is used for performing wired or wireless communication with an external terminal, and the wireless communication may be implemented through WIFI, an operator 15 network, Near Field Communication (NFC), or other technologies. The computer program is executed by a processor to implement a method of adjusting the proportional valve 120 of the hydraulic cylinder 110. The display screen of the controller 160 may be a liquid crystal display screen or an electronic ink display screen, and the input device of the controller 160 may be a touch layer covered on the display screen, a key, a trackball or a touch pad arranged on the casing of the controller 160, or an external keyboard, a touch pad or a mouse.
It will be understood by those skilled in the art that the configuration shown in fig. 8 is a block diagram of only a portion of the configuration associated with the inventive arrangements and does not constitute a limitation on the controller 160 to which the inventive arrangements are applied, and that a particular controller 160 may include more or less components than shown, or combine certain components, or have a different arrangement of components.
In one embodiment, the hydraulic cylinder proportional valve adjustment device 170 provided by the present invention may be implemented in the form of a computer program that is executable on the controller 160 shown in FIG. 8. The memory of the controller 160 may store various program modules that make up the cylinder proportional valve adjustment device 170, such as the pre-processing module 180, the processing module 190, and the feedback adjustment module 200 shown in FIG. 7. The computer program constituted by the respective program modules causes the processor to execute the steps of the method for adjusting the proportional valve 120 of the hydraulic cylinder 110 according to the various embodiments of the present invention described in this specification.
For example, the controller 160 shown in FIG. 8 may perform step 101 through a pre-processing module 180 in the hydraulic cylinder 110 proportional valve 120 arrangement shown in FIG. 7. The computer device may perform step S103 through the processing module 190. The computer device may perform step S105 through the feedback adjustment module 200.
In one embodiment, a controller 160 is provided comprising a memory storing a computer program and a processor implementing the following steps when executing the computer program: acquiring an analog quantity current value output by the tilt angle sensor 150 and a hydraulic value acquired by the pressure sensor 140 in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value; obtaining an angle variation according to the real-time angle value, calculating a proportional valve 120 analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder 110 based on the proportional valve 120 analog quantity so that the hydraulic cylinder 110 drives the folding screw 130 to move at a required speed; according to the hydraulic pressure value, the analog quantity of the proportional valve 120 is feedback-adjusted to feedback-adjust the movement of the hydraulic cylinder 110 according to the driving condition of the folding screw 130 by the hydraulic cylinder 110.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a current value acquired by the tilt sensor 150 in real time, monitoring the sudden change speed of the current value, and filtering the current value; and judging whether the mutation speed is smaller than a preset change value, if so, averaging the current values of which the mutation speed is smaller than the change value to obtain an analog current value, otherwise, filtering the current value corresponding to the mutation speed, and sending an alarm signal.
In one embodiment, the processor, when executing the computer program, further performs the steps of: correcting the analog quantity current value based on the measured preset value to obtain an analog quantity correction value corresponding to the analog quantity current value; and calculating a real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value.
In one embodiment, the processor, when executing the computer program, further performs the steps of: and judging whether the analog quantity current value is smaller than the average value of the preset maximum value and the preset minimum value, if so, calculating to obtain an analog quantity correction value by adopting a second formula in combination with the analog quantity current value, and if not, calculating to obtain the analog quantity correction value by adopting a first formula in combination with the analog quantity current value.
In one embodiment, a storage medium is provided having a computer program stored thereon, the computer program when executed by a processor implementing the steps of: acquiring an analog quantity current value output by the tilt angle sensor 150 and a hydraulic value acquired by the pressure sensor 140 in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value; obtaining an angle variation according to the real-time angle value, calculating a proportional valve 120 analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder 110 based on the proportional valve 120 analog quantity so that the hydraulic cylinder 110 drives the folding screw 130 to move at a required speed; according to the hydraulic pressure value, the analog quantity of the proportional valve 120 is feedback-adjusted to feedback-adjust the movement of the hydraulic cylinder 110 according to the driving condition of the folding screw 130 by the hydraulic cylinder 110.
In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring a current value acquired by the tilt sensor 150 in real time, monitoring the sudden change speed of the current value, and filtering the current value; and judging whether the mutation speed is smaller than a preset change value, if so, averaging the current values of which the mutation speed is smaller than the change value to obtain an analog current value, otherwise, filtering the current value corresponding to the mutation speed, and sending an alarm signal.
In one embodiment, the computer program when executed by the processor further performs the steps of: correcting the analog quantity current value based on the measured preset value to obtain an analog quantity correction value corresponding to the analog quantity current value; and calculating a real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value.
In one embodiment, the computer program when executed by the processor further performs the steps of: and judging whether the analog quantity current value is smaller than the average value of the preset maximum value and the preset minimum value, if so, calculating to obtain an analog quantity correction value by adopting a second formula in combination with the analog quantity current value, and if not, calculating to obtain the analog quantity correction value by adopting a first formula in combination with the analog quantity current value.
In the embodiments provided in the present invention, 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 invention. 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 invention 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 invention may be embodied in the form of a software product, which is stored in a storage medium and includes 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 invention. 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 a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The method for adjusting the proportional valve of the hydraulic cylinder is applied to a controller, the controller is in communication connection with the proportional valve, an inclination angle sensor and a pressure sensor of the hydraulic cylinder, the pressure sensor is connected with a hydraulic loop of the hydraulic cylinder, the inclination angle sensor is arranged on a folding screw connected with the hydraulic cylinder, and the method comprises the following steps:
acquiring an analog quantity current value output by the tilt angle sensor and a hydraulic value of the hydraulic cylinder acquired by the pressure sensor in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value;
obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder based on the proportional valve analog quantity so that the hydraulic cylinder drives the folding screw to move at a required speed;
and according to the hydraulic value, the analog quantity of the proportional valve is fed back and adjusted, so that the movement of the hydraulic cylinder is fed back and adjusted according to the driving condition of the hydraulic cylinder on the folding screw rod.
2. The method for adjusting the hydraulic cylinder proportional valve according to claim 1, wherein the step of correcting the analog current value to obtain a corresponding real-time angle value comprises:
correcting the analog quantity current value based on a measurement preset value to obtain an analog quantity correction value corresponding to the analog quantity current value;
and calculating a real-time angle value corresponding to the analog quantity correction value based on the analog quantity correction value.
3. The method for adjusting the hydraulic cylinder proportional valve according to claim 2, wherein the step of calculating the real-time angle value corresponding to the analog correction value based on the analog correction value includes:
calculating a real-time angle value corresponding to the analog quantity correction value by adopting an angle calculation formula based on the analog quantity correction value;
the angle calculation formula includes:
α＝arcsin((k-12000)/8000)*U
wherein k is an analog quantity correction value, U is an angle conversion coefficient, and alpha is a real-time angle.
4. The hydraulic cylinder proportional valve adjustment method of claim 2, wherein the measured preset values comprise a preset maximum value and a preset minimum value;
the step of correcting the analog quantity current value based on the measurement preset value to obtain an analog quantity correction value corresponding to the analog quantity current value includes:
if the analog quantity current value is larger than or equal to the average value of the preset maximum value and the preset minimum value, calculating to obtain an analog quantity correction value by adopting a first formula and combining the analog quantity current value;
if the analog quantity current value is smaller than the average value of the preset maximum value and the preset minimum value, calculating to obtain an analog quantity correction value by adopting a second formula and combining the analog quantity current value;
the first formula includes:
k＝(A0-(A0-max-A0-min)/2)*8000/((A0-max+A0-min)/2)+12000
the second formula includes:
k＝12000-8000*((A0-max+A0-min)/2-A0)/((A0-max+A0-min)/2)
wherein A is0-maxIs a predetermined maximum value, A0-minIs a preset minimum value, k is an analog correction value, A0Is an analog current value.
5. The method of adjusting a hydraulic cylinder proportional valve according to claim 1, wherein the step of calculating a proportional valve analog quantity matching the angle change quantity based on the angle change quantity includes:
calculating a proportional valve analog value matched with the angle variation by adopting a proportional valve adjusting formula;
the proportional valve regulation formula comprises:
wherein Δ α ═ αt-αt-1A, Δ α is the angular variation, A is the desired angular variation, u (Δ α) is the proportional valve analog, KpAnd ki is the integral time and kt is the derivative time.
6. The method of adjusting a hydraulic cylinder proportional valve of claim 1, wherein the step of feedback adjusting the proportional valve analog quantity according to the hydraulic pressure value comprises:
and comparing the hydraulic value with a set threshold value in real time, and maintaining the analog quantity of the proportional valve unchanged when the hydraulic value is greater than the threshold value.
7. The method for adjusting the hydraulic cylinder proportional valve according to claim 1, wherein the step of acquiring the analog quantity current value output by the tilt sensor in real time comprises the following steps:
acquiring a current value output by the tilt angle sensor in real time, monitoring the mutation speed of the current value, and filtering the current value;
if the mutation speed is greater than or equal to a preset change value, filtering a current value corresponding to the mutation speed, and sending an alarm signal;
and averaging the current values with the mutation speeds smaller than the change value to obtain an analog current value.
8. The hydraulic cylinder proportional valve adjusting device is applied to a controller, the controller is in communication connection with a proportional valve, an inclination angle sensor and a pressure sensor of a hydraulic cylinder, the pressure sensor is connected with a hydraulic loop of the hydraulic cylinder, the inclination angle sensor is arranged on a folding screw rod connected with the hydraulic cylinder, and the controller comprises a preprocessing module, a processing module and a feedback adjusting module;
the preprocessing module is used for acquiring an analog quantity current value output by the tilt angle sensor and a hydraulic value of the hydraulic cylinder acquired by the pressure sensor in real time, and correcting the analog quantity current value to obtain a corresponding real-time angle value;
the processing module is used for obtaining an angle variation according to the real-time angle value, calculating a proportional valve analog quantity matched with the angle variation based on the angle variation, and adjusting the movement of the hydraulic cylinder based on the proportional valve analog quantity so that the hydraulic cylinder drives the folding screw to move at a required speed;
and the feedback adjusting module is used for adjusting the analog quantity of the proportional valve in a feedback manner according to the hydraulic value so as to adjust the motion of the hydraulic cylinder in a feedback manner according to the driving condition of the hydraulic cylinder on the folding screw rod.
9. A controller comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the hydraulic cylinder proportional valve adjustment method of any of claims 1-7.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the hydraulic cylinder proportional valve adjusting method according to any of claims 1-7.
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