CN117762168A - Oil pressure open-loop control method, device, equipment and storage medium - Google Patents
Oil pressure open-loop control method, device, equipment and storage medium Download PDFInfo
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Abstract
The application discloses an oil pressure open-loop control method, an oil pressure open-loop control device, oil pressure open-loop control equipment and a storage medium, and belongs to the technical field of industrial control. The method comprises the steps of receiving feedback speed of a motor and determining a given speed in a received speed instruction; determining a torque value to be adjusted based on a difference between the feedback speed and the given speed; based on the torque value to be adjusted, the current load torque of the motor is adjusted to realize open-loop control of oil pressure in the oil pump, wherein a preset association relation exists between the current load torque of the motor and the pressure of the oil pump.
Description
Technical Field
The present disclosure relates to the field of industrial control, and in particular, to an oil pressure open-loop control method, apparatus, device, and storage medium.
Background
In the field of industrial control, the use of electro-hydraulic drives is becoming more frequent, and more devices require electro-hydraulic drives (e.g. hydraulic stations, press vulcanizers and injection moulding machines), wherein the electro-hydraulic drive requires pressure sensor feedback pressure in order to better control the pressure of the oil pump within the device.
In the prior art, the electric hydraulic transmission equipment acquires pressure data based on a built-in pressure sensor, and then carries out subsequent control on oil pressure based on the pressure data, but the cost is increased due to the fact that the pressure sensor is independently configured, so that the cost performance of controlling the pressure of the oil pump is not high due to the fact that the pressure sensor is independently configured in some oil pump pressure control scenes with low precision requirements.
The foregoing is merely provided to facilitate an understanding of the principles of the present application and is not admitted to be prior art.
Disclosure of Invention
The main purpose of the application is to provide an oil pressure open-loop control method, device, equipment and storage medium, which aim to solve the technical problem that the cost performance of independently configuring a pressure sensor is not high under some oil pump pressure control scenes with low precision requirements.
To achieve the above object, the present application provides an oil pressure open-loop control method including the steps of:
receiving a feedback speed of the motor and determining a given speed in the received speed command;
determining a torque value to be adjusted based on a difference between the feedback speed and the given speed;
and adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relation exists between the current load torque of the motor and the pressure of the oil pump.
Optionally, before the step of receiving a feedback speed of the motor and determining a given speed in the received speed command, the method comprises:
acquiring a correlation coefficient between the motor load torque and the output pressure of the oil pump;
and determining the association relation between the load torque and the pressure of the oil pump based on the correlation coefficient and a preset friction force compensation parameter.
Optionally, the step of determining the torque value to be adjusted based on the difference between the feedback speed and the given speed includes:
calculating a maximum adjustable torque value based on a difference between a feedback speed and a given speed of the motor;
acquiring target oil pump pressure required to be adjusted by a user, and calculating a target torque value;
the torque value to be adjusted is determined based on the target torque value and the maximum adjustable torque value.
Optionally, the step of calculating a maximum adjustable torque value based on a difference between the feedback speed and the given speed of the motor comprises:
calculating a difference between a feedback speed and a given speed of the motor;
and calculating a torque value corresponding to the difference value based on a preset speed PI, and outputting the calculated torque value as a maximum adjustable torque value.
Optionally, the step of obtaining the target oil pump pressure required to be adjusted by the user and calculating the target torque value includes:
acquiring target oil pump pressure required to be adjusted by a user;
and calculating a torque value required for reaching the target oil pump pressure based on the target oil pump pressure and the association relation between the preset load torque and the oil pump pressure, and outputting the torque value as a target torque value.
Optionally, the step of determining the torque value to be adjusted based on the target torque value and the maximum adjustable torque value includes:
comparing the target torque value with the maximum adjustable torque value, and inputting the torque value with smaller value into a preset filter for the filter to filter clutters of the torque value to obtain a filtered torque value;
judging whether the filtered torque value is within the preset maximum torque limit or not based on the preset maximum torque limit;
if the filtered torque value is within the preset maximum torque limit, outputting the filtered torque value as a torque value to be adjusted;
and if the filtered torque value is outside the preset maximum torque limit, outputting the value of the preset maximum torque limit closest to the filtered torque value as the torque value to be adjusted.
Optionally, the step of adjusting the current load torque of the motor based on the torque value to be adjusted to realize open loop control of the oil pressure in the oil pump includes:
receiving a current value fed back by a motor, wherein the current value fed back by the motor is collected based on a current sensor preset on the motor;
and adjusting the current load torque of the motor based on the torque value to be adjusted and the current value fed back by the motor so as to realize open-loop control of the oil pressure in the oil pump.
In addition, in order to achieve the above object, the present application further provides an oil pressure open-loop control device, the device including:
the receiving module is used for receiving the feedback speed of the motor and determining a given speed in the received speed instruction;
the first determining module is used for determining a torque value to be adjusted based on a difference value between the feedback speed and the given speed;
the adjusting module is used for adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relationship exists between the current load torque of the motor and the pressure of the oil pump.
In addition, in order to achieve the above object, the present application also provides an oil pressure open-loop control apparatus, the apparatus including: the hydraulic control system comprises a memory, a processor and an hydraulic open-loop control program stored on the memory and capable of running on the processor, wherein the hydraulic open-loop control program is configured to realize the steps of the hydraulic open-loop control method.
In addition, in order to achieve the above object, the present application also provides a storage medium having stored thereon an oil pressure open-loop control program which, when executed by a processor, implements the steps of the oil pressure open-loop control method as described above.
The application provides an oil pressure open-loop control method, an oil pressure open-loop control device, oil pressure open-loop control equipment and a storage medium, which are compared with the case that a pressure sensor is independently configured in the related technology, so that the cost performance of the independent configuration of the pressure sensor is not high in some oil pump pressure control scenes with low precision requirements; determining a torque value to be adjusted based on a difference between the feedback speed and the given speed; based on the torque value to be adjusted, the current load torque of the motor is adjusted so as to realize open-loop control of oil pressure in the oil pump, wherein the current load torque of the motor and the pressure of the oil pump have a preset association relation, and it can be understood that the application uses software to directly adjust the torque of the motor so as to realize control of the oil pressure, so that the pressure of the oil pump can be controlled without a pressure sensor, and the problem of low cost performance of independently configuring the pressure sensor to control the pressure of the oil pump under some oil pump pressure control scenes with low precision requirements is solved.
Drawings
FIG. 1 is a schematic diagram of an oil pressure open loop control apparatus of a hardware operating environment according to an embodiment of the present application;
FIG. 2 is a schematic flow chart of a first embodiment of the hydraulic open loop control of the present application;
FIG. 3 is a schematic diagram of a prior art electrical hydraulic transmission device controlling the pressure of an oil pump in the device;
FIG. 4 is a schematic diagram of the PID control system according to the present application;
FIG. 5 is a prior art oil pump pressure equation;
FIG. 6 is a schematic diagram of a scenario in which the oil pressure open-loop control method of the present application controls the pressure of an oil pump in an electro-hydraulic transmission;
FIG. 7 is a torque regulator of the prior art used in the hydraulic open loop control apparatus of the present application;
FIG. 8 is a flow chart of a second embodiment of the hydraulic open loop control of the present application;
fig. 9 is a block diagram of the hydraulic open-loop control device of the present application.
The realization, functional characteristics and advantages of the present application will be further described with reference to the embodiments, referring to the attached drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an oil pressure open-loop control device of a hardware operation environment according to an embodiment of the present application.
As shown in fig. 1, the oil pressure open-loop control apparatus may include: a processor 1001, such as a central processing unit (Central Processing Unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a WIreless interface (e.g., a WIreless-FIdelity (WI-FI) interface). The Memory 1005 may be a high-speed random access Memory (Random Access Memory, RAM) Memory or a stable nonvolatile Memory (NVM), such as a disk Memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
It will be appreciated by those skilled in the art that the configuration shown in fig. 1 does not constitute a limitation of the oil pressure open loop control apparatus, and may include more or fewer components than shown, or certain components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system, a data storage module, a network communication module, a user interface module, and an oil pressure open-loop control program may be included in the memory 1005 as one type of storage medium.
In the oil pressure open-loop control apparatus shown in fig. 1, the network interface 1004 is mainly used for data communication with other apparatuses; the user interface 1003 is mainly used for data interaction with a user; the processor 1001 and the memory 1005 in the hydraulic open-loop control apparatus of the present application may be provided in the hydraulic open-loop control apparatus, which invokes the hydraulic open-loop control program stored in the memory 1005 through the processor 1001 and executes the hydraulic open-loop control method provided in the embodiment of the present application.
An embodiment of the present application provides an oil pressure open-loop control method, referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of the oil pressure open-loop control method.
The method execution body of the present embodiment is an oil pressure open-loop control device, which is a device having a device control capability, such as a motor controller or a terminal, and the present application is not limited specifically.
The following specifically describes the motor controller as the hydraulic open-loop control device.
It should be noted that, as shown in fig. 3, in the prior art, the electric hydraulic transmission device obtains pressure specified data required by a user based on a built-in three-ring control system, and based on pressure feedback data, speed feedback data and current feedback data correspondingly received by various sensors, and then changes the torque of the motor through a preset position ring PT, a speed ring PI and a current ring PI, so as to realize control of the oil pump pressure.
It can be understood that the three loops in the three-loop control system are three closed-loop negative feedback PID control systems, mainly for forming closed-loop control of the servo motor system, specifically, voltage mapping current variation, current mapping torque magnitude, torque magnitude and rotation speed variation, rotation speed and position variation are mapped, wherein the three-loop control is realized by combining physical phenomena and electrical principles, and precise and reliable control is achieved.
It should be noted that, as shown in fig. 4, the PID control system is divided into a proportional element (P), an integral element (I), and a differential element (D), where the proportional element is actually an amplifier with adjustable amplification factor, and is used to amplify the received measured value and the given value according to a preset ratio, but the proportional element generates a residual error in the amplifying process, and the integral element must be introduced if the residual error is to be overcome.
It should be understood that the residual error is a deviation when the input output quantity has a corresponding proportional relation in the PID control system and the variation quantity reaches balance through the proportional link adjustment and cannot be added to a given value.
It will be appreciated that the integration element acts to eliminate the residual error of the control system, and when there is a deviation input, the integration element will accumulate the accumulation of the deviation over time, and the output of the integration element will change as long as there is a deviation.
It should be understood that the differentiation is mainly used to accelerate the system response.
The three loops of the three-loop control system are a position loop, a speed loop and a current loop respectively, wherein the position loop is the outermost loop and mainly carries out proportion link adjustment, the three-loop control system can be constructed between a driver and a motor encoder based on actual needs, as output data in the position loop is input data of the speed loop, operation of all three loops can be carried out in a position control mode, the operation amount is the largest, dynamic response is the slowest, the speed loop carries out negative feedback PID adjustment by detecting signals of the motor encoder and mainly carries out proportion link and integration link adjustment, data in loop PID output of the speed loop is input data of the current loop, so that the speed loop and the current loop are included in the speed loop control mode, the current loop fully works in the driver, and PID adjustment is carried out for setting of the current by detecting currents output by the motors, so that the output currents are as close as possible to the set currents, the operation amount is the smallest in the torque mode of the current loop, and the dynamic response speed is the fastest.
In this embodiment, the oil pressure open-loop control method includes:
step S10: the feedback speed of the motor is received and a given speed of the received speed command is determined.
In a specific implementation, the oil pressure open loop control device receives a feedback speed of the motor and determines a given speed of the received speed command.
The feedback speed of the motor and the "speed" in the speed command are both the rotational speed of the motor.
Step S20: based on the difference between the feedback speed and the given speed, a torque value that needs to be adjusted is determined.
The mechanical element generates a certain degree of distortion under the action of the torque, so the torque is sometimes called as torque (torque movement), the unit is newton-meter (N-m), the torque is a basic load form of a transmission shaft of various working machines, the basic load form is closely related to factors such as working capacity, energy consumption, operation life and safety of the power machines, the measurement of the torque has significance in determining and controlling the load of the transmission shaft, the strength design of working parts of a transmission system and the selection of prime mover capacity, under the condition that the oil pump displacement and the oil pump efficiency are unchanged, the larger the torque is, the larger the output pressure of the oil pump is, the smaller the output pressure of the oil pump is, and under the condition that the oil pump displacement and the oil pump efficiency are unchanged, the oil pressure can be adjusted by adjusting the torque of the motor.
In the body implementation, the oil pressure open-loop control apparatus determines a torque value to be adjusted based on a difference between the feedback speed and the given speed.
The step of determining the torque value to be adjusted based on the difference between the feedback speed and the given speed specifically includes:
step S21: a maximum adjustable torque value is calculated based on a difference between the feedback speed of the motor and the given speed.
In a specific implementation, the oil pressure open-loop control device calculates a difference value between feedback speed data and a given speed command of a motor based on the feedback speed data and the given speed command input by a user, calculates the difference value through a speed loop PI, and then outputs the obtained data as a maximum adjustable torque value.
Wherein the step of calculating a maximum adjustable torque value based on a difference between the feedback speed and the given speed of the motor comprises:
step S211: the difference between the feedback speed of the motor and the given speed is calculated.
In a specific implementation, the oil pressure open loop control apparatus calculates a difference between a feedback speed and a given speed of the motor.
It should be noted that, the method of calculating the difference may be a result of subtracting the given speed command data input by the user from the feedback speed data of the motor.
For example, if the feedback speed data of the motor is 100 and the given speed data input by the user is 150, the result of subtracting the given speed data input by the user from the feedback speed data of the motor is-50, and if the feedback speed data of the motor is 100 and the given speed data input by the user is 50, the result of subtracting the speed command data input by the user from the speed feedback data of the motor is 50.
Step S212: and calculating a torque value corresponding to the difference value based on a preset speed PI, and outputting the calculated torque value as a maximum adjustable torque value.
In a specific implementation, the oil pressure open-loop control device calculates a torque value corresponding to the difference value based on a preset speed PI, and outputs the calculated torque value as a maximum adjustable torque value.
It should be understood that the user gives an upper limit of the rotational speed when applying the speed command, and inputs the upper limit of the rotational speed as a speed command, after receiving the speed command, the oil pressure open-loop control device reads feedback speed data of the motor, calculates a difference between the feedback speed data and a given speed, uses the difference as an input of a speed PI, and receives a torque given by the speed PI, if the feedback speed data is close to the given speed data input by the user, the rotational speed of the motor is close to the upper limit of the rotational speed set by the user, and the torque output of the speed PI becomes smaller, thereby limiting the rotational speed of the motor.
Step S22: and acquiring the target oil pump pressure required to be regulated by the user, and calculating a target torque value.
In a specific implementation, the oil pressure open-loop control device obtains a target oil pump pressure required to be adjusted by a user, and calculates a target torque value.
The step of obtaining the target oil pump pressure required to be adjusted by a user and calculating the target torque value specifically comprises the following steps:
step S221: and acquiring the target oil pump pressure which needs to be adjusted by the user.
In a specific implementation, the oil pressure open-loop control device obtains a target oil pump pressure that a user needs to adjust.
Step S222: and calculating a torque value required for reaching the target oil pump pressure based on the target oil pump pressure and the association relation between the preset load torque and the oil pump pressure, and outputting the torque value as a target torque value.
In a specific implementation, the oil pressure open-loop control apparatus calculates a torque value required to reach a target oil pump pressure based on the target oil pump pressure and a preset association relationship of load torque and oil pump pressure, and outputs the torque value as a target torque value.
The step of calculating the torque value required for achieving the target oil pump pressure based on the target oil pump pressure and the association relation between the preset load torque and the oil pump pressure is to substitute the target oil pump pressure into an oil pump pressure formula corresponding to the association relation between the preset load torque and the oil pump pressure, and calculate the torque value required for achieving the target oil pump pressure based on the formula.
It should be understood that the relationship between the preset load torque and the pressure of the oil pump is derived from a preset oil pump pressure formula, as shown in fig. 5, in which T is the load torque of the motor in newton-meters (N-m), D is a linear relationship between the motor load torque and the oil pump output pressure p Is the displacement of the oil pump in liters per revolution (L/r), η is the efficiency of the oil pump, usually expressed in percentages, p is the output pressure of the oil pump in Bar, and the motor is the motor with constant displacement of the oil pump and efficiency of the oil pumpThe load torque is proportional to the oil pump output pressure.
Step S23: the torque value to be adjusted is determined based on the target torque value and the maximum adjustable torque value.
In a specific implementation, the oil pressure open loop control apparatus determines a torque value that needs to be adjusted based on the target torque value and the maximum adjustable torque value.
The step of determining the torque value to be adjusted based on the target torque value and the maximum adjustable torque value specifically includes:
step S231: and comparing the target torque value with the maximum adjustable torque value, and inputting the torque value with smaller value into a preset filter for the filter to filter clutters of the torque value to obtain a filtered torque value.
In the body implementation, the oil pressure open-loop control device compares a target torque value with a maximum adjustable torque value, and inputs a torque value with a smaller value into a preset filter so as to filter clutters of the torque value by the filter to obtain a filtered torque value.
For example, if the value of the target torque value is 50 newton-meters and the value of the maximum adjustable torque value is 100 newton-meters, the value of the target torque value is input to the filter, if the value of the target torque value is 100 newton-meters and the value of the maximum adjustable torque value is 50 newton-meters, the value of the maximum adjustable torque value is input to the filter, and if the value of the target torque value and the value of the maximum adjustable torque value are both 50 newton-meters, an arbitrary torque value is input to the filter at random, and the filtered data is output as a filtered torque value.
It should be appreciated that the motor will generate harmonic currents during operation and will be fed back into the power grid, with frequency converters, arc furnaces, arc welders, induction heating devices, electric locomotives, etc. being typical harmonic current production sources, except for the motor.
If the filter is not provided, the motor is interfered by other harmonic current production sources, so that frequent false alarms are caused, meanwhile, the motor also produces harmonic current to interfere other devices using the same power supply, such as a sensor, an upper computer, an instrument and the like, and the problem of work disorder occurs, such as that the sensor cannot sense correct physical quantity or the transmitted physical quantity data is inaccurate.
Step S232: and judging whether the filtered torque value is within the preset maximum torque limit or not based on the preset maximum torque limit.
In a specific implementation, the oil pressure open-loop control device determines whether the filtered torque value is within a preset maximum torque limit based on the preset maximum torque limit.
The maximum torque limiter is defined based on a constant of a maximum value and a minimum value.
It should be understood that the torque limiter may be divided into a driving torque limiter and a braking torque limiter, the torque limiter is calculated based on the voltage and current values output by the frequency converter, wherein the torque limiter may significantly improve the impact load recovery characteristics during acceleration and deceleration and constant speed operation, and if the acceleration and deceleration time is less than the load inertia time, the motor may be automatically accelerated and decelerated according to a torque set value, and during steady operation, the torque function may control the motor slip and limit the motor torque within a maximum set value, and when the load torque suddenly increases, the frequency converter may not trip even when the acceleration time is set too short.
Step S233: and if the filtered torque value is within the preset maximum torque limit, outputting the filtered torque value as a torque value to be adjusted.
In a specific implementation, if the filtered torque value is within the preset maximum torque limit, the hydraulic open-loop control device outputs the filtered torque value as the torque value to be adjusted.
Step S234: and if the filtered torque value is outside the preset maximum torque limit, outputting the value of the preset maximum torque limit closest to the filtered torque value as the torque value to be adjusted.
In a specific implementation, if the filtered torque value is outside the preset maximum torque limit, the hydraulic open-loop control device outputs a value of the preset maximum torque limit closest to the filtered torque value as the torque value to be adjusted.
Step S30: and adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relation exists between the current load torque of the motor and the pressure of the oil pump.
The open loop control refers to a system control mode without feedback information, contrary to the closed loop control, when a user starts the system to enter an operation state, the system outputs an instruction of an operator to a controlled object at one time, and does not feedback a control result to influence the current control system.
It should be appreciated that the closed loop control is an operating system that feeds back the result of the control to the control system, compares the fed back data to the desired data, and adjusts operation based on the error.
In a specific implementation, the oil pressure open-loop control device adjusts the current load torque of the motor based on a torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relationship exists between the current load torque of the motor and the pressure of the oil pump.
For example, as shown in fig. 6, feedback speed data of the motor, a target oil pump pressure to be adjusted by a user, and a given speed are received first, and then a difference between the feedback speed data of the motor and the given speed is calculated; inputting the difference value into a preset speed controller, calculating to obtain a maximum adjustable torque value based on the association relation between the preset load torque and the pressure of the oil pump, calculating the target oil pump pressure required to be adjusted by a user based on the association relation between the preset load torque and the pressure of the oil pump to obtain a target torque value, comparing the target torque value with the maximum adjustable torque value, inputting a torque with a smaller value into a filter, setting the preset maximum torque limit in data after filtering impurities by the filter to obtain the torque value required to be adjusted, finally obtaining current feedback of the motor, and inputting the torque value required to be adjusted and the current feedback of the motor into the preset motor controller for the motor controller to adjust the load torque of the motor.
The step of adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump specifically comprises the following steps:
step S31: and receiving a current value fed back by the motor, wherein the current value fed back by the motor is collected based on a current sensor preset on the motor.
In a specific implementation, the oil pressure open-loop control device receives a current value fed back by a motor, wherein the current value fed back by the motor is collected based on a current sensor preset on the motor.
Step S32: and adjusting the current load torque of the motor based on the torque value to be adjusted and the current value fed back by the motor so as to realize open-loop control of the oil pressure in the oil pump.
In a specific implementation, the oil pressure open-loop control device adjusts the current load torque of the motor based on the torque value to be adjusted and the current value fed back by the motor, so as to realize open-loop control of the oil pressure in the oil pump.
It should be noted that the torque regulator may be a FOC control algorithm and an electric regulator, where the electric regulator is relatively weak for low-speed control, and the FOC has a good use effect in both a high-speed and a low-speed scenario.
It should be noted that, when the load torque of the motor is adjusted by using the FOC in the prior art, the motor is in turn a generator, and when a three-phase brushless motor rotates based on an external force, three sine waveforms with 120 degrees phase difference are output, and due to the common closed-loop control, the detection of the sine waveforms is relatively difficult, so that the FOC needs to be decoupled, and the complex signal is disassembled into relatively easy-to-analyze information.
For example, as shown in fig. 7, the FOC control process includes sampling three-phase currents of a motor (PMSM) to obtain lA, lB and lc respectively, performing Clark conversion on the lA, lB and lc to obtain lA, lB, performing Park conversion on the lA, lB to obtain lq and ld, calculating errors of the lq and ld and set values lq_ref and ld_ref thereof, inputting the errors into a PID (PI only) controller to obtain output control voltages Vq and Vd, performing reverse Park conversion (RevPark) on the Vq and Vd to obtain Va and Vb, synthesizing space vectors by using Va and Vb, inputting the Va and Vb to a SVPWM module to modulate, and finally obtaining three half-bridge state coded values Va, vb and VC at the moment, and driving the motor.
Where lq is the data required for the present scheme and represents the desired torque output, and ld is not required for the present scheme and should be controlled to 0 as much as possible.
In the embodiment, compared with the case that a pressure sensor is independently configured in the related art, in the case that the cost performance of the pressure sensor is not high under the control scene of oil pump pressure with low precision requirements, the feedback speed of a motor is received, and a given speed in a received speed instruction is determined; determining a torque value to be adjusted based on a difference between the feedback speed and the given speed; based on the torque value to be adjusted, the current load torque of the motor is adjusted so as to realize open-loop control of oil pressure in the oil pump, wherein the current load torque of the motor and the pressure of the oil pump have a preset association relation, and it can be understood that the torque of the motor is directly adjusted by using software so as to realize control of the oil pressure, so that the oil pressure can be controlled without a pressure sensor, and the problem that the cost performance of independently configuring the pressure sensor to control the pressure of the oil pump is not high under some oil pump pressure control scenes with low precision requirements is solved.
A second embodiment of the present application provides an oil pressure open-loop control method, referring to fig. 8, before the step S10, the oil pressure open-loop control method includes:
it should be noted that, because the service environment and the service scene are different, before each deployment of a batch of oil pumps, the oil pressure parameters need to be obtained by using the pressure sensor to calibrate the preset oil pump pressure formula and friction force compensation formula, so that the oil pressure open-loop control equipment can control the oil pressure more accurately.
Step A10: and acquiring a correlation coefficient between the motor load torque and the output pressure of the oil pump.
In a specific implementation, the oil pressure open-loop control apparatus obtains a correlation coefficient between the motor load torque and the oil pump output pressure.
The correlation coefficient between the motor load torque and the oil pump output pressure comprises an oil pressure parameter, the oil pressure parameter is obtained by using a pressure sensor, the pressure sensor is used only once when the oil pump is deployed, and the oil pressure is not required to be adjusted by using the pressure sensor after the reference parameter is obtained.
It should be understood that the correlation coefficient of the load torque and the pressure of the oil pump includes displacement and efficiency information of the oil pump, which is manually tested before the oil pump is deployed, wherein the displacement and efficiency information of the oil pump is stored in a local storage of the oil pressure open-loop control device, and each time the oil pressure open-loop control device needs the displacement and efficiency information of the oil pump, the oil pressure open-loop control device directly reads the needed data information in the local storage.
Step A20: and determining the association relation between the load torque and the pressure of the oil pump based on the correlation coefficient and a preset friction force compensation parameter.
In a specific implementation, the oil pressure open-loop control device determines the association relation between the load torque and the pressure of the oil pump based on the correlation coefficient and a preset friction force compensation parameter.
It should be noted that, the friction force compensation parameter is used for eliminating possible errors in calculating and acquiring data, so that the oil pressure open-loop control device can control the oil pressure more accurately.
It can be stated that the said preset friction force compensation formula is the friction force compensation data of the oil in the oil pump that is obtained by manual test before the oil pump is deployed, then input the said data into the preset friction force compensation formula, can get the complete friction force compensation formula, in order to supply the oil pressure open loop control equipment to calculate and get the more accurate torque value.
In this embodiment, the correlation between the load torque of the motor and the output pressure of the oil pump is obtained, and then the correlation between the load torque and the pressure of the oil pump is determined based on the correlation and the preset friction compensation parameter, so that when the oil pump is deployed, only the pressure sensor is required to be used once, and a group of parameter identification coefficients are acquired, and the pressure of the oil pump can be controlled without using the pressure sensor under some oil pump pressure control scenes with low precision requirements.
In addition, an embodiment of the present application further provides an oil pressure open-loop control device, referring to fig. 9, including:
a receiving module 10, configured to receive a feedback speed of the motor and determine a given speed in the received speed command;
a first determining module 20 for determining a torque value to be adjusted based on a difference between the feedback speed and the given speed;
the adjusting module 30 is configured to adjust a current load torque of the motor based on a torque value to be adjusted, so as to implement open-loop control of oil pressure in the oil pump, where a preset association relationship exists between the current load torque of the motor and the pressure of the oil pump.
Optionally, the computing module 20 includes:
a first calculation unit for calculating a maximum adjustable torque value based on a difference between a feedback speed and a given speed of the motor;
the second calculation unit is used for obtaining the target oil pump pressure which needs to be adjusted by the user and calculating a target torque value;
and a determining unit that determines a torque value to be adjusted based on the target torque value and the maximum adjustable torque value.
Optionally, the first computing unit includes:
a calculating subunit for calculating a difference between the feedback speed and a given speed of the motor;
and the first output subunit is used for calculating a torque value corresponding to the difference value based on a preset speed PI and outputting the calculated torque value as a maximum adjustable torque value.
Optionally, the second computing unit includes:
the acquisition subunit is used for acquiring target oil pump pressure which needs to be adjusted by a user;
the second output subunit is used for calculating a torque value required by reaching the target oil pump pressure based on the target oil pump pressure and the association relation between the preset load torque and the oil pump pressure, and outputting the torque value as a target torque value;
optionally, the determining unit includes:
the comparison subunit is used for comparing the target torque value with the maximum adjustable torque value, inputting the torque value with smaller value into a preset filter so as to filter clutter of the torque value by the filter and obtain a filtered torque value;
the judging subunit is used for judging whether the filtered torque value is in the preset maximum torque limit or not based on the preset maximum torque limit;
the first output subunit is used for outputting the filtered torque value as a torque value to be adjusted if the filtered torque value is within a preset maximum torque limit;
and the second output subunit is used for outputting the value of the preset maximum torque limit closest to the filtered torque value as the torque value to be adjusted if the filtered torque value is outside the preset maximum torque limit.
Optionally, the adjustment module 30 includes:
the receiving unit is used for receiving a current value fed back by the motor, wherein the current value fed back by the motor is collected based on a current sensor preset on the motor;
and the adjusting unit is used for adjusting the current load torque of the motor based on the torque value required to be adjusted and the current value fed back by the motor so as to realize open-loop control of the oil pressure in the oil pump.
Optionally, the oil pressure open-loop control device further includes:
the acquisition module is used for acquiring a correlation coefficient between the motor load torque and the output pressure of the oil pump;
and the second determining module is used for determining the association relation between the load torque and the pressure of the oil pump based on the correlation coefficient and the preset friction force compensation parameter.
The specific implementation manner of the hydraulic open-loop control device is basically the same as that of each embodiment of the hydraulic open-loop control method, and is not repeated here.
The embodiment of the application provides a storage medium, and the storage medium stores one or more programs, and the one or more programs are further executable by one or more processors to implement the steps of the oil pressure open-loop control method according to any one of the above.
The specific implementation manner of the storage medium is basically the same as that of each embodiment of the oil pressure open-loop control method, and is not repeated here.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above, including several instructions for causing a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to perform the method described in the embodiments of the present application.
The foregoing description is only of the preferred embodiments of the present application, and is not intended to limit the scope of the claims, and all equivalent structures or equivalent processes using the descriptions and drawings of the present application, or direct or indirect application in other related technical fields are included in the scope of the claims of the present application.
Claims (10)
1. An oil pressure open-loop control method, characterized by comprising the steps of:
receiving a feedback speed of the motor and determining a given speed in the received speed command;
determining a torque value to be adjusted based on a difference between the feedback speed and the given speed;
and adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relation exists between the current load torque of the motor and the pressure of the oil pump.
2. The oil pressure open loop control method according to claim 1, wherein said step of receiving a feedback speed of the motor and determining a given speed of the received speed command is preceded by the steps of:
acquiring a correlation coefficient between the motor load torque and the output pressure of the oil pump;
and determining the association relation between the load torque and the pressure of the oil pump based on the correlation coefficient and a preset friction force compensation parameter.
3. The oil pressure open-loop control method according to claim 1, characterized in that the step of determining a torque value to be adjusted based on a difference between the feedback speed and the given speed includes:
calculating a maximum adjustable torque value based on a difference between a feedback speed and a given speed of the motor;
acquiring target oil pump pressure required to be adjusted by a user, and calculating a target torque value;
the torque value to be adjusted is determined based on the target torque value and the maximum adjustable torque value.
4. The oil pressure open loop control method according to claim 3, wherein the step of calculating a maximum adjustable torque value based on a difference between a feedback speed and a given speed of the motor includes:
calculating a difference between a feedback speed and a given speed of the motor;
and calculating a torque value corresponding to the difference value based on a preset speed PI, and outputting the calculated torque value as a maximum adjustable torque value.
5. The oil pressure open-loop control method according to claim 3, wherein the step of obtaining a target oil pump pressure that a user needs to adjust, and calculating a target torque value, comprises:
acquiring target oil pump pressure required to be adjusted by a user;
and calculating a torque value required for reaching the target oil pump pressure based on the target oil pump pressure and the association relation between the preset load torque and the oil pump pressure, and outputting the torque value as a target torque value.
6. The oil pressure open-loop control method according to claim 3, characterized in that the step of determining a torque value to be adjusted based on the target torque value and the maximum adjustable torque value includes:
comparing the target torque value with the maximum adjustable torque value, and inputting the torque value with smaller value into a preset filter for the filter to filter clutters of the torque value to obtain a filtered torque value;
judging whether the filtered torque value is within the preset maximum torque limit or not based on the preset maximum torque limit;
if the filtered torque value is within the preset maximum torque limit, outputting the filtered torque value as a torque value to be adjusted;
and if the filtered torque value is outside the preset maximum torque limit, outputting the value of the preset maximum torque limit closest to the filtered torque value as the torque value to be adjusted.
7. The oil pressure open-loop control method according to claim 1, wherein the step of adjusting the current load torque of the motor based on the torque value to be adjusted to realize open-loop control of the oil pressure in the oil pump comprises:
receiving a current value fed back by a motor, wherein the current value fed back by the motor is collected based on a current sensor preset on the motor;
and adjusting the current load torque of the motor based on the torque value to be adjusted and the current value fed back by the motor so as to realize open-loop control of the oil pressure in the oil pump.
8. An oil pressure open-loop control device, characterized by comprising:
the receiving module is used for receiving the feedback speed of the motor and determining a given speed in the received speed instruction;
the first determining module is used for determining a torque value to be adjusted based on a difference value between the feedback speed and the given speed;
the adjusting module is used for adjusting the current load torque of the motor based on the torque value to be adjusted so as to realize open-loop control of the oil pressure in the oil pump, wherein a preset association relationship exists between the current load torque of the motor and the pressure of the oil pump.
9. An oil pressure open-loop control apparatus, characterized by comprising: a memory, a processor, and an oil pressure open-loop control program stored on the memory and executable on the processor, the oil pressure open-loop control program configured to implement the steps of the oil pressure open-loop control method according to any one of claims 1 to 7.
10. A storage medium having stored thereon an oil pressure open-loop control program which, when executed by a processor, implements the steps of the oil pressure open-loop control method according to any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311780367.5A CN117762168A (en) | 2023-12-21 | 2023-12-21 | Oil pressure open-loop control method, device, equipment and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311780367.5A CN117762168A (en) | 2023-12-21 | 2023-12-21 | Oil pressure open-loop control method, device, equipment and storage medium |
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| CN117762168A true CN117762168A (en) | 2024-03-26 |
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| CN202311780367.5A Pending CN117762168A (en) | 2023-12-21 | 2023-12-21 | Oil pressure open-loop control method, device, equipment and storage medium |
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