CN115182407A - Method and device for controlling arm support, controller and engineering machinery - Google Patents
Method and device for controlling arm support, controller and engineering machinery Download PDFInfo
- Publication number
- CN115182407A CN115182407A CN202210822560.XA CN202210822560A CN115182407A CN 115182407 A CN115182407 A CN 115182407A CN 202210822560 A CN202210822560 A CN 202210822560A CN 115182407 A CN115182407 A CN 115182407A
- Authority
- CN
- China
- Prior art keywords
- valve
- valve control
- temperature
- control
- control amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 56
- 239000010720 hydraulic oil Substances 0.000 claims abstract description 50
- 230000033001 locomotion Effects 0.000 claims abstract description 48
- 230000008859 change Effects 0.000 claims description 22
- 230000003321 amplification Effects 0.000 claims description 9
- 238000003199 nucleic acid amplification method Methods 0.000 claims description 9
- 238000004891 communication Methods 0.000 claims description 3
- 230000004044 response Effects 0.000 abstract description 16
- 238000010586 diagram Methods 0.000 description 18
- 238000004590 computer program Methods 0.000 description 7
- 239000003921 oil Substances 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000001680 brushing effect Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Landscapes
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The application discloses a method and a device for controlling an arm support, a controller and engineering machinery. The method comprises the following steps: and under the condition of receiving the movement instruction signal, determining the target position of the joint according to the movement instruction signal, and determining the initial valve control amount of the control valve according to the current position and the target position of the joint. And acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature. And determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support. According to the method and the device, the valve control quantity is corrected through temperature, the valve flow can be controlled under different temperature working conditions, the pressure building time of the hydraulic cylinder is shortened, the joint response speed is guaranteed, the hydraulic system response is improved, and therefore the control precision of the arm support is improved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method, a device, a controller and engineering machinery for controlling an arm support.
Background
At present, a control method for a multi-joint arm support system mainly comprises the steps of installing a sensor at the tail end of each joint arm support, and optimizing the control method by sensing the position and the speed of the tail end to realize accurate control. For an engineering machinery multi-joint arm support system, the construction condition is complex, the working environment is severe, a sensor cannot be installed at the tail end of an arm support, and the electric drive cannot meet the requirement of large driving force of the engineering machinery easily, so that hydraulic drive is mostly adopted in the field of engineering machinery. The precision control method for the hydraulic system mainly focuses on the following aspects:
1) The opening and closing time of the valve is reduced, for example, a high-speed switch valve is adopted to increase the response speed;
2) And the control method is optimally designed, such as fuzzy control, sliding film control and the like.
The high-speed switch valve has high response speed, but the valve port is smaller, so that the high-speed switch valve is not suitable for a high-flow hydraulic system; fuzzy control and sliding mode control are complex to realize and are based on models, and for engineering machinery, an accurate nonlinear model is difficult to establish. In addition, under different working conditions, the response speeds of the joints of the hydraulic system are different, so that the control precision of the arm support is low, and the target position cannot be reached.
Disclosure of Invention
The embodiment of the application aims to provide a method, a device, a controller and engineering machinery for controlling an arm support, and aims to solve the problems that in the prior art, electric drive cannot meet the requirement of large driving force of the engineering machinery easily, and the control precision of the arm support is low due to the fact that the response speeds of all joints of a hydraulic system are different under different working conditions.
In order to achieve the above object, a first aspect of the present application provides a method for controlling a boom, where the boom includes a joint, a hydraulic cylinder corresponding to the joint, and a control valve communicated with the hydraulic cylinder, the method including:
under the condition of receiving the motion instruction signal, determining the target position of the joint according to the motion instruction signal;
determining the initial valve control amount of a control valve according to the current position and the target position of the joint;
acquiring the actual temperature of hydraulic oil in a hydraulic cylinder;
determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support.
In the embodiment of the present application, determining the control amount of the compensation valve of the control valve according to the actual temperature includes:
acquiring a pressure building time model of a valve control cylinder, wherein the pressure building time model of the valve control cylinder comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
and determining a compensation valve control quantity of the control valve according to the actual temperature and the preset temperature based on the pressure building time model of the valve control cylinder, wherein the compensation valve control quantity is used for compensating the influence of the actual temperature on the pressure building time.
In the embodiment of the application, the pressure buildup time model of the valve control cylinder meets the formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein, t i The pressure build-up time of the hydraulic cylinder is set; k is a radical of formula Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k is a radical of formula T The influence coefficient of the temperature on the pressure building time is shown; t is the temperature of the hydraulic oil.
In this embodiment of the application, determining the control amount of the compensation valve of the control valve according to the actual temperature and the preset temperature based on the pressure buildup time model of the valve control cylinder includes:
under the condition that the pressure buildup time in the pressure buildup time model of the valve control cylinder is determined as preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control amount of the control valve according to the change value of the effective flow of the system and the flow-valve control amount amplification factor.
In the embodiment of the present application, the variation value of the effective flow of the system satisfies the formula (2):
wherein, the delta Q is the change value of the effective flow of the system; k is a radical of formula Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure build-up time of the hydraulic cylinder.
In the embodiment of the present application, the compensation valve control amount of the control valve satisfies formula (3):
wherein, K i To compensate for valve control; n is a flow-valve control quantity amplification coefficient; delta Q is the change value of the effective flow of the system; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
In an embodiment of the present application, the method further comprises:
in the case where the actual temperature is not more than the preset temperature, the initial valve control amount of the control valve is determined as the target valve control amount of the control valve.
A second aspect of the present application provides a device for controlling a boom, including:
the first determining module is used for determining the target position of the joint according to the motion instruction signal under the condition of receiving the motion instruction signal;
the second determination module is used for determining the initial valve control amount of the control valve according to the current position and the target position of the joint;
the acquisition module is used for acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder;
the third determining module is used for determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature;
the control module is used for determining the target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support.
A third aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
a processor configured to call the instructions from the memory and when executing the instructions, to implement the method for controlling the boom described above.
A fourth aspect of the present application provides an engineering machine, including:
a hydraulic arm comprising a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of the hydraulic oil in the oil cylinder corresponding to each joint in the joints; and
the controller is described above.
A fifth aspect of the present application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method for controlling a boom.
Through the technical scheme, under the condition that the movement instruction signal is received, the target position of the joint is determined according to the movement instruction signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. And acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature. And determining the target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening of the control valve so as to control the motion of the arm support. According to the method and the device, the valve control quantity is corrected through temperature, the valve flow can be controlled under different temperature working conditions, the pressure building time of the hydraulic cylinder is shortened, the joint response speed is guaranteed, the hydraulic system response is improved, and therefore the control precision of the arm support is improved.
Additional features and advantages of embodiments of the present application will be described in detail in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the embodiments of the disclosure, but are not intended to limit the embodiments of the disclosure. In the drawings:
fig. 1 schematically illustrates an application environment diagram of a method for controlling a boom according to an embodiment of the present application;
fig. 2 schematically shows a flow chart of a method for controlling a boom according to an embodiment of the application;
fig. 3 schematically shows a control block diagram of a method for controlling a boom according to an embodiment of the present application;
fig. 4 schematically shows a control strategy diagram of a method for controlling a boom according to an embodiment of the present application;
fig. 5 schematically shows a structural block diagram of a device for controlling a boom according to an embodiment of the present application;
fig. 6 schematically shows a block diagram of a controller according to an embodiment of the present application.
Description of the reference numerals
11. Movable arm 12 bucket rod
13. Bucket 111 boom cylinder
121. Bucket rod hydraulic cylinder 131 bucket hydraulic cylinder
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it should be understood that the specific embodiments described herein are only used for illustrating and explaining the embodiments of the present application and are not used for limiting the embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present application, the directional indications are only used to explain the relative position relationship between the components, the motion situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present application.
Fig. 1 schematically illustrates an application environment diagram of a method for controlling a boom according to an embodiment of the present application. The method for controlling the boom according to the embodiment of the application may be applied to an application environment as shown in fig. 1. In the embodiment of the present application, the method for controlling the boom is applied to a hydraulic arm mechanical apparatus including a hydraulic arm and a controller 2. Wherein the hydraulic arm is in communication with the controller 2. The hydraulic arm includes a plurality of joints, such as a boom 11, an arm 12, and a bucket 13. The boom 11, arm 12, and bucket 13 are sequentially rotatably connected. Boom 11, arm 12, and bucket 13 are provided with a boom cylinder 111, an arm cylinder 121, and a bucket cylinder 131, respectively. The boom cylinder 111 controls the boom 11, the arm cylinder 121 controls the arm 12, and the bucket cylinder 131 controls the bucket 13.
The hydraulic system characteristic influences, there is a lag from the receiving of the motion command signal of each joint to the starting of the mechanism motion, mainly related to the hydraulic system needing a certain pressure build-up time. Therefore, the influence of the pressure building time of the hydraulic system on the control precision of the tail end motion of the multi-joint arm support working device is considered, the control scheme is simple, and a complex nonlinear control model does not need to be built.
Fig. 2 schematically shows a flowchart of a method for controlling a boom according to an embodiment of the present application. As shown in fig. 2, an embodiment of the present application provides a method for controlling a boom, where the boom includes a joint, a hydraulic cylinder corresponding to the joint, and a control valve communicated with the hydraulic cylinder, and the method may include the following steps.
And step 101, under the condition that the motion command signal is received, determining the target position of the joint according to the motion command signal.
In the embodiment of the present application, the hydraulic arm may include a plurality of joints, and there is a lag from the reception of the movement command of each joint to the start of the movement of the mechanism due to the influence of the hydraulic characteristics during the movement of the hydraulic arm, so that the actual positions of each joint may deviate, resulting in inconsistency with the target position. Therefore, after the processor receives the motion instruction signal, it is necessary to determine the target position to be reached of each joint and the actual position of each joint according to the motion instruction signal in order to determine whether each joint reaches the target position. In one example, during the operation of the hydraulic arm mechanical equipment, the movable arm, the arm and the bucket hydraulic cylinder need to move cooperatively, and particularly, the coordination requirement on each joint is high in a working mode with precision requirements such as slope brushing and trench digging. Therefore, it is necessary to acquire a target position and an actual position of each joint.
Specifically, the processor can acquire the target position of each joint by receiving a motion instruction signal of the controller; the actual position of each joint is obtained by obtaining the angle of each joint by a tilt sensor attached to each joint.
And 102, determining the initial valve control amount of the control valve according to the current position and the target position of the joint.
In the embodiment of the present application, the current position of the joint may be regarded as its actual position, and the processor may determine whether the actual position of the joint reaches the corresponding target position by comparing the actual position and the target position of each joint, respectively, so as to determine the initial valve control amount corresponding to the joint control valve. Specifically, after the actual positions of the joints are obtained, the positions of the hinge points of the joints can be calculated according to positive kinematics, and whether any joint reaches the corresponding target position can be judged by comparing the positions of the hinge points, so that the initial valve control amount of the control valve can be determined according to the current position and the target position of the joint.
And 103, acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder.
In the embodiment of the present application, for any joint, when the actual position of the joint does not reach the corresponding target position, the target valve control amount of the hydraulic cylinder control valve corresponding to the joint needs to be adjusted, where the target valve control amount includes an initial valve control amount and a compensation valve control amount. The processor can determine the initial valve control amount of the hydraulic cylinder control valve corresponding to the joint according to the actual position and the target position, and determine the compensation valve control amount of the hydraulic cylinder control valve corresponding to the joint according to the hydraulic oil temperature. Therefore, it is necessary to obtain the actual temperature of the hydraulic oil in the hydraulic cylinder.
Specifically, the actual temperature of the hydraulic oil in each hydraulic cylinder may be acquired by a temperature sensor provided on each joint.
And step 104, determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is greater than the preset temperature.
In this embodiment of the application, the processor may determine whether the actual temperature of the current hydraulic oil is greater than a preset temperature, and the preset temperature may be set according to an actual condition. For example, when the system voltage buildup time is greatly influenced by the temperature, the value of the preset temperature may be set to a smaller value, in an example, the preset temperature may be set to 45 ℃, and of course, in practical applications, the value of the preset temperature may also be set to other values as needed. Under the condition that the actual temperature of the current hydraulic oil is higher than the preset temperature, the influence of the oil temperature on the system pressure building time is large, and the temperature and the real-time position of the hydraulic oil measured by the temperature sensor need to be considered at the same time, so that under the condition that the actual temperature of the current hydraulic oil is higher than the preset temperature, the compensation valve control quantity of the hydraulic cylinder control valve corresponding to any joint needs to be calculated.
105, determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support.
In the embodiment of the present application, for any joint, in the case where the actual position of the joint does not reach the corresponding target position, the target valve control amount of the control valve may be determined according to the initial valve control amount and the compensation valve control amount.
Specifically, the target valve control amount may be an electric current amount or a pressure control amount, and is used for controlling the opening of the control valve of the hydraulic cylinder corresponding to each joint, so as to control the effective flow of the hydraulic system, thereby controlling the pressure buildup time.
Fig. 3 schematically shows a control block diagram of a method for controlling a boom according to an embodiment of the present application. As shown in fig. 3, in one example, the processor first obtains the actual position of each joint and the hydraulic oil temperature in each hydraulic cylinder. Then, it is determined whether or not the actual position of each joint has reached a target position, which is a designated position, and if the actual position has not reached the designated position, the temperature of the hydraulic oil in the hydraulic cylinder is further determined. And under the condition that the temperature of the hydraulic oil is less than or equal to 45 ℃, the valve control amount is determined according to the actual position and the target position. And under the condition that the temperature of the hydraulic oil is less than or equal to 45 ℃, the valve control amount is determined according to the actual position, the target position and the feedback of the temperature of the hydraulic oil.
According to the method and the device, under the condition that the motion instruction signal is received, the target position of the joint is determined according to the motion instruction signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. And acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature. And determining the target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening of the control valve so as to control the motion of the arm support. According to the method and the device, the valve control quantity is corrected through temperature, the valve flow can be controlled under different temperature working conditions, the pressure building time of the hydraulic cylinder is shortened, the joint response speed is guaranteed, the hydraulic system response is improved, and therefore the control precision of the arm support is improved.
Fig. 4 schematically illustrates a control strategy diagram of a method for controlling a boom according to an embodiment of the present application, and as shown in fig. 4, in one example, a joint may include a bucket, a stick, and a boom. For the bucket, the PID controller first acquires a bucket target position signal and a bucket position actual signal, and then outputs an initial valve control amount. And under the condition that the actual temperature of the hydraulic oil is higher than the preset temperature, feeding back through a temperature sensor to obtain a compensation valve control quantity, and inputting the compensation valve control quantity and the initial valve control quantity into the bucket hydraulic cylinder controller until the actual position of the bucket reaches the target position. Similarly, for the arm and the boom, the PID controller first obtains an arm target position signal and a boom position actual signal, and then outputs an initial valve control amount. And under the condition that the actual temperature of the hydraulic oil is higher than the preset temperature, feeding back through a temperature sensor to obtain a compensation valve control quantity, and inputting the compensation valve control quantity and the initial valve control quantity into the hydraulic cylinder controller of the arm and the hydraulic cylinder controller of the movable arm together until the actual positions of the arm and the movable arm respectively reach corresponding target positions.
In the embodiment of the present application, determining the compensation valve control amount of the control valve according to the actual temperature includes:
acquiring a pressure building time model of a valve control cylinder, wherein the pressure building time model of the valve control cylinder comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
and determining a compensation valve control quantity of the control valve according to the actual temperature and the preset temperature based on the pressure building time model of the valve control cylinder, wherein the compensation valve control quantity is used for compensating the influence of the actual temperature on the pressure building time.
Specifically, the valve control cylinder pressure buildup time model is a model reflecting the relationship between the system pressure buildup time of the valve control hydraulic cylinder and the effective flow and hydraulic oil temperature of the system. The pressure build-up time of the valve-controlled hydraulic cylinder system is influenced by factors such as system pressure, hydraulic oil temperature, bulk modulus, length-width ratio of a hydraulic pipeline, valve control quantity-pressure proportional coefficient and the like. For a multi-joint boom hydraulic system, pressure required by each joint, the length of a hydraulic cylinder, the diameter and the like are different, so that the pressure building time of each hydraulic system is different, the movement of each joint is not coordinated, and the control precision of the tail end of the boom is finally influenced. Therefore, by analyzing the relationship between the pressure build-up time of the valve-controlled hydraulic cylinder system and the system pressure, the cylinder length, the hydraulic elastic modulus and the hydraulic oil temperature, a nonlinear model of the pressure build-up time of the valve-controlled hydraulic cylinder system can be established. The nonlinear model of the pressure build-up time of the valve control hydraulic cylinder system meets the formula (4):
wherein, t i The pressure build-up time of the hydraulic cylinder is set; v is the hydraulic cylinder pressurization volume, including the hydraulic cylinder volume and the pipeline volume; Δ P is hydraulic oil pressure change, Δ P = P-P i (ii) a P is the system pressure; p is a radical of i The target pressure of each joint hydraulic system is set as the ith pressure; k is the bulk modulus of the hydraulic oil; q is the effective flow of the system; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is the hydraulic oil temperature.
Specifically, the influence rule of the system pressure, the oil temperature and the effective flow of the system on the pressure build-up time (the elastic modulus of the hydraulic oil, the volume of the hydraulic cylinder and the volume of the pipeline are constants) can be obtained through a nonlinear model of the pressure build-up time of the valve control cylinder. Because each joint hydraulic system of the multi-joint hydraulic arm equipment is a load sensitive system, the fixation of the pressure difference can be ensured. Therefore, the influence of the temperature of the hydraulic oil and the effective flow of the system on the system pressure buildup time is mainly considered, and the simplified valve control cylinder pressure buildup time model is obtained. Based on the simplified pressure buildup time model of the valve control cylinder, under the condition that the actual temperature of hydraulic oil in the hydraulic cylinder is higher than the preset temperature, the compensation valve control amount of the control valve can be determined according to the actual temperature and the preset temperature, and the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure buildup time and improving the control precision of the joint.
Taking the preset temperature of 45 ℃ as an example, under the condition that the actual temperature of the current hydraulic oil is greater than 45 ℃, the influence of the oil temperature on the system pressure build-up time is large, so the opening of the valve core needs to be further increased to increase the opening area of the valve, thereby increasing the effective flow of the system and reducing the response time of the system. And the compensation valve control amount of the valve control cylinder can be obtained through the pressure building model of the valve control cylinder according to the feedback of the temperature sensor.
In the implementation of the application, the pressure build-up time of the valve control cylinder meets the formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein, t i The pressure build-up time of the hydraulic cylinder is set; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is the temperature of the hydraulic oil.
In this embodiment of the application, determining the control amount of the compensation valve of the control valve according to the actual temperature and the preset temperature based on the pressure buildup time model of the valve control cylinder includes:
under the condition that the pressure buildup time in the pressure buildup time model of the valve control cylinder is determined as preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control amount of the control valve according to the change value of the effective flow of the system and the flow-valve control amount amplification factor.
Specifically, as can be seen from the valve-controlled cylinder pressure buildup time model, in the case where the actual temperature of the hydraulic oil exceeds the preset temperature, the theoretical system flow rate should be increased so that the pressure buildup time reaches the theoretical pressure buildup time. According to the embodiment of the application, the change value of the effective flow of the system can be determined according to the actual temperature and the preset temperature of the hydraulic oil of any joint, so that the compensation valve control amount of any joint can be determined according to the change value of the effective flow of the system and the flow-valve control amount amplification factor N.
In the embodiment of the application, the change value of the effective flow of the system satisfies the formula (2):
wherein, the delta Q is the change value of the effective flow of the system; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
In the embodiment of the present application, the compensation valve control amount of the control valve satisfies formula (3):
wherein, K i To compensate for valve control; n is a flow-valve control quantity amplification coefficient; delta Q is the change value of the effective flow of the system; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
In an embodiment of the present application, the method further comprises:
in the case where the actual temperature is not more than the preset temperature, the initial valve control amount of the control valve is determined as the target valve control amount of the control valve.
Specifically, under the condition that the actual temperature of the hydraulic oil in the hydraulic cylinder is not greater than the preset temperature, the oil temperature has a small influence on the pressure buildup time, and only the actual position feedback can be considered at the moment. Therefore, the initial valve control amount of the control valve can be determined as the target valve control amount of the control valve, the calculated amount generated in the process of determining the target valve control amount is reduced, and the response delay of the control valve is reduced.
Fig. 5 schematically shows a structural block diagram of a device for controlling a boom according to an embodiment of the present application. As shown in fig. 5, an embodiment of the present application provides a device for controlling a boom, where the boom includes a joint, a hydraulic cylinder corresponding to the joint, and a control valve communicated with the hydraulic cylinder, and the device includes:
a first determining module 510, configured to determine a target position of a joint according to a motion instruction signal when the motion instruction signal is received;
a second determining module 520, configured to determine an initial valve control amount of the control valve according to the current position and the target position of the joint;
an obtaining module 530, configured to obtain an actual temperature of hydraulic oil in the hydraulic cylinder;
a third determining module 540, configured to determine a compensation valve control amount of the control valve according to the actual temperature when the actual temperature is greater than the preset temperature;
a control module 550 for determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support.
Specifically, in the case where a motion instruction signal is received, the first determination module 510 determines a target position of a joint according to the motion instruction signal. After the first determination module 510 determines the target position of the joint, the second determination module 520 determines an initial amount of valving of the control valve in conjunction with the current position of the joint. The obtaining module 530 can obtain an actual temperature of hydraulic oil in the hydraulic cylinder, and the third determining module 540 determines the compensation valve control amount of the control valve according to the actual temperature when the actual temperature is detected to be higher than the preset temperature. The control module 550 may control the opening of the control valve according to the target valve control amount of the control valve determined by the initial valve control amount and the compensation valve control amount, thereby controlling the motion of the boom.
Fig. 6 schematically shows a block diagram of a controller according to an embodiment of the present application. As shown in fig. 6, an embodiment of the present application provides a controller, which may include:
a memory 610 configured to store instructions; and
a processor 620 configured to call the instructions from the memory 610 and when executing the instructions, to implement the method for controlling the boom described above.
Specifically, in the embodiment of the present application, the processor 620 may be configured to:
under the condition of receiving the motion instruction signal, determining the target position of the joint according to the motion instruction signal;
determining the initial valve control amount of a control valve according to the current position and the target position of the joint;
acquiring the actual temperature of hydraulic oil in a hydraulic cylinder;
determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening of the control valve so as to control the movement of the arm support.
Further, the processor 620 may be further configured to:
acquiring a pressure building time model of a valve control cylinder, wherein the pressure building time model of the valve control cylinder comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
and determining a compensation valve control quantity of the control valve according to the actual temperature and the preset temperature based on the pressure building time model of the valve control cylinder, wherein the compensation valve control quantity is used for compensating the influence of the actual temperature on the pressure building time.
In the embodiment of the application, the pressure buildup time model of the valve control cylinder meets the formula (1):
t i ＝k Q /Q+l T ·T； (1)
wherein, t t The pressure building time of the hydraulic cylinder is represented; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is the temperature of the hydraulic oil.
Further, the processor 620 may be further configured to:
under the condition that the pressure buildup time in the pressure buildup time model of the valve control cylinder is determined as preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control amount of the control valve according to the change value of the effective flow of the system and the flow-valve control amount amplification factor.
In the embodiment of the present application, the variation value of the effective flow of the system satisfies the formula (2):
wherein, the delta Q is the change value of the effective flow of the system; k is a radical of formula Q The influence coefficient of the effective flow of the system on the pressure build-up time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
In the embodiment of the present application, the compensation valve control amount of the control valve satisfies formula (3):
wherein, K i To compensate for valve control; n is a flow-valve control quantity amplification coefficient; delta Q is the change value of the effective flow of the system; k is a radical of formula Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure build-up time of the hydraulic cylinder.
Further, the processor 620 may be further configured to:
in the case where the actual temperature is not more than the preset temperature, the initial valve control amount of the control valve is determined as the target valve control amount of the control valve.
Through the technical scheme, under the condition of receiving the movement instruction signal, the target position of the joint is determined according to the movement instruction signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. And acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature. And determining the target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening of the control valve so as to control the motion of the arm support. According to the method and the device, the valve flow can be controlled under different temperature working conditions through temperature correction valve control, the pressure build-up time of the hydraulic cylinder is shortened, the joint response speed is ensured, the hydraulic system response is improved, and therefore the control precision of the arm support is improved.
As shown in fig. 1, an embodiment of the present application further provides a construction machine, which may include:
a hydraulic arm comprising a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of the hydraulic oil in the hydraulic cylinder corresponding to each joint in the joints; and
the controller 2 described above.
Specifically, the hydraulic arm mechanical apparatus of the embodiment of the present application includes a hydraulic arm, a controller 2, and a temperature sensor. Wherein the hydraulic arm is in communication with the controller 2. The hydraulic arm includes a plurality of joints.
In one example, the hydraulic arm may include a boom 11, an arm 12, and a bucket 13. Boom cylinder 111 controls boom 11, arm cylinder 121 controls arm 12, and bucket cylinder 131 controls bucket 13. During the operation, the boom 11, the arm 12, and the bucket 13 are controlled to cooperatively move by the boom cylinder 111, the arm cylinder 121, and the bucket cylinder 131 so that the hydraulic arm reaches a target position, and particularly, in a work mode in which precision is required, such as brushing a slope or trenching, a high requirement is imposed on the coordination of the joints.
In the embodiment, the relationship between the pressure build-up time and the oil temperature, the effective flow of the system and the like is established by analyzing the response time of each joint, the pressure build-up time of each joint arm hydraulic cylinder is adjusted to be in the optimal state, and finally the accurate control of the multi-joint hydraulic arm support system can be realized.
In addition, the embodiment considers the influence of the pressure building time of the hydraulic system on the control precision of the tail end motion of the multi-joint arm support working device, the control scheme is simple, and a complex nonlinear control model does not need to be built. The innovation is that the tail end control precision of the multi-joint arm support hydraulic system is improved by improving the response of each joint.
The embodiment of the application also provides a machine-readable storage medium, which stores instructions for causing a machine to execute the above method for controlling the boom.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both permanent and non-permanent, removable and non-removable media, may implement the information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that 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 a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (11)
1. A method for controlling a boom, the boom comprising a joint, a hydraulic cylinder corresponding to the joint, and a control valve in communication with the hydraulic cylinder, the method comprising:
under the condition that a motion instruction signal is received, determining the target position of the joint according to the motion instruction signal;
determining the initial valve control amount of the control valve according to the current position and the target position of the joint;
acquiring the actual temperature of hydraulic oil in the hydraulic cylinder;
under the condition that the actual temperature is higher than the preset temperature, determining the compensation valve control amount of the control valve according to the actual temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
2. The method of claim 1, wherein said determining a compensated actuation amount of said control valve based on said actual temperature comprises:
obtaining a valve control cylinder pressure buildup time model, wherein the valve control cylinder pressure buildup time model comprises a corresponding relation among pressure buildup time, the temperature of hydraulic oil and system effective flow;
and determining a compensation valve control quantity of the control valve according to the actual temperature and the preset temperature based on the pressure building time model of the valve control cylinder, wherein the compensation valve control quantity is used for compensating the influence of the actual temperature on the pressure building time.
3. The method according to claim 2, wherein the valve control cylinder pressure buildup time model satisfies formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein, t i The pressure building time of the hydraulic cylinder is represented; k is a radical of formula Q The influence coefficient of the effective flow of the system on the pressure build-up time is obtained; q is the effective flow of the system; k is a radical of formula T The influence coefficient of the temperature on the pressure building time is shown; and T is the temperature of the hydraulic oil.
4. The method of claim 2, wherein determining a compensated valve control amount of the control valve according to the actual temperature and a preset temperature based on the valve control cylinder pressure buildup time model comprises:
under the condition that the pressure buildup time in the pressure buildup time model of the valve control cylinder is determined as preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control amount of the control valve according to the change value of the effective flow of the system and the flow-valve control amount amplification factor.
5. The method of claim 4, wherein the value of the change in the system effective flow satisfies equation (2):
wherein, the delta Q is the change value of the effective flow of the system; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of formula T The influence coefficient of the temperature on the pressure build-up time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
6. The method according to claim 4, wherein the compensation valving amount of the control valve satisfies formula (3):
wherein, K i To compensate for valve control; n is a flow-valve control quantity amplification coefficient; delta Q is the change value of the effective flow of the system; k is a radical of Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k is a radical of T The influence coefficient of the temperature on the pressure building time is shown; t is a preset temperature; t' is the actual temperature; t is t i And the pressure building time of the hydraulic cylinder is shown.
7. The method of claim 1, further comprising:
and determining the initial valve control amount of the control valve as the target valve control amount of the control valve under the condition that the actual temperature is not more than the preset temperature.
8. A device for controlling a boom, characterized in that the boom comprises a joint, a hydraulic cylinder corresponding to the joint and a control valve communicated with the hydraulic cylinder, the device comprising:
the first determining module is used for determining the target position of the joint according to the motion instruction signal under the condition of receiving the motion instruction signal;
the second determination module is used for determining the initial valve control amount of the control valve according to the current position and the target position of the joint;
the acquisition module is used for acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder;
the third determining module is used for determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is higher than the preset temperature;
the control module is used for determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
9. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and to enable a method for controlling a boom according to any of claims 1 to 7 when executing the instructions.
10. A work machine, comprising:
a hydraulic arm comprising a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of hydraulic oil in the hydraulic cylinder corresponding to each joint in the joints; and
the controller of claim 9.
11. A machine-readable storage medium having stored thereon instructions for causing a machine to perform a method for controlling a boom according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210822560.XA CN115182407B (en) | 2022-07-13 | 2022-07-13 | Method and device for controlling arm support, controller and engineering machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210822560.XA CN115182407B (en) | 2022-07-13 | 2022-07-13 | Method and device for controlling arm support, controller and engineering machinery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115182407A true CN115182407A (en) | 2022-10-14 |
| CN115182407B CN115182407B (en) | 2023-09-12 |
Family
ID=83519373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210822560.XA Active CN115182407B (en) | 2022-07-13 | 2022-07-13 | Method and device for controlling arm support, controller and engineering machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115182407B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116447184A (en) * | 2023-06-20 | 2023-07-18 | 中联重科股份有限公司 | Hydraulic system control method, computer equipment and machine-readable storage medium |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5056312A (en) * | 1988-07-08 | 1991-10-15 | Hitachi Construction Machinery Co., Ltd. | Hydraulic drive system for construction machines |
| JPH09328785A (en) * | 1996-04-10 | 1997-12-22 | Komatsu Ltd | Work device controller of construction machine |
| US6173572B1 (en) * | 1999-09-23 | 2001-01-16 | Caterpillar Inc. | Method and apparatus for controlling a bypass valve of a fluid circuit |
| EP1079101A2 (en) * | 1999-08-20 | 2001-02-28 | Robert Bosch Gmbh | Fluid control valve |
| CN1755565A (en) * | 2004-08-30 | 2006-04-05 | 卡特彼勒S·A·R·L公司 | System and method for controlling hydraulic fluid flow |
| JP2010163772A (en) * | 2009-01-14 | 2010-07-29 | Kubota Corp | Arm position control system of working machine |
| CN102720242A (en) * | 2012-06-14 | 2012-10-10 | 上海三一重机有限公司 | Hydraulic oil temperature control device and control method and excavator comprising same |
| CN203821482U (en) * | 2014-04-14 | 2014-09-10 | 国机重工（常州）挖掘机有限公司 | Device for limiting hydraulic pressure flow of excavator |
| WO2015137524A1 (en) * | 2014-06-04 | 2015-09-17 | 株式会社小松製作所 | Construction machine control system, construction machine, and method for controlling construction machine |
| JP5823080B1 (en) * | 2014-06-04 | 2015-11-25 | 株式会社小松製作所 | Construction machine control system, construction machine, and construction machine control method |
| CN105570203A (en) * | 2016-01-12 | 2016-05-11 | 浙江大学 | Efficient and high-precision hydraulic control system adopting combination of pump and valve |
| US20190112787A1 (en) * | 2017-10-16 | 2019-04-18 | Deere & Company | Temperature responsive hydraulic derate |
| CN110506145A (en) * | 2018-03-15 | 2019-11-26 | 日立建机株式会社 | Work machine |
| CN112302088A (en) * | 2020-11-02 | 2021-02-02 | 徐州徐工矿业机械有限公司 | Excavator protection system and method based on driving state monitoring |
| CN112482485A (en) * | 2020-11-10 | 2021-03-12 | 徐州徐工挖掘机械有限公司 | Actuator trajectory control method, actuator trajectory control device, actuator trajectory control controller and storage medium |
| CN112814974A (en) * | 2019-11-18 | 2021-05-18 | 河北雷萨重型工程机械有限责任公司 | Hydraulic oil temperature control system and control method thereof, and pump truck |
-
2022
- 2022-07-13 CN CN202210822560.XA patent/CN115182407B/en active Active
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5056312A (en) * | 1988-07-08 | 1991-10-15 | Hitachi Construction Machinery Co., Ltd. | Hydraulic drive system for construction machines |
| JPH09328785A (en) * | 1996-04-10 | 1997-12-22 | Komatsu Ltd | Work device controller of construction machine |
| EP1079101A2 (en) * | 1999-08-20 | 2001-02-28 | Robert Bosch Gmbh | Fluid control valve |
| US6173572B1 (en) * | 1999-09-23 | 2001-01-16 | Caterpillar Inc. | Method and apparatus for controlling a bypass valve of a fluid circuit |
| CN1755565A (en) * | 2004-08-30 | 2006-04-05 | 卡特彼勒S·A·R·L公司 | System and method for controlling hydraulic fluid flow |
| JP2010163772A (en) * | 2009-01-14 | 2010-07-29 | Kubota Corp | Arm position control system of working machine |
| CN102720242A (en) * | 2012-06-14 | 2012-10-10 | 上海三一重机有限公司 | Hydraulic oil temperature control device and control method and excavator comprising same |
| CN203821482U (en) * | 2014-04-14 | 2014-09-10 | 国机重工（常州）挖掘机有限公司 | Device for limiting hydraulic pressure flow of excavator |
| WO2015137524A1 (en) * | 2014-06-04 | 2015-09-17 | 株式会社小松製作所 | Construction machine control system, construction machine, and method for controlling construction machine |
| JP5823080B1 (en) * | 2014-06-04 | 2015-11-25 | 株式会社小松製作所 | Construction machine control system, construction machine, and construction machine control method |
| CN105339558A (en) * | 2014-06-04 | 2016-02-17 | 株式会社小松制作所 | Construction machine control system, construction machine, and method for controlling construction machine |
| CN105570203A (en) * | 2016-01-12 | 2016-05-11 | 浙江大学 | Efficient and high-precision hydraulic control system adopting combination of pump and valve |
| US20190112787A1 (en) * | 2017-10-16 | 2019-04-18 | Deere & Company | Temperature responsive hydraulic derate |
| CN110506145A (en) * | 2018-03-15 | 2019-11-26 | 日立建机株式会社 | Work machine |
| CN112814974A (en) * | 2019-11-18 | 2021-05-18 | 河北雷萨重型工程机械有限责任公司 | Hydraulic oil temperature control system and control method thereof, and pump truck |
| CN112302088A (en) * | 2020-11-02 | 2021-02-02 | 徐州徐工矿业机械有限公司 | Excavator protection system and method based on driving state monitoring |
| CN112482485A (en) * | 2020-11-10 | 2021-03-12 | 徐州徐工挖掘机械有限公司 | Actuator trajectory control method, actuator trajectory control device, actuator trajectory control controller and storage medium |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116447184A (en) * | 2023-06-20 | 2023-07-18 | 中联重科股份有限公司 | Hydraulic system control method, computer equipment and machine-readable storage medium |
| CN116447184B (en) * | 2023-06-20 | 2023-09-12 | 中联重科股份有限公司 | Hydraulic system control method, computer equipment and machine-readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115182407B (en) | 2023-09-12 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112486021B (en) | Low-complexity control method for asymmetric servo hydraulic position tracking system | |
| JP2005256595A (en) | Control device for working machine of construction machinery, control method for working machine of construction machinery, and program allowing computer to execute the method | |
| JP2006525928A (en) | Crane or excavator with optimal movement guidance for handling rope-loaded luggage | |
| CN115182407A (en) | Method and device for controlling arm support, controller and engineering machinery | |
| WO2023207152A1 (en) | Control method and apparatus for crane boom, and controller and crane | |
| CN110504880B (en) | Feedforward compensation control method for interference observation of flux switching permanent magnet linear motor | |
| CN112925208A (en) | Disturbance compensation method for data-driven electro-hydraulic servo system of well drilling machine | |
| KR101141917B1 (en) | Time delay control with gradient estimator for robot manipulator and robot manipulator controller using the same | |
| CN116857243A (en) | Hydraulic oil flow distribution method, storage medium, processor and engineering machinery | |
| CN113625547A (en) | Main valve position control method of controller | |
| JP3460761B2 (en) | Robot control device | |
| JP7313633B2 (en) | Position control device and position control method | |
| Danaee et al. | Direct position control of electro-hydraulic excavator | |
| KR100284092B1 (en) | hydraulic system using neural network and control method thereof | |
| KR101839039B1 (en) | System for controlling pump-controlled electro hydrostatic actuator and method therof | |
| KR20010086077A (en) | Improved servomechanical control system and method | |
| CN115929738A (en) | Method for a hydraulic system, training method for a control model and control method | |
| CN117681190A (en) | Debugging method and device for arm support and storage medium | |
| CN116400587A (en) | Method, apparatus, controller and storage medium for determining feedforward control amount | |
| CN116447184B (en) | Hydraulic system control method, computer equipment and machine-readable storage medium | |
| JPH0988902A (en) | Pump capacity control method and its device | |
| CN114718871B (en) | Method and device for adjusting slide valve of screw compressor and compressor | |
| CN112065288B (en) | Mast verticality adjusting method and system and rotary drilling rig | |
| JP3606599B2 (en) | Pressure control device for hydraulic equipment | |
| CN114268246B (en) | Motor control method, device, system and computer readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |