CN115754333B - Method, device, equipment, medium and working machine for determining motor rotation speed - Google Patents
Method, device, equipment, medium and working machine for determining motor rotation speed Download PDFInfo
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- CN115754333B CN115754333B CN202211430950.9A CN202211430950A CN115754333B CN 115754333 B CN115754333 B CN 115754333B CN 202211430950 A CN202211430950 A CN 202211430950A CN 115754333 B CN115754333 B CN 115754333B
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- 238000004590 computer program Methods 0.000 claims description 9
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- 230000007547 defect Effects 0.000 abstract description 2
- 238000004891 communication Methods 0.000 description 6
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- 230000003287 optical effect Effects 0.000 description 2
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Abstract
The invention relates to the technical field of motor control, and provides a method, a device, equipment, a medium and a working machine for determining the rotating speed of a motor, wherein the method comprises the following steps: acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state; determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table; the rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal. The invention is used for solving the defects of poor cruising ability and long operating time of the electric operating machine in the prior art and improving the cruising ability and the operating time of the electric operating machine.
Description
Technical Field
The present invention relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, a medium, and a working machine for determining a motor rotation speed.
Background
With the development of new energy technology, the application of electric operation machinery is becoming wider and wider. An electric working machine relies on a power battery to supply power to a motor, which provides driving force to perform work.
Because the operation working condition of the electric operation machine is complex and the environment is bad, how to improve the cruising ability and the operation duration of the electric operation machine is an important subject to be solved in the industry.
Disclosure of Invention
The invention provides a method, a device, equipment, a medium and a working machine for determining the rotating speed of a motor, which are used for solving the defects of poor cruising ability and long working time of an electric working machine in the prior art and improving the cruising ability and the working time of the electric working machine.
The invention provides a method for determining the rotating speed of a motor, which comprises the following steps:
Acquiring a working signal of a working machine under the condition that the working machine is determined to be in a working state;
Determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table;
The rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
According to the method for determining the rotating speed of the motor provided by the invention, the operation signal comprises the following steps: a supply signal, a load demand signal, and an actual operation signal;
The determining the target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table comprises the following steps:
determining first candidate data corresponding to the supply signal from the rotation speed determination table;
Determining second candidate data from the first candidate data based on a constraint relation between the supply signal and the load demand signal, which is obtained in advance;
Determining third candidate data corresponding to the load demand signal from the second candidate data;
and determining the target motor rotation speed corresponding to the actual operation signal from the third candidate data.
According to the method for determining the motor rotation speed provided by the invention, before the target motor rotation speed corresponding to the operation signal is determined from the preset rotation speed determination table, the method further comprises the following steps:
Acquiring attribute information of the working machine;
and acquiring the constraint relation corresponding to the attribute information.
According to the method for determining the motor rotation speed provided by the invention, the method further comprises the following steps:
Acquiring a repeated operation instruction, wherein the repeated operation instruction is used for indicating that the current working condition of the working machine is a repeated working condition;
And based on the repeated operation instruction, acquiring the last target motor speed, and taking the last target motor speed as the current target motor speed.
According to the method for determining the motor rotation speed provided by the invention, the process for creating the rotation speed determination table comprises the following steps: acquiring the historical operation signal, historical energy consumption corresponding to the historical operation signal and historical motor rotating speed corresponding to the historical operation signal;
determining the historical optimal energy consumption corresponding to the historical operation signal based on the historical energy consumption;
extracting the corresponding historical motor rotating speed of the historical operation signal under the historical optimal energy consumption;
and storing the historical operation signal and the historical motor rotating speed in the rotating speed determining table.
According to the method for determining the motor rotation speed provided by the invention, after the target motor rotation speed corresponding to the operation signal is determined from the preset rotation speed determination table, the method further comprises the following steps:
Acquiring the actual motor rotating speed of the working machine at the current moment;
And under the condition that the target motor rotating speed is inconsistent with the actual motor rotating speed, adjusting the actual motor rotating speed to be the target motor rotating speed.
The invention also provides a device for determining the rotating speed of the motor, which comprises the following steps:
the acquisition module is used for acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state;
a determining module, configured to determine a target motor rotation speed corresponding to the operation signal from a preset rotation speed determining table;
The rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
The invention also provides an electronic device comprising a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the processor realizes the method for determining the motor rotation speed according to 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 method of determining a rotational speed of a motor as described in any one of the above.
The invention also provides a working machine, which is used for realizing the method for determining the motor rotation speed according to any one of the above, or comprises the motor rotation speed determining device according to any one of the above.
The invention provides a method, a device, equipment, a medium and a working machine for determining the rotating speed of a motor, wherein a working signal of the working machine is obtained under the condition that the working machine is determined to be in a working state; the target motor rotating speed corresponding to the operation signal is determined from the preset rotating speed determining table, so that the target motor rotating speed corresponding to the operation signal is determined based on the operation signal of the operation machine, the motor provides energy corresponding to the current working condition, the operation efficiency is improved, the rotating speed determining table is obtained based on the historical operation signal of the operation machine and the historical motor rotating speed of the historical optimal energy consumption corresponding to the historical operation signal, the target motor rotating speed of the invention needs to ensure the lowest energy consumption while ensuring the operation efficiency, the energy is effectively saved, and the cruising energy and the operation duration of the electric operation machine are effectively improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic flow chart of a method for determining a rotational speed of a motor according to the present invention;
FIG. 2 is a second flow chart of the method for determining the rotational speed of a motor according to the present invention;
FIG. 3 is a schematic diagram of a motor speed determining device according to the present invention;
fig. 4 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making 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 apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The method of determining the motor rotation speed of the present invention is described below with reference to fig. 1 to 2.
The embodiment of the invention provides a method for determining the rotating speed of a motor, which can be applied to intelligent terminals, such as mobile phones, computers, tablets and the like, servers and controllers of working machines. The following description will be given by taking an example of the method applied to a controller of a work machine, but the description is merely illustrative, and is not intended to limit the scope of the present invention. Some other descriptions of the embodiments of the present invention are also illustrative, and are not intended to limit the scope of the present invention, and will not be described in detail. As shown in fig. 1, the method includes:
step 101, acquiring a working signal of the working machine when the working machine is determined to be in a working state.
Specifically, whether the working machine is in a working state at the current moment is judged, if so, a working signal of the working machine is obtained, and otherwise, no operation is performed.
Among these, the work machines include electric cranes, electric excavators, and the like. In the following, the working machine will be described by taking an electric crane as an example, but this is merely an example.
Wherein the job signal includes: a supply signal, a load demand signal, and an actual operation signal.
Wherein the supply signal comprises: arm length signals and boom angle signals; the load demand signal includes: hanging weight signals; the actual operation signals include: a vehicle body rotation angle signal, a pedal signal, a current motor rotational speed signal and a current motor torque signal.
The arm length signal is used for representing the total length of a telescopic arm of the electric crane at the current moment; the large arm angle signal is used for representing the opening angle of the large arm of the electric crane relative to a preset position at the current moment; the hanging weight signal is used for representing weight information of the hung object corresponding to the electric crane at the current moment; the vehicle body rotation angle signal is used for representing the rotation angle of the vehicle body of the electric crane at the current moment; the pedal signal is used for representing a control output signal of the control pedal; the current motor rotating speed signal is used for representing the current motor rotating speed; the current motor torque signal is used to characterize the current motor torque.
Specifically, arm length signals are collected through an arm length sensor, a large arm angle sensor collects large arm angle signals, a rotation angle sensor collects vehicle body rotation angle signals, a moment sensor collects hanging weight signals, a pedal sensor collects pedal signals, a motor rotating speed sensor collects motor rotating speed signals, and a motor torque sensor collects motor torque signals.
The invention provides an effective data basis for providing the target motor rotating speed corresponding to the operation signals of the operation machine by acquiring the operation signals.
Step 102, determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table.
The rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
In one embodiment, the creation process of the rotation speed determination table is specifically implemented as follows: acquiring a historical operation signal, historical energy consumption corresponding to the historical operation signal and historical motor rotating speed corresponding to the historical operation signal; determining historical optimal energy consumption corresponding to the historical operation signal based on the historical energy consumption; extracting a corresponding historical motor rotating speed of a historical operation signal under the historical optimal energy consumption; and storing the historical operation signals and the historical motor rotating speed in a rotating speed determining table.
Specifically, an initial rotation speed determination table is created in advance, and a header of the rotation speed determination table includes: the job signal and target motor speed are specifically referred to in table 1. And adding the obtained values corresponding to the historical operation signals and the historical motor rotation speed based on the historical energy consumption into an initial rotation speed determination table to obtain a rotation speed determination table.
TABLE 1
The numerical values in table 1 are only exemplary representations, and do not have physical meanings, and are exemplary representations for distinguishing the respective job signals.
The value corresponding to each working signal may be a specific value or a value within a range, for example, the arm length signal 11 may indicate that the total length of the telescopic arm is in a range of 5 meters to 10 meters, or may indicate that the total length of the telescopic arm is 8 meters. The user can set according to the actual situation, and the invention is not limited to this.
According to the invention, the corresponding historical motor rotating speed of the historical operation signal under the historical optimal energy consumption is extracted, namely, the operation working condition is completed under the lowest energy consumption, the utilization rate of resources is ensured, and the cruising energy and the operation duration of the operation machine are improved.
In one embodiment, attribute information of the work machine is obtained before a target motor speed corresponding to the work signal is determined from a preset speed determination table; and obtaining a constraint relation corresponding to the attribute information.
Specifically, different work machines (i.e., different attribute information) correspond to different constraint relationships, and a constraint relationship corresponding to the current work machine is acquired based on a mapping relationship between attribute information and the constraint relationship created in advance.
The attribute information is, for example, configuration information of the work machine, such as a lifting weight, a span, and a lifting height.
Wherein the constraint relationship is a constraint between both the arm length signal and the boom angle signal and the sling signal. Specifically, the constraint between amplitude and sling signal, which amplitude=arm length signal×cos (large arm angle signal).
According to the invention, the constraint relation corresponding to the attribute information of different working machines is acquired, and an effective data basis is provided for quickly obtaining the target motor rotating speed matched with the working signal.
In one embodiment, determining the target motor speed corresponding to the work signal based on the speed determination table is specifically implemented as: determining first candidate data corresponding to the supply signal from a rotation speed determination table; determining second candidate data from the first candidate data based on a constraint relation between a supply signal and a load demand signal which are obtained in advance; determining third candidate data corresponding to the load demand signal from the second candidate data; a target motor rotation speed corresponding to the actual operation signal is determined from the third candidate data.
Specifically, first sub-candidate data corresponding to the arm length signal is determined from a rotation speed determination table, and first candidate data corresponding to the large arm angle signal is determined from the first sub-candidate data; or determining second sub-candidate data corresponding to the arm angle signal from the rotation speed determination table, and determining first candidate data corresponding to the arm length signal from the first sub-candidate data, so as to obtain first candidate data corresponding to the supply signal.
Based on constraints between both the arm length signal and the boom angle signal and the sling signal, second candidate data is determined from the first candidate data so that third candidate data corresponding to the sling signal can be determined from the second candidate data.
And determining a target motor rotation speed corresponding to the vehicle body rotation angle signal, the pedal signal, the current motor rotation speed signal and the current motor torque signal from the third candidate data. In the determining process, the determining sequence of the body rotation angle signal, the pedal signal, the current motor rotating speed signal and the current motor torque signal is not limited, and the user can set according to actual needs.
The method and the device can quickly determine the target motor rotation speed from the rotation speed determination table based on the constraint relation obtained in advance, and improve the calculation efficiency.
In one embodiment, during operation of the work machine, a repetitive operation instruction is obtained, where the repetitive operation instruction is used to indicate that a current working condition of the work machine is a repetitive working condition; and based on the repeated operation instruction, acquiring the last target motor speed, and taking the last target motor speed as the current target motor speed.
Specifically, the working machine involves a repeated working condition during the working, that is, the starting position and the ending position corresponding to the working condition are not changed, and even if the change exists, the displacement change within the preset range is not influenced by the judgment of the repeated working condition.
Generally, under the repeated operation working condition, in order to save labor cost, an operation function aiming at the repeated operation working condition is developed, and an operator only needs to trigger and generate a repeated operation instruction based on a physical button in a cab of the operation machine or a button on a display screen, so that the operation machine can be automatically controlled to finish the repeated operation working condition.
Because the operation signals of the repeated operation working conditions are consistent, the invention does not need to repeatedly determine the target motor rotation speed through the rotation speed determination table under the repeated operation working conditions, and only takes the last target motor rotation speed as the current target motor rotation speed to control the operation machinery, thereby improving the determination rate of the target motor rotation speed and improving the operation efficiency.
In one embodiment, after determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table, acquiring an actual motor rotation speed of the operation machine at the current moment; judging whether the actual motor speed is consistent with the obtained target motor speed, adjusting the actual motor speed to be the target motor speed under the condition that the target motor speed is inconsistent with the actual motor speed, and not adjusting the motor speed under the condition that the target motor speed is consistent with the actual motor speed.
The present invention is specifically described below with reference to fig. 2:
Step 201, acquiring a work signal of a current work machine.
The system comprises an arm length signal, a large arm angle signal, a crane weight signal, a vehicle body rotation angle signal, a pedal signal, a current motor rotating speed signal and a current motor torque signal.
Step 202, inputting a working signal into a controller of the working machine, and obtaining a target motor rotation speed based on a rotation speed determination table stored in the controller in advance.
Step 203, inputting the target motor rotation speed into the motor controller to control the motor rotation speed.
According to the method for determining the motor rotation speed, the operation signal of the operation machine is obtained under the condition that the operation machine is determined to be in an operation state; the target motor rotating speed corresponding to the operation signal is determined from the preset rotating speed determining table, so that the target motor rotating speed corresponding to the operation signal is determined based on the operation signal of the operation machine, the motor provides energy corresponding to the current working condition, the operation efficiency is improved, the rotating speed determining table is obtained based on the historical operation signal of the operation machine and the historical motor rotating speed of the historical optimal energy consumption corresponding to the historical operation signal, the target motor rotating speed of the invention needs to ensure the lowest energy consumption while ensuring the operation efficiency, the energy is effectively saved, and the cruising energy and the operation duration of the electric operation machine are effectively improved.
The following describes the device for determining the motor rotation speed provided by the present invention, and the device for determining the motor rotation speed described below and the method for determining the motor rotation speed described above may be referred to correspondingly, and the repetition is omitted, and as shown in fig. 3, the device includes:
an acquisition module 301, configured to acquire a working signal of a working machine when it is determined that the working machine is in a working state;
A determining module 302, configured to determine a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table;
The rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
In one embodiment, the job signal includes: a supply signal, a load demand signal, and an actual operation signal; a determining module 302, specifically configured to determine first candidate data corresponding to the supply signal from the rotation speed determination table; determining second candidate data from the first candidate data based on a constraint relation between a supply signal and a load demand signal which are obtained in advance; determining third candidate data corresponding to the load demand signal from the second candidate data; a target motor rotation speed corresponding to the actual operation signal is determined from the third candidate data.
In a specific embodiment, the determining module 302 is further configured to obtain a constraint relationship corresponding to the attribute information.
In one embodiment, the apparatus further comprises: the repeated working condition processing module is used for acquiring repeated operation instructions, and the repeated operation instructions are used for indicating that the current working condition of the working machine is the repeated working condition; and based on the repeated operation instruction, acquiring the last target motor speed, and taking the last target motor speed as the current target motor speed.
In one embodiment, the process of creating the rotation speed determination table includes: acquiring a historical operation signal, historical energy consumption corresponding to the historical operation signal and historical motor rotating speed corresponding to the historical operation signal; determining historical optimal energy consumption corresponding to the historical operation signal based on the historical energy consumption; extracting a corresponding historical motor rotating speed of a historical operation signal under the historical optimal energy consumption; and storing the historical operation signals and the historical motor rotating speed in a rotating speed determining table.
In one embodiment, the determining module 302 is further configured to obtain an actual motor rotation speed of the working machine at the current moment; and under the condition that the target motor rotating speed is inconsistent with the actual motor rotating speed, adjusting the actual motor rotating speed to be the target motor rotating speed.
According to the motor rotation speed determining device provided by the invention, the acquiring module 301 acquires the operation signal of the operation machine under the condition that the operation machine is determined to be in an operation state; the determining module 302 determines the target motor rotation speed corresponding to the operation signal from a preset rotation speed determining table, so that the target motor rotation speed corresponding to the operation signal is determined based on the operation signal of the operation machine, the motor provides energy corresponding to the current working condition, the operation efficiency is improved, the rotation speed determining table is obtained based on the historical operation signal of the operation machine and the historical motor rotation speed corresponding to the historical operation signal, the target motor rotation speed of the invention needs to ensure that the energy consumption is the lowest while the operation efficiency is ensured, the energy is effectively saved, and the cruising energy and the operation duration of the electric operation machine are effectively improved.
The embodiment of the invention also provides a working machine, which is used for realizing the method for determining the motor rotation speed described in any one of the above, or comprises the motor rotation speed determining device described in any one of the above.
Wherein the work machine includes: electric cranes, electric excavators, and the like.
Wherein, electric crane includes: crane jib, luffing mechanism, slewing mechanism, moment limiter, foot pedal, motor, controller, motor controller, etc. Installing each sensor at a corresponding position to acquire a working signal; the sensor inputs each working signal into the controller for logic processing to obtain the target motor rotating speed; the controller transmits the target motor rotation speed to the motor controller; the motor controller controls the motor to rotate based on the target motor rotational speed.
Fig. 4 illustrates a physical schematic diagram of an electronic device, as shown in fig. 4, which may include: processor 401, communication interface (Communications Interface) 402, memory 403 and communication bus 404, wherein processor 401, communication interface 402 and memory 403 complete communication with each other through communication bus 404. The processor 401 may call logic instructions in the memory 403 to perform a method of determining motor speed, the method comprising: acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state; determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table; the rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
Further, the logic instructions in the memory 403 may be implemented in the form of software functional units and stored in a computer readable storage medium when sold or used as a stand alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or 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 the method of determining a motor speed provided by the above embodiments, the method comprising: acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state; determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table; the rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for determining a rotational speed of a motor provided in the above embodiments, the method comprising: acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state; determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table; the rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A method of determining a rotational speed of a motor, comprising:
Acquiring a working signal of a working machine under the condition that the working machine is determined to be in a working state;
Determining a target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table;
The rotating speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotating speed of historical optimal energy consumption corresponding to the historical operation signal;
The job signal includes: a supply signal, a load demand signal, and an actual operation signal; wherein, when the working machine is an electric crane, the supply signal comprises an arm length signal and a large arm angle signal, the load demand signal comprises a hoisting signal, and the actual operation signal comprises a vehicle body rotation angle signal, a pedal signal, a current motor rotation speed signal and a current motor torque signal;
The determining the target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table comprises the following steps:
determining first candidate data corresponding to the supply signal from the rotation speed determination table;
Determining second candidate data from the first candidate data based on a constraint relation between the supply signal and the load demand signal, which is obtained in advance;
Determining third candidate data corresponding to the load demand signal from the second candidate data;
Determining the target motor rotation speed corresponding to the actual operation signal from the third candidate data;
Before the target motor rotation speed corresponding to the operation signal is determined from the preset rotation speed determination table, the method further comprises the following steps:
Acquiring attribute information of the working machine;
acquiring the constraint relation corresponding to the attribute information;
The establishment process of the rotation speed determination table comprises the following steps: acquiring the historical operation signal, historical energy consumption corresponding to the historical operation signal and historical motor rotating speed corresponding to the historical operation signal;
determining the historical optimal energy consumption corresponding to the historical operation signal based on the historical energy consumption;
extracting the corresponding historical motor rotating speed of the historical operation signal under the historical optimal energy consumption;
and storing the historical operation signal and the historical motor rotating speed in the rotating speed determining table.
2. The method of determining a rotational speed of a motor according to claim 1, characterized in that the method further comprises:
Acquiring a repeated operation instruction, wherein the repeated operation instruction is used for indicating that the current working condition of the working machine is a repeated working condition;
And based on the repeated operation instruction, acquiring the last target motor speed, and taking the last target motor speed as the current target motor speed.
3. The method according to claim 1, wherein after determining the target motor rotation speed corresponding to the operation signal from a preset rotation speed determination table, further comprising:
Acquiring the actual motor rotating speed of the working machine at the current moment;
And under the condition that the target motor rotating speed is inconsistent with the actual motor rotating speed, adjusting the actual motor rotating speed to be the target motor rotating speed.
4. A motor rotation speed determining apparatus applying the motor rotation speed determining method according to any one of claims 1 to 3, characterized by comprising:
the acquisition module is used for acquiring a working signal of the working machine under the condition that the working machine is determined to be in a working state;
a determining module, configured to determine a target motor rotation speed corresponding to the operation signal from a preset rotation speed determining table;
The rotation speed determination table is obtained based on a historical operation signal of the operation machine and a historical motor rotation speed of historical optimal energy consumption corresponding to the historical operation signal.
5. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a method of determining the rotational speed of a motor according to any one of claims 1 to 3 when executing the program.
6. A non-transitory computer readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements a method of determining a motor rotational speed according to any one of claims 1 to 3.
7. A work machine for implementing a method of determining the rotational speed of a motor as claimed in any one of claims 1 to 3.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211430950.9A CN115754333B (en) | 2022-11-15 | Method, device, equipment, medium and working machine for determining motor rotation speed |
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| CN202211430950.9A CN115754333B (en) | 2022-11-15 | Method, device, equipment, medium and working machine for determining motor rotation speed |
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| CN115754333A CN115754333A (en) | 2023-03-07 |
| CN115754333B true CN115754333B (en) | 2024-06-04 |
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