CN115750540A - Hydraulic system control method and device and working machine - Google Patents
Hydraulic system control method and device and working machine Download PDFInfo
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- CN115750540A CN115750540A CN202211216163.4A CN202211216163A CN115750540A CN 115750540 A CN115750540 A CN 115750540A CN 202211216163 A CN202211216163 A CN 202211216163A CN 115750540 A CN115750540 A CN 115750540A
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Abstract
The invention relates to the field of engineering machinery, and provides a hydraulic system control method, a hydraulic system control device and an operating machine, wherein the method comprises the following steps: acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into an electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle; determining the category and the magnitude of pilot pressure of the electric control handle based on the electric signal; determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; the control signal is used for controlling the hydraulic system to execute the action command. The invention can generate corresponding control signals according to actual action requirements, and realizes the balance of fine tuning characteristics and operation speed.
Description
Technical Field
The invention relates to the technical field of engineering machinery, in particular to a hydraulic system control method and device and an operating machine.
Background
The control of the hydraulic system in a working machine has a very important influence on the performance of the machine.
At present, usually, a hydraulic pilot handle is used for collecting and processing an action signal, when an operation machine acts, an operating handle controls a pilot valve to open, pilot oil is output to a pilot end of a main control valve to push a valve core to move, the operating handle controls the opening of the pilot valve in an angle mode, and then the opening of the main control valve is controlled, and meanwhile, the action speed of the operating handle determines the response speed of the main control valve, but the flow characteristics of the pilot control valve and the main control valve are fixed, so that the balance of fine adjustment characteristics and operation speed is difficult to realize.
Disclosure of Invention
The invention provides a hydraulic system control method, a hydraulic system control device and a working machine, aiming at the problems in the prior art.
The invention provides a hydraulic system control method, which comprises the following steps:
acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action command into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
determining a category and magnitude of a pilot pressure of the electronically controlled handle based on the electrical signal;
determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; wherein the control signal is used for controlling the hydraulic system to execute the action command.
According to the hydraulic system control method provided by the invention, the determining of the type and the magnitude of the pilot pressure of the electric control handle based on the electric signal comprises the following steps:
determining direction signs and stroke amounts of the electric control handle in two orthogonal directions based on the electric signals;
determining a category of the pilot pressure based on the direction indicator;
determining a magnitude of the pilot pressure based on the category of the pilot pressure and the stroke amount.
According to the hydraulic system control method provided by the present invention, the determining a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure includes:
determining a displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure, and taking the displacement signal as a target displacement;
determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the rate of change is a loading rate of change or a decreasing rate of change.
According to the control method of the hydraulic system provided by the invention, the determining the change rate corresponding to the target displacement comprises the following steps:
and acquiring a current working condition, and determining a change rate corresponding to the target displacement based on the current working condition.
According to the hydraulic system control method provided by the present invention, said determining the control signal based on the target displacement and the rate of change includes:
determining a load step size or a decrease step size based on the rate of change;
determining the control signal based on the target displacement and the loading step size or the decreasing step size.
According to the hydraulic system control method provided by the present invention, before determining the control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure, the method further includes:
acquiring the temperature of hydraulic oil of the hydraulic system;
and correcting the target pilot-displacement corresponding relation based on the hydraulic oil temperature.
The present invention also provides a hydraulic system control device, including:
the data acquisition module is used for acquiring the electric signal output by the electric control handle; the electric control handle is used for converting an input action command into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
the first calculation module is used for determining the category and the magnitude of the pilot pressure of the electronic control handle based on the electric signal;
the second calculation module is used for determining a target pilot-displacement corresponding relation based on the category of the pilot pressure and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
The present invention also provides a work machine comprising: an electric control handle, a hydraulic system and a control device;
the electric control handle is used for converting an input action instruction into an electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
the control device is used for acquiring the electric signal output by the electric control handle; further for determining a type and magnitude of pilot pressure of the electrically controlled handle based on the electrical signal; the pilot pressure sensor is also used for determining a target pilot-displacement corresponding relation based on the category of the pilot pressure and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; wherein the control signal is used for controlling the hydraulic system to execute the action command.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the hydraulic system control method as described in any one of the above when executing the program.
The present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements a hydraulic system control method as in any one of the above.
According to the hydraulic system control method, the hydraulic system control device and the operation machine, the electric signal output by the electric control handle is obtained, the type and the size of the pilot pressure of the electric control handle are determined based on the electric signal, the target pilot-displacement corresponding relation is determined based on the type of the pilot pressure, the control signal is determined based on the target pilot-displacement corresponding relation and the size of the pilot pressure, the hydraulic system is controlled to execute the corresponding action instruction through the control signal, the corresponding control signal can be generated according to the actual action requirement, and the balance of fine adjustment characteristics and the operation speed is realized.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a hydraulic system control method provided by the present disclosure;
FIG. 2 is a schematic diagram comparing control signals obtained from different loading change rates provided by the present invention;
FIG. 3 is a comparative schematic of control signals obtained from different reduced rates of change provided by the present invention;
FIG. 4 is a schematic diagram of a hydraulic system control apparatus provided in accordance with the present invention;
FIG. 5 is a schematic illustration of a work machine according to the present disclosure;
fig. 6 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. 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 invention.
The hydraulic system control method of the present invention is described below with reference to fig. 1 to 3. The hydraulic system control method is executed by electronic equipment such as a control device or hardware and/or software in the electronic equipment. The control device may be a controller of the work machine itself, or may be a newly added controller. As shown in fig. 1, the hydraulic system control method of the present invention includes:
s101, acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle.
In particular, work machines typically include one or more electrically controlled handles for converting operator input motion commands into electrical signals. For example, the operator may input different motion commands by pushing the electric control handle in different directions (e.g., forward, backward, left, and right). Taking an excavator as an example, the excavator comprises a left electric control handle and a right electric control handle, and eight single-action commands such as left rotation, right rotation, arm excavation, arm unloading, boom lifting, boom descending, bucket excavation and bucket unloading can be input through the two electric control handles. Wherein, the electric control handle is pushed between the two directions, and the left electric control handle and the right electric control handle are pushed simultaneously, so that the action instruction of the composite action can be input.
The specific type of the electrical signal can be set according to actual requirements, and for example, the electrical signal can be a voltage signal. The electrical signal CAN be transmitted to the control device in the form of a CAN message via a CAN bus. The electric signal comprises the action direction and the action opening degree of the electric control handle, wherein the action direction is the action direction of the electric control handle, for example, front, back, left and right, and the action opening degree is the displacement of the action of the electric control handle. The action direction of the electric control handle CAN be determined according to the value of the corresponding zone bit in the CAN message. For example, the flag has a value of 1 indicating that the electric control handle is pushed in the direction, and the flag has a value of 0 indicating that the electric control handle is not pushed in the direction.
And S102, determining the type and the size of the pilot pressure of the electric control handle based on the electric signal.
Specifically, the category of the pilot pressure, i.e., the pilot pressure corresponding to different actions, such as the stick excavation pilot pressure. The specific manner of determining the type and magnitude of the pilot pressure of the electric control handle based on the electric signal may be set according to actual requirements, for example, the electric signal may be analyzed, the type of the pilot pressure may be determined according to the analysis result of the motion direction of the electric control handle, and the magnitude of the pilot pressure may be determined according to the analysis result of the motion opening of the electric control handle and the type of the pilot pressure.
The pilot pressure of the electric control handle is the pilot pressure corresponding to the single action; for compound actions such as two actions or three actions, each single action in the compound actions corresponds to a pilot pressure, and each pilot pressure corresponds to a category and a magnitude.
S103, determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
Specifically, the target pilot-displacement corresponding relationship may be a mapping table of pilot and displacement, or may be a pilot-displacement curve, where the pilot-displacement curve is a curve of displacement signals varying with pilot pressure. The specific type of displacement signal may be set according to actual demand, and may be a current signal, for example. The specific manner of determining the target pilot-displacement corresponding relationship based on the category of the pilot pressure may be set according to actual requirements, for example, corresponding pilot-displacement corresponding relationships may be respectively determined and stored in advance based on different categories of the pilot pressure, and in the process of determining the target pilot-displacement corresponding relationship, the determined categories of the pilot pressure are matched to obtain the target pilot-displacement corresponding relationship; when the determined types of the pilot pressure are matched, action coding can be carried out on the pilot pressure, and the pilot pressure is matched according to the action coding to obtain a target pilot-displacement corresponding relation, so that quick matching can be realized. The motion coding means that the motion corresponding to the pilot pressure is represented by a binary code of a plurality of bits, for example 1001.
After the target pilot-displacement corresponding relationship is obtained, a specific mode of determining the control signal based on the target pilot-displacement corresponding relationship and the pilot pressure can be set according to actual requirements, for example, a displacement signal corresponding to the pilot pressure in the target pilot-displacement corresponding relationship can be determined and used as a target displacement, and the control signal can be determined according to the target displacement, wherein the target displacement can be directly used as the control signal, the target displacement can be processed based on the constraint of the change rate to obtain the change curve of the displacement signal along with time, and the change curve of the displacement signal along with time is used as the control signal, so that different pilot-displacement corresponding relationships can be matched for different action instructions, the control signal can be determined according to the corresponding pilot-displacement corresponding relationship and the pilot pressure, the fine-tuning characteristic of the working machine can be ensured when the pilot pressure is low, the balance of the working speed can be ensured when the pilot pressure is high, and different working requirements can be met.
For the compound actions such as the two-action or the three-action, a target pilot-displacement corresponding relation is determined for each pilot pressure, a corresponding control signal is determined according to the target pilot-displacement corresponding relation corresponding to the pilot pressure and the magnitude of the pilot pressure, and the control signal is sent to a hydraulic system corresponding to the pilot pressure, for example, the control signal can be sent to a main control valve of the hydraulic system corresponding to the pilot pressure, so that the opening degree of the main control valve is changed through the control signal, and the hydraulic system is controlled to execute a corresponding single action in an action command.
In the traditional method, a hydraulic pilot handle is generally used for acquiring and processing action signals, when an operating machine acts, an operating handle controls the pilot valve to open, pilot oil is output to a pilot end of a main control valve to push a valve core to move, the opening of the pilot valve is controlled by the angle of the operating handle, the opening of the main control valve is further controlled, and meanwhile the response speed of the main control valve is determined by the action speed of the operating handle.
According to the embodiment of the invention, the electric signal output by the electric control handle is obtained, the type and the size of the pilot pressure of the electric control handle are determined based on the electric signal, the target pilot-displacement corresponding relation is determined based on the type of the pilot pressure, and the control signal is determined based on the target pilot-displacement corresponding relation and the size of the pilot pressure, so that the hydraulic system is controlled to execute the corresponding action instruction through the control signal, the corresponding control signal can be generated according to the actual action requirement, and the balance of fine adjustment characteristics and operation speed is realized.
Based on the above embodiment, the determining the category and the magnitude of the pilot pressure of the electric control handle based on the electric signal includes:
determining direction signs and stroke amounts of the electric control handle in two orthogonal directions based on the electric signals;
determining a category of the pilot pressure based on the directional indicator;
determining a magnitude of the pilot pressure based on the category of the pilot pressure and the stroke amount.
Specifically, two orthogonal directions may be set as an X direction and a Y direction, respectively, a positive direction of the X direction may be set as a front side of the cab, and a positive direction of the Y direction may be set as a right side of the cab. The direction marks of the electric control handle in the X direction and the Y direction can comprise a positive mark and a negative mark in the corresponding directions. The electrical signal may be analyzed, and the direction flag in the X direction and/or the Y direction may be determined based on the analysis result of the motion direction of the electric control handle, for example, if the electric control handle is pushed forward and leftward, the forward flag in the X direction is 1, the reverse flag in the Y direction is 0, and the reverse flag in the Y direction is 1. The stroke amount of the electric control handle in the X direction or the Y direction, that is, the displacement of the electric control handle in the corresponding direction, may be determined based on the analysis result of the motion opening degree of the electric control handle.
The specific manner of determining the type of the pilot pressure based on the direction indicator may be set according to actual requirements, and for example, the type of the pilot pressure may be determined based on a correspondence relationship between the direction indicator and the pilot pressure.
After the type of the pilot pressure is determined, a specific manner of determining the magnitude of the pilot pressure based on the type of the pilot pressure and the stroke amount may be set according to actual requirements, for example, determining a stroke zero point and a stroke full point in a corresponding direction based on the type of the pilot pressure, determining a total stroke length in the corresponding direction based on the stroke zero point and the stroke full point, and determining the magnitude of the pilot pressure of the electronic control handle based on the magnitude of the pilot pressure corresponding to the stroke zero point and the stroke full point and a ratio of the stroke amount to the total stroke length in the corresponding direction.
According to the embodiment of the invention, the direction marks and the stroke quantity of the electric control handle in two orthogonal directions are determined based on the electric signals, the type of the pilot pressure is determined based on the direction marks, and the magnitude of the pilot pressure is determined based on the type and the stroke quantity of the pilot pressure, so that the accuracy of the type and the magnitude of the obtained pilot pressure can be effectively ensured, and the determination process of the type and the magnitude of the pilot pressure is simple and efficient.
In any of the above embodiments, the determining a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure includes:
determining a displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure, and taking the displacement signal as a target displacement;
determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the rate of change is a loading rate of change or a decreasing rate of change.
Specifically, the specific manner of determining the displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relationship and the magnitude of the pilot pressure may be set according to actual requirements, for example, a numerical value corresponding to the magnitude of the pilot pressure in the target pilot-displacement corresponding relationship may be directly used as the displacement signal corresponding to the pilot pressure, where when the determined magnitude of the pilot pressure does not exist in the target pilot-displacement corresponding relationship, the displacement signal corresponding to the pilot pressure may be determined by taking an average, interpolating, least square method, or the like; the target pilot-displacement correspondence relationship may be corrected, for example, by correcting the target pilot-displacement correspondence relationship based on the temperature information, and a point corresponding to the magnitude of the pilot pressure in the corrected target pilot-displacement correspondence relationship may be used as the displacement signal corresponding to the pilot pressure.
The rate of change corresponding to the target displacement may be determined by the time period from the stroke zero point to the stroke full point of the pilot pressure. After the target pilot-displacement corresponding relation is determined, normalization processing can be performed on the target pilot-displacement corresponding relation, namely, a displacement signal corresponding to a stroke zero point of pilot pressure is 0, a displacement signal corresponding to a stroke full point is 1, a change rate corresponding to target displacement is determined, namely, a time length required by the displacement signal to be changed from 0 to 1 is determined, the change rate corresponding to the time length required by the displacement signal to be changed from 0 to 1 is used as a change rate corresponding to the target displacement, and a signal processing flow is simplified.
The specific manner of determining the change rate corresponding to the target displacement may be set according to actual requirements, for example, the change rate corresponding to the target displacement may be determined according to the sensitivity requirement of the electric control handle, or the change rate corresponding to the target displacement may be determined according to a time constraint that the current displacement changes to the target displacement.
After the change rate corresponding to the target displacement is determined, the control signal can be determined based on the target displacement and the change rate, the change rate can be a loading change rate or a reduction change rate, when the current displacement is smaller than the target displacement, the change rate corresponding to the target displacement is the loading change rate, and when the current displacement is larger than the target displacement, the change rate corresponding to the target displacement is the reduction change rate, so that impact of the working machine in the action process and jitter of different action conversion can be effectively avoided. The specific manner of determining the control signal based on the target displacement and the change rate may be set according to actual requirements, for example, a loading step size or a reduction step size may be determined according to a loading change rate or a reduction change rate, a displacement signal at each time in the process of changing the current displacement to the target displacement, that is, a change curve of the displacement signal with time, is obtained according to the loading step size or the reduction step size, and the change curve of the displacement signal with time is used as the control signal.
In the traditional method, a sensor in the electric control handle is generally used for converting an action signal of the electric control handle into an electric signal, the opening change of the main control valve is controlled according to the change of the electric signal of the electric control handle, and impact during action and shake during different action conversion are easy to generate.
According to the embodiment of the invention, the displacement signal corresponding to the pilot pressure is determined based on the target pilot-displacement corresponding relation and the pilot pressure, and is used as the target displacement to determine the loading change rate or the reduction change rate corresponding to the target displacement, and the control signal is determined based on the target displacement and the loading change rate or the reduction change rate, so that the impact of the working machine in the action process and the shaking of the working machine in different action conversion processes can be effectively avoided.
In any of the above embodiments, the determining a rate of change corresponding to the target displacement includes:
and acquiring a current working condition, and determining a change rate corresponding to the target displacement based on the current working condition.
Specifically, under different working conditions of the working machine, the requirements for the sensitivity of the electric handle are greatly different, so that in the process of determining the change rate corresponding to the target displacement, the current working condition of the working machine can be acquired, and the change rate corresponding to the target displacement is determined based on the current working condition. The current working condition is the working condition of the working machine at the current moment.
The specific manner of determining the change rate corresponding to the target displacement based on the current operating condition may be set according to actual requirements, for example, the change rates under different operating conditions may be stored in advance, and the change rate corresponding to the target displacement may be determined from the change rates stored in advance based on the current operating condition.
According to the embodiment of the invention, the current working condition is obtained, and the change rate corresponding to the target displacement is determined based on the current working condition, so that the requirements on the sensitivity of the control of the working machine can be met, and meanwhile, the impact of the working machine in the action process and the shaking of the working machine during different action conversion can be effectively avoided.
In any of the above embodiments, the determining the control signal based on the target displacement and the rate of change includes:
determining a load step size or a decrease step size based on the rate of change;
determining the control signal based on the target displacement and the loading step size or the decreasing step size.
Specifically, the loading step size is the loading variation of the displacement signal in the unit time length, and the reducing step size is the reducing variation of the displacement signal in the unit time length. The loading step length or the decreasing step length is determined based on the change rate, for example, a difference between the displacement signal corresponding to the full stroke point of the pilot pressure and the displacement signal corresponding to the stroke zero point is calculated, a ratio of the difference to the loading time length or the decreasing time length corresponding to the change rate is calculated, and the ratio is used as the loading step length or the decreasing step length.
And determining a control signal based on the target displacement and the loading step length or the reducing step length, namely obtaining displacement signals at all moments in the process of changing the current displacement into the target displacement according to the loading step length or the reducing step length to obtain a curve of the displacement signals changing along with time. The smaller the loading step or the reduction step, the more gradual the curve of the displacement signal with time, and the more stable the operation of the working machine.
A comparison schematic diagram of control signals obtained by different loading change rates is shown in fig. 2, the abscissa is the percentage of the maximum loading duration, and the maximum loading duration may be 10 seconds; the ordinate is the percentage of the target displacement; the three change curves are respectively curves of the displacement signals changing along with time when the displacement signals are normally input, loaded based on the first loading change rate and loaded based on the second loading change rate; and directly loading the target displacement by normal input without setting a loading change rate, wherein the first loading change rate is greater than the second loading change rate. A comparative schematic of the control signal obtained by different reduction rates is shown in fig. 3. In fig. 3, the abscissa is a percentage of the maximum reduction time period, which may be 10 seconds; the ordinate is the percentage of the current displacement; the three change curves are respectively curves of the displacement signals changing along with time when the displacement signals are normally input, are reduced based on a first reduction change rate and are reduced based on a second reduction change rate; and the normal input is not set with the reduction change rate, the current displacement is directly reduced to the target displacement, and the first reduction change rate is larger than the second reduction change rate.
According to the embodiment of the invention, the loading step length or the reducing step length is determined based on the change rate, and the control signal is determined based on the target displacement and the loading step length or the reducing step length, so that the stable output of the displacement signal can be realized, the jitter in the action process is avoided, and the stability of the action is ensured.
In any embodiment, before determining the control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure, the method further includes:
acquiring the temperature of hydraulic oil of the hydraulic system;
and correcting the target pilot-displacement corresponding relation based on the hydraulic oil temperature.
Specifically, the hydraulic oil temperature of the hydraulic system can be acquired in real time through the temperature sensor. The specific manner of correcting the target pilot-displacement corresponding relation based on the hydraulic oil temperature can be set according to actual requirements, for example, an oil temperature coefficient can be determined based on the hydraulic oil temperature of a hydraulic system; and correcting the target pilot-displacement corresponding relation based on the oil temperature coefficient. The oil temperature coefficient is a correction coefficient for correcting the target pilot-displacement corresponding relation according to the hydraulic oil temperature.
Determining an oil temperature coefficient based on a hydraulic oil temperature of the hydraulic system may include: and matching the hydraulic oil temperature of the hydraulic system based on the preset corresponding relation between the hydraulic oil temperature and the oil temperature coefficient to obtain the oil temperature coefficient corresponding to the hydraulic oil temperature of the hydraulic system. For example, when the hydraulic oil temperature is 15 degrees, 25 degrees, and 35 degrees, the corresponding oil temperature coefficients are 80%, 90%, and 100%, respectively.
Taking the target pilot-displacement corresponding relation as a pilot-displacement curve as an example, in the process of correcting the target pilot-displacement corresponding relation based on the oil temperature coefficient, the peak value of the pilot-displacement curve can be corrected based on the oil temperature coefficient. For example, the peak value of the pilot-displacement curve may be multiplied by the oil temperature coefficient to obtain a corrected pilot-displacement curve, i.e., a corrected target pilot-displacement correspondence.
After the target pilot-displacement corresponding relation is corrected, a control signal is further determined according to the corrected target pilot-displacement corresponding relation and the pilot pressure, so that the hydraulic system is controlled to execute a corresponding action instruction through the control signal, the problems that the overall action is easy to shake and the operability is reduced due to the fact that the hydraulic system outputs according to the set displacement in low-temperature weather can be effectively solved, and the fine adjustment characteristic of the operating machine and the balance of the operating speed are further guaranteed.
The hydraulic system control device provided by the present invention is described below, and the hydraulic system control device described below and the hydraulic system control method described above may be referred to in correspondence with each other. As shown in fig. 4, includes:
the data acquisition module 401 is used for acquiring the electric signals output by the electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
a first calculation module 402 for determining a category and a magnitude of a pilot pressure of the electrically controlled handle based on the electrical signal;
a second calculation module 403, configured to determine a target pilot-displacement correspondence based on the type of the pilot pressure, and determine a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure; wherein the control signal is used for controlling the hydraulic system to execute the action command.
Based on the above embodiment, the first calculating module 402 is specifically configured to:
determining direction marks and stroke amounts of the electric control handle in two orthogonal directions based on the electric signals;
determining a category of the pilot pressure based on the direction indicator;
determining the magnitude of the pilot pressure based on the category of the pilot pressure and the stroke amount.
Based on any of the above embodiments, the second calculating module 403 is specifically configured to:
determining a displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure, and taking the displacement signal as a target displacement;
determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the rate of change is a load rate of change or a decrease rate of change.
Based on any of the above embodiments, the second calculating module 403 is specifically configured to:
and acquiring a current working condition, and determining a change rate corresponding to the target displacement based on the current working condition.
Based on any of the above embodiments, the second calculating module 403 is specifically configured to:
determining a load step size or a decrease step size based on the rate of change;
determining the control signal based on the target displacement and the loading step size or the decreasing step size.
Based on any of the above embodiments, the mobile terminal further includes a modification module, and the modification module is configured to:
acquiring the temperature of hydraulic oil of the hydraulic system;
and correcting the target pilot-displacement corresponding relation based on the hydraulic oil temperature.
Based on any of the embodiments described above, the present invention also provides a working machine, as shown in fig. 5, including: an electric control handle 501, a hydraulic system 503 and a control device 502;
the electric control handle 501 is used for converting an input action command into an electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle 501;
the control device 502 is used for acquiring the electric signal output by the electric control handle 501; also for determining the type and magnitude of pilot pressure of the electrically controlled handle 501 based on the electrical signal; the control system is also used for determining a target pilot-displacement corresponding relation based on the category of the pilot pressure and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; wherein the control signal is used for controlling the hydraulic system 503 to execute the action command.
Specifically, a working machine such as an excavator, a crane, or the like is a construction machine.
The specific process of the method for controlling a hydraulic system of a working machine according to the invention is described in detail below by means of an alternative embodiment.
The electric control handle 501 converts an action instruction input by an operator into an electric signal and outputs the electric signal to the control device 502;
after receiving the electric signal output by the electric control handle 501, the control device 502 processes the electric signal to obtain a control signal, and sends the control signal to the corresponding main control valve of the hydraulic system 503, so as to change the opening degree of the main control valve through the control signal, and further control the hydraulic system 503 to execute the corresponding single action in the action command.
The process of processing the electrical signal by the control device 502 includes:
decomposing the action command corresponding to the electric signal to generate a direction mark and a stroke amount in each direction;
judging the type of a pilot signal corresponding to the action instruction according to the direction mark;
binding stroke amount in the corresponding direction based on the category of the pilot signal to generate a pilot signal corresponding to the action instruction;
matching a target pilot-displacement corresponding relation according to a pilot signal corresponding to the action instruction; the pilot signals can be subjected to action coding in the process of matching the target pilot-displacement corresponding relation according to the pilot signals, the target pilot-displacement corresponding relation is matched from different preset pilot-displacement corresponding relations through the action coding, and the target pilot-displacement corresponding relation is corrected through an oil temperature coefficient;
and generating a control signal according to the target pilot-displacement corresponding relation and the change rate constraint.
Fig. 6 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 6: a processor (processor) 601, a communication Interface (Communications Interface) 602, a memory (memory) 603 and a communication bus 604, wherein the processor 601, the communication Interface 602 and the memory 603 complete communication with each other through the communication bus 604. The processor 601 may invoke logic instructions in the memory 603 to perform a hydraulic system control method comprising: acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
determining a category and magnitude of a pilot pressure of the electronically controlled handle based on the electrical signal;
determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
In addition, the logic instructions in the memory 603 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform a method of controlling a hydraulic system provided by the above methods, the method comprising: acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
determining a category and magnitude of a pilot pressure of the electronically controlled handle based on the electrical signal;
determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
In yet another aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program that, when executed by a processor, is implemented to perform the hydraulic system control method provided above, the method comprising: acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
determining a category and magnitude of a pilot pressure of the electronically controlled handle based on the electrical signal;
determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A hydraulic system control method, comprising:
acquiring an electric signal output by an electric control handle; the electric control handle is used for converting an input action instruction into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
determining a category and magnitude of a pilot pressure of the electronically controlled handle based on the electrical signal;
determining a target pilot-displacement corresponding relation based on the category of the pilot pressure, and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
2. The hydraulic system control method of claim 1, wherein the determining the type and magnitude of the pilot pressure of the electrically controlled handle based on the electrical signal comprises:
determining direction marks and stroke amounts of the electric control handle in two orthogonal directions based on the electric signals;
determining a category of the pilot pressure based on the directional indicator;
determining a magnitude of the pilot pressure based on the category of the pilot pressure and the stroke amount.
3. The hydraulic system control method according to claim 1, wherein the determining a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure includes:
determining a displacement signal corresponding to the pilot pressure based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure, and taking the displacement signal as a target displacement;
determining a change rate corresponding to the target displacement, and determining the control signal based on the target displacement and the change rate; wherein the rate of change is a loading rate of change or a decreasing rate of change.
4. The hydraulic system control method of claim 3, wherein the determining the rate of change to which the target displacement corresponds comprises:
and acquiring a current working condition, and determining a change rate corresponding to the target displacement based on the current working condition.
5. The hydraulic system control method of claim 3, wherein the determining the control signal based on the target displacement and the rate of change comprises:
determining a load step size or a decrease step size based on the rate of change;
determining the control signal based on the target displacement and the loading step size or the decreasing step size.
6. The hydraulic system control method according to any one of claims 1 to 5, characterized in that, before determining a control signal based on the target pilot-displacement correspondence and the magnitude of the pilot pressure, further comprising:
acquiring the temperature of hydraulic oil of the hydraulic system;
and correcting the target pilot-displacement corresponding relation based on the hydraulic oil temperature.
7. A hydraulic system control apparatus, comprising:
the data acquisition module is used for acquiring the electric signal output by the electric control handle; the electric control handle is used for converting an input action command into the electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
the first calculation module is used for determining the category and the magnitude of the pilot pressure of the electric control handle based on the electric signal;
the second calculation module is used for determining a target pilot-displacement corresponding relation based on the category of the pilot pressure and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; and the control signal is used for controlling the hydraulic system to execute the action command.
8. A work machine, comprising: an electric control handle, a hydraulic system and a control device;
the electric control handle is used for converting an input action instruction into an electric signal; the electric signal comprises the action direction and the action opening degree of the electric control handle;
the control device is used for acquiring the electric signal output by the electric control handle; the electronic control handle is also used for determining the category and the magnitude of the pilot pressure of the electronic control handle based on the electric signal; the control system is also used for determining a target pilot-displacement corresponding relation based on the category of the pilot pressure and determining a control signal based on the target pilot-displacement corresponding relation and the magnitude of the pilot pressure; wherein the control signal is used for controlling the hydraulic system to execute the action command.
9. An electronic device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor, when executing said program, implements the hydraulic system control method according to any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements a hydraulic system control method according to any one of claims 1 to 6.
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| CN202211216163.4A CN115750540A (en) | 2022-09-30 | 2022-09-30 | Hydraulic system control method and device and working machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116203885A (en) * | 2023-03-11 | 2023-06-02 | 宁波波导易联电子有限公司 | Remote control method, system and device for excavator and storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116203885A (en) * | 2023-03-11 | 2023-06-02 | 宁波波导易联电子有限公司 | Remote control method, system and device for excavator and storage medium |
| CN116203885B (en) * | 2023-03-11 | 2024-04-09 | 宁波波导易联电子有限公司 | Remote control method, system and device for excavator and storage medium |
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