CN115076361A - Retarder electromagnetic valve control method, device, equipment and medium - Google Patents
Retarder electromagnetic valve control method, device, equipment and medium Download PDFInfo
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- CN115076361A CN115076361A CN202210730568.3A CN202210730568A CN115076361A CN 115076361 A CN115076361 A CN 115076361A CN 202210730568 A CN202210730568 A CN 202210730568A CN 115076361 A CN115076361 A CN 115076361A
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- air pressure
- retarder
- control current
- electromagnetic valve
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0206—Layout of electro-hydraulic control circuits, e.g. arrangement of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
Abstract
The embodiment of the invention discloses a method, a device, equipment and a medium for controlling a retarder electromagnetic valve, wherein the method comprises the following steps: acquiring a target air pressure value and an actual air pressure value of a retarder in the braking process of a target vehicle; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire out the feedforward control current matched with the current state of the retarder and required for realizing the target air pressure value based on the dynamically updated feedforward electromagnetic valve control current configuration table, thereby improving the control speed of the electromagnetic valve.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a method, a device, equipment and a medium for controlling a retarder electromagnetic valve.
Background
The working principle of the retarder is that the air pressure in the retarder is controlled by controlling the opening degree of an electromagnetic valve in the retarder, and the air pressure drives oil liquid to enter a working cavity, so that torque is generated, and the speed reduction effect on a vehicle is realized. Therefore, the control speed and the control precision of the electromagnetic valve determine the torque response speed and the torque response precision of the hydraulic retarder. However, due to the influence of the working time and the device manufacturing, when the electromagnetic valve reaches a certain opening degree, the air pressure actually generated in the retarder is different from the target air pressure. In order to increase the control precision of the solenoid valve, the prior art generally adopts a control mode combining feedforward and closed loop, because closed loop control has overshoot, a certain time is needed for the control deviation to reach a very small range, and the control speed of the solenoid valve is slow.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a medium for controlling an electromagnetic valve of a retarder, which can improve the control speed of the electromagnetic valve.
In a first aspect, an embodiment of the present invention provides a retarder solenoid valve control method, where the method includes:
acquiring a target air pressure value and an actual air pressure value of a retarder in the braking process of a target vehicle;
inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
In a second aspect, an embodiment of the present invention provides a retarder solenoid-valve control apparatus, where the apparatus includes:
the air pressure value acquisition module is used for acquiring a target air pressure value and an actual air pressure value of the retarder in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and the target control signal determining module is used for determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
In a third aspect, an embodiment of the present invention provides a computer device, where the computer device includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the retarder solenoid valve control method of any embodiment.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the retarder solenoid valve control method according to any embodiment.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire the feedforward control current matched with the current state of the retarder and required for realizing the target air pressure value based on the dynamically updated feedforward electromagnetic valve control current configuration table, thereby improving the control speed of the electromagnetic valve.
Drawings
FIG. 1 is a flowchart of a retarder solenoid valve control method provided in an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a control process of a retarder solenoid valve according to an embodiment of the present invention;
FIG. 3 is a flowchart of a dynamic update method for a current configuration table of a feedforward solenoid valve according to a second embodiment of the present invention;
FIG. 4 is a flowchart of a method for dynamically updating a current configuration table of a feedforward solenoid valve according to a third embodiment of the present invention;
FIG. 5 is a flow chart illustrating dynamic update of a current configuration table for a feedforward solenoid valve control according to a third embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a retarder solenoid valve control device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
Example one
Fig. 1 is a flowchart of a method for controlling a retarder solenoid valve according to a first embodiment of the present invention, where the first embodiment of the present invention is applicable to a vehicle control scenario, and the method may be executed by a retarder solenoid valve control device, and the device may be implemented by software and/or hardware.
As shown in fig. 1, the retarder solenoid valve control method includes the following steps:
and S110, acquiring a target air pressure value and an actual air pressure value of the retarder in the braking process of the target vehicle.
Wherein the target vehicle denotes a vehicle equipped with a retarder, by which vehicle braking can be achieved. The target air pressure value of the retarder operation represents an internal air pressure value required by the retarder to achieve a target braking effect, and the target air pressure value can be obtained by inquiring a relation table of torque and air pressure according to torque required by achieving the target braking effect. The actual air pressure value represents an internal air pressure value in the actual operation process of the retarder, and the actual air pressure value can be known through an air pressure sensor connected with the retarder. Because there is an error between the actual air pressure value and the target air pressure value, the actual air pressure value generated in the retarder is not equal to the target air pressure value, and the target vehicle cannot achieve the target braking effect.
S120, inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value.
The feedforward control current represents a current determined by feedforward control, the feedforward control can improve the control speed of the electromagnetic valve, the feedforward electromagnetic valve control current configuration table can reflect the corresponding relation between a target air pressure value and the feedforward control current, and the feedforward control current corresponding to the target air pressure value can be inquired by inputting the target air pressure value. In order to ensure the accuracy of the corresponding relation between the target air pressure value and the feedforward control current, the feedforward electromagnetic valve control current configuration table is dynamically updated, and the mapping relation between the target air pressure value and the feedforward control current is corrected in stages. For example, learning and correction of the mapping relationship between the target air pressure value and the feedforward control current may be performed by a stepwise current test or a machine learning manner. The closed-loop control current represents a current determined by closed-loop control, the closed-loop control can improve the control accuracy of the solenoid valve, and a PID (proportional integral derivative) control method can be selected to calculate the closed-loop control current according to an actual air pressure value and a target air pressure value.
S130, determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
The target electromagnetic valve control current represents a current value actually required for reaching a target air pressure value in the retarder, and is equal to the sum of the feedforward control current and the closed-loop control current. Therefore, the current sum value of the feedforward control current and the closed-loop control current can be calculated, the current sum value is used as the target electromagnetic valve control current, and the electromagnetic valve control of the retarder is realized according to the target electromagnetic valve control current.
Specifically, fig. 2 is a flowchart for controlling a retarder solenoid valve according to an embodiment of the present invention, where a "feed-forward chart" represents a feed-forward solenoid valve control current configuration table; the self-learning algorithm is used for sequentially setting the test air pressure controlled by the electromagnetic valve within a preset test air pressure range according to a preset step length, respectively acquiring the monitoring current value of the retarder under the control of each test air pressure, performing data processing on the monitoring current value, and updating a feedforward electromagnetic valve control current configuration table according to the processing result; "feedforward set current" means feedforward control current; "control current" means a target solenoid control current; the PID is used for determining closed-loop control current according to the actual air pressure value and the target air pressure; "PID control current" means closed loop control current; the air pressure sensor is used for detecting the actual air pressure value in the retarder.
As shown in fig. 2, the retarder solenoid valve control process is as follows: after the target air pressure is input, the feedforward setting current is calculated by inquiring a feedforward chart, on the other hand, the PID control current is calculated through a PID algorithm according to the difference value of the target air pressure and the actual air pressure, then the feedforward setting current and the PID control current are added, the target control current is calculated, and the electromagnetic valve control of the retarder is realized according to the target control current.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire out the feedforward control current matched with the current state of the retarder and required for realizing the target air pressure value based on the dynamically updated feedforward electromagnetic valve control current configuration table, thereby improving the control speed of the electromagnetic valve.
Example two
Fig. 3 is a flowchart of a method for dynamically updating a feedforward electromagnetic valve control current configuration table according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to a vehicle control scenario, and the method may be executed by a retarder electromagnetic valve control device, where the device may be implemented by software and/or hardware.
As shown in fig. 3, the method for dynamically updating the feedforward solenoid valve control current configuration table includes the following steps:
and S210, starting the electromagnetic valve control current self-learning process of the retarder according to a preset updating time period.
The preset update time period represents a preset period time for updating the feedforward electromagnetic valve control current configuration table once, and for example, the feedforward electromagnetic valve control current configuration table may be updated once at intervals of five hundred hours. This is because the operating time of retarber and the difference of machine body manufacturing lead to the retarber solenoid valve to come the gas when the same aperture, and there will be the difference in the atmospheric pressure of establishing in the retarber too. Therefore, for each different retarder, the operating characteristics of each retarder itself should be learned periodically, respectively, so as to update the control parameters thereof.
And S220, sequentially setting the test air pressure controlled by the electromagnetic valve within a preset test air pressure range based on a preset step length, and respectively collecting the monitoring current values of the retarder under the control of each test air pressure.
The preset step length represents a setting interval of the test air pressure value controlled by the solenoid valve, for example, the preset step length may be set to 20 kpa, and then the air pressure values within the range of the test air pressure value such as 20 kpa, 40 kpa, 60 kpa, and 80 kpa are sequentially used as the test air pressure. The test air pressure represents the air pressure inside the retarder tested in the self-learning process, and in order to ensure the integrity of the test result, the air pressure range which can be reached inside the retarder can be used as the test air pressure range.
In the actual detection process, because the real-time air pressure value is in continuous change, the real-time air pressure is difficult to be constantly equal to the test air pressure, a reasonable error threshold value can be set, and when the difference value between the real-time air pressure value and the test air pressure is smaller than the reasonable error threshold value and the preset time can be maintained, the current value in the time can be recorded.
And S230, carrying out data processing on the monitoring current value, and updating the feedforward electromagnetic valve control current configuration table according to a processing result.
The method includes the steps of calculating the average monitoring current value of each monitoring current value after the abnormal value is removed, taking the average monitoring current value of each monitoring current value in the period as the monitoring current value under the control of the testing air pressure, obtaining the mapping relation between the target air pressure value and the feedforward control current value, recording the mapping relation between the target air pressure value and the feedforward control current value in a table form, and taking the table as an updated feedforward electromagnetic valve control current configuration table.
According to the technical scheme provided by the embodiment of the invention, the electromagnetic valve of the retarder is started to control the current self-learning process according to the preset updating time period; on the basis of a preset step length, sequentially setting the test air pressure controlled by the electromagnetic valve within a preset test air pressure range, and respectively collecting the monitoring current values of the retarder under the control of each test air pressure; and carrying out data processing on the monitored current value, and updating a feedforward electromagnetic valve control current configuration table according to a processing result. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, update the control current configuration table of the feedforward electromagnetic valve and improve the control speed of the electromagnetic valve.
EXAMPLE III
Fig. 4 is a flowchart of a method for dynamically updating a feedforward electromagnetic valve control current configuration table according to a third embodiment of the present invention, where the third embodiment of the present invention is applicable in a vehicle control scenario, and the method may be executed by a retarder electromagnetic valve control device, where the device may be implemented by software and/or hardware.
As shown in fig. 4, the method for dynamically updating the feedforward solenoid valve control current configuration table includes the following steps:
s310, judging whether a target vehicle corresponding to the retarder is in a static state or not, and judging whether the air pressure of an air storage cylinder of the retarder is larger than a preset air pressure threshold or not.
When the target vehicle corresponding to the retarder is in a static state, the influence of other factors on dynamic updating of the feedforward electromagnetic valve control current configuration table can be reduced, and therefore the target vehicle is required to be in the static state when the feedforward electromagnetic valve control current configuration table is dynamically updated. The preset air pressure threshold value represents a reasonable air pressure threshold value for normal air pressure of the air storage cylinder of the retarder, and when the air pressure of the air storage cylinder of the retarder is larger than the preset air pressure threshold value, the air pressure of the air storage cylinder of the retarder is in a normal working range.
And S320, when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is greater than a preset air pressure threshold value, starting an electromagnetic valve of the retarder to control a current self-learning process.
When the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value, namely the air pressure of the air reservoir of the retarder is in a normal working range, and when a target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is in the normal working range, a solenoid valve control current self-learning process of the retarder is started.
S330, setting the test air pressure range to be 20-320 kilopascals, taking 20 kilopascals as the preset step length, and sequentially taking values to determine the test value of the test air pressure.
In a specific example, the maximum internal air pressure that can be reached by the retarder selected in the third embodiment of the present invention is 320 kpa, and the air pressure value is 0 kpa, which indicates that the retarder is in the closed state, and the preset step size is 20 kpa, and 20 kpa may be selected as the minimum value of the test air pressure, and the test air pressure range is set to 20-320 kpa.
S340, monitoring the real-time air pressure value of the retarder, and collecting the monitoring current value within the preset state duration when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the testing air pressure is smaller than a preset air pressure difference value threshold value, and the state duration is longer than or equal to the preset state duration.
The preset air pressure difference threshold value represents that the real-time air pressure value is equal to the test air pressure threshold value by default under the condition that reasonable errors exist, and the monitoring current value is collected when the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than the preset air pressure difference threshold value. The preset state duration represents a preset period of time capable of checking whether the real-time air pressure value has an accidental condition, when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the testing air pressure is smaller than a preset air pressure difference value threshold value, and the state duration is longer than or equal to the preset state duration, the accidental condition that the real-time air pressure value has can be eliminated, and the monitoring voltage value in the duration is taken as a final sampling value.
And S350, aiming at the monitoring current value corresponding to each testing air pressure, calculating the average monitoring current value of the monitoring current values as a testing target current value corresponding to the testing air pressure value.
In order to ensure the accuracy of the detected current value, the abnormal constant in the monitored current value needs to be deleted, and the average monitored current value of each monitored current value after the abnormal value is deleted is calculated. For example, the variance between each current value in the monitored current values and the average of all the monitored current values may be calculated, when the difference is greater than a preset variance threshold, the monitored current value corresponding to the difference is regarded as an abnormal value and deleted, the average monitored current value of each monitored current value after the abnormal value is removed is calculated, and the average monitored current value is regarded as a test target current value corresponding to the test air pressure value.
And S360, updating the control current configuration table of the feedforward electromagnetic valve based on the mapping relation between the test air pressure value and the corresponding test target current value.
The mapping relation between the test air pressure value and the corresponding test target current value, namely the mapping relation between the target air pressure value and the feedforward control current, is recorded in a table form, and the table is used as an updated feedforward electromagnetic valve control current configuration table.
Optionally, interpolation calculation may be performed according to a mapping relationship between the test air pressure value and the corresponding test target current value, so as to obtain a test target current value corresponding to the non-test air pressure value; then, based on each of the test air pressures and the non-test air pressures, and the corresponding test target current value and the interpolation target current value, the feedforward electromagnetic valve control current configuration table is updated.
The non-test air pressure represents air pressure which is not subjected to specific test, interpolation estimation can be carried out according to the mapping relation between the test target air pressure value and the corresponding test current, an interpolation target current value corresponding to the non-test air pressure is obtained, and each test current and each non-test current are measured. And based on each test air pressure and each non-test air pressure, obtaining a mapping relation between a target air pressure value and the feedforward control current according to the corresponding test target current value and the corresponding interpolation target current value, recording the mapping relation between the target air pressure value and the feedforward control current in a form of a table, and taking the table as an updated feedforward electromagnetic valve control current configuration table.
Specifically, fig. 5 is a flowchart for dynamically updating a current configuration table of a feedforward solenoid valve control according to a third embodiment of the present invention. Wherein, the feed-forward chart represents a feed-forward electromagnetic valve control current configuration table.
As shown in fig. 5, the dynamic update process of the feedforward solenoid valve control current configuration table is as follows: firstly, whether the vehicle is static and the air pressure of the air reservoir is enough is judged, and when the vehicle is static and the air pressure of the air reservoir is enough, the electromagnetic valve of the retarder controls the current self-learning to start. Then, setting the test air pressure Pset to be 20 kilopascals, and then judging whether the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the test air pressure is less than 10 kilopascals, wherein the state duration can reach 30 seconds; when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the testing air pressure is less than 10 kilopascals and the state duration can reach 30 seconds, calculating the average value of the monitoring current values to serve as a testing target current value of the set air pressure value, and then updating a feedforward electromagnetic valve control current configuration table based on the relation between the testing air pressure and the corresponding testing target current. Further, the testing air pressure is increased by 20 kilopascals, the learning process is repeated until the testing air pressure is larger than 320 kilopascals, and the electromagnetic valve of the retarder controls the current to finish the self-learning.
According to the technical scheme provided by the embodiment of the invention, whether the target vehicle corresponding to the retarder is in a static state or not is judged, and whether the air pressure of an air storage cylinder of the retarder is greater than a preset air pressure threshold value or not is judged; when a target vehicle corresponding to the retarder is in a static state and the air pressure of an air reservoir of the retarder is greater than a preset air pressure threshold value, starting a solenoid valve control current self-learning process of the retarder; setting the range of the testing air pressure to be 20-320 kilopascals, taking 20 kilopascals as a preset step length, and sequentially taking values to determine the testing value of the testing air pressure; monitoring a real-time air pressure value of the retarder, and collecting a monitoring current value in the duration of the preset state when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the testing air pressure is smaller than a preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration; calculating the average monitoring current value of the monitoring current values as the test target current value of the corresponding test air pressure value aiming at the monitoring current value corresponding to each test air pressure; and updating the control current configuration table of the feedforward electromagnetic valve based on the mapping relation between the test air pressure value and the corresponding test target current value. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, update the control current configuration table of the feedforward electromagnetic valve and improve the control speed of the electromagnetic valve.
Example four
Fig. 6 is a schematic structural diagram of a retarder solenoid valve control device according to a second embodiment of the present invention, where the second embodiment of the present invention is applicable to a vehicle control scenario, and the device may be implemented by software and/or hardware and integrated in a computer device with an application development function.
As shown in fig. 6, the retarder solenoid valve control device includes: an air pressure value acquisition module 410, a control signal acquisition module 420, and a target control signal determination module 430.
The current value obtaining module 410 is configured to obtain a target air pressure value and an actual air pressure value of the retarder during braking of the target vehicle; a control signal obtaining module 420, configured to query a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determine a feedforward control current, and determine a closed-loop control current based on the actual air pressure value and the target air pressure value; and a target control signal determining module 430, configured to determine a target solenoid valve control current according to the feedforward control current and the closed-loop control current, and implement solenoid valve control of the retarder according to the target solenoid valve control current.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slow control speed of the electromagnetic valve in the prior art, and can quickly inquire out the feedforward control current matched with the current state of the retarder and required for realizing the target air pressure value based on the dynamically updated feedforward electromagnetic valve control current configuration table, thereby improving the control speed of the electromagnetic valve. In an alternative embodiment, the target control signal determination module 430 is further configured to calculate current sums of the feedforward control current and the closed-loop control current; the current sum is taken as the target solenoid control current.
In an optional implementation manner, the retarder electromagnetic valve control device further includes a dynamic update module of a feedforward electromagnetic valve control current configuration table, configured to start an electromagnetic valve control current self-learning process of the retarder according to a preset update time period; on the basis of a preset step length, sequentially setting the test air pressure controlled by the electromagnetic valve within a preset test air pressure range, and respectively collecting the monitoring current values of the retarder under the control of each test air pressure; and carrying out data processing on the monitored current value, and updating a feedforward electromagnetic valve control current configuration table according to a processing result.
In an optional implementation manner, the dynamic update module of the feedforward electromagnetic valve control current configuration table is further configured to monitor a real-time air pressure value of the retarder, and when the real-time air pressure value is in a state where an air pressure difference value between the real-time air pressure value and the test air pressure is smaller than a preset air pressure difference value threshold, and a state duration is greater than or equal to a preset state duration, collect a monitoring current value within the preset state duration.
In an optional implementation manner, the dynamic update module of the feedforward electromagnetic valve control current configuration table is further configured to calculate, for a monitoring current value corresponding to each test air pressure, an average monitoring current value of the monitoring current values as a test target current value corresponding to the test air pressure value;
and updating the control current configuration table of the feedforward electromagnetic valve based on the mapping relation between the test air pressure value and the corresponding test target current value.
In an optional implementation manner, the dynamic update module of the feedforward electromagnetic valve control current configuration table is further configured to determine whether a target vehicle corresponding to the retarder is in a stationary state, and determine whether air pressure of an air reservoir of the retarder is greater than a preset air pressure threshold; and when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is greater than a preset air pressure threshold value, starting a solenoid valve control current self-learning process of the retarder.
In an optional implementation mode, the feedforward electromagnetic valve control current configuration table dynamic updating module is further used for setting the test air pressure range to be 20-320 kilopascals; and taking 20 kilopascals as a preset step length, and sequentially taking values to determine a test value of the test air pressure.
The retarder electromagnetic valve control device provided by the embodiment of the invention can execute the retarder electromagnetic valve control method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
EXAMPLE five
Fig. 7 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 7 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 7 is only an example and should not impose any limitation on the scope of use or functionality of embodiments of the invention.
As shown in FIG. 7, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, and commonly referred to as a "hard drive"). Although not shown in FIG. 7, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. System memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in system memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination of which may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, to implement the method for controlling the retarder solenoid valve provided in the embodiment of the present invention, the method includes:
acquiring a target air pressure value and an actual air pressure value of a retarder in the braking process of a target vehicle;
inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
EXAMPLE six
A sixth embodiment provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for controlling a retarder solenoid valve according to any embodiment of the present invention, where the method includes:
acquiring a target air pressure value and an actual air pressure value of a retarder in the braking process of a target vehicle;
inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining a feedforward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer-readable storage medium may be, for example but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be understood by those skilled in the art that the modules or steps of the invention described above may be implemented by a general purpose computing device, they may be centralized on a single computing device or distributed across a network of computing devices, and optionally they may be implemented by program code executable by a computing device, such that it may be stored in a memory device and executed by a computing device, or it may be separately fabricated into various integrated circuit modules, or it may be fabricated by fabricating a plurality of modules or steps thereof into a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A retarder solenoid valve control method is characterized by comprising the following steps:
acquiring a target air pressure value and an actual air pressure value of a retarder in the braking process of a target vehicle;
querying a dynamically updated feed-forward solenoid valve control current configuration table matched with the retarder based on the target air pressure value, determining a feed-forward control current, and determining a closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
2. The method of claim 1, wherein the dynamic update of the feed forward solenoid control current profile comprises:
starting an electromagnetic valve control current self-learning process of the retarder according to a preset updating time period;
on the basis of a preset step length, sequentially setting test air pressure controlled by an electromagnetic valve in a preset test air pressure range, and respectively collecting monitoring current values of the retarder under the control of each test air pressure;
and carrying out data processing on the monitoring current value, and updating the control current configuration table of the feedforward electromagnetic valve according to a processing result.
3. The method of claim 2, wherein the separately collecting the monitored current values of the retarder under the control of the test air pressures comprises:
and monitoring the real-time air pressure value of the retarder, and collecting the monitoring current value in the preset state duration when the real-time air pressure value is in a state that the air pressure difference value of the test air pressure is smaller than a preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration.
4. The method of claim 2, wherein said data processing said monitored current value and updating said feedforward solenoid control current configuration table according to the processing result comprises:
calculating the average monitoring current value of the monitoring current values as the test target current value corresponding to the test air pressure value aiming at the monitoring current value corresponding to each test air pressure;
and updating the control current configuration table of the feedforward electromagnetic valve based on the mapping relation between the test air pressure value and the corresponding test target current value.
5. The method of claim 2, wherein prior to initiating the solenoid control current self-learning process of the retarder, the method further comprises:
judging whether a target vehicle corresponding to the retarder is in a static state or not, and judging whether the air pressure of an air reservoir of the retarder is greater than a preset air pressure threshold or not;
and when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is greater than a preset air pressure threshold value, starting an electromagnetic valve of the retarder to control a current self-learning process.
6. The method of claim 2, wherein sequentially setting the solenoid controlled test air pressures within a preset test air pressure range based on a preset step size comprises:
setting the test air pressure range to be 20-320 kilopascals;
and taking 20 kilopascals as the preset step length, and sequentially taking values to determine the test value of the test air pressure.
7. The method of claim 1, wherein said determining a target solenoid control current based on said feedforward control current and said closed-loop control current comprises:
calculating the current sum value of the feedforward control current and the closed-loop control current;
and taking the current sum as the target electromagnetic valve control current.
8. A retarder solenoid valve control arrangement, characterized in that the arrangement comprises:
the air pressure value acquisition module is used for acquiring a target air pressure value and an actual air pressure value of the retarder in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and the target control signal determining module is used for determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current and realizing the electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
9. A computer device, characterized in that the computer device comprises:
one or more processors;
a memory for storing one or more programs;
when executed by the one or more processors, cause the one or more processors to implement the retarder solenoid valve control method according to any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the retarder solenoid valve control method according to any of the claims 1-7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210730568.3A CN115076361A (en) | 2022-06-24 | 2022-06-24 | Retarder electromagnetic valve control method, device, equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210730568.3A CN115076361A (en) | 2022-06-24 | 2022-06-24 | Retarder electromagnetic valve control method, device, equipment and medium |
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| CN115076361A true CN115076361A (en) | 2022-09-20 |
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| CN202210730568.3A Pending CN115076361A (en) | 2022-06-24 | 2022-06-24 | Retarder electromagnetic valve control method, device, equipment and medium |
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