WO2024093018A1

WO2024093018A1 - Working machine control method and device, and working machine

Info

Publication number: WO2024093018A1
Application number: PCT/CN2023/070352
Authority: WO
Inventors: 王庭
Original assignee: 湖南三一华源机械有限公司
Priority date: 2022-10-31
Filing date: 2023-01-04
Publication date: 2024-05-10
Also published as: CN115593322A

Abstract

A working machine control method and device, and a working machine. The method comprises: first acquiring working condition data comprising the opening degree of a working machine handle and an actual current of a driving pump; then determining a target current value of the driving pump on the basis of the opening degree of the handle; and under a first working condition and on the basis of the actual current value and the target current value, gradually adjusting a current of the driving pump by means of a plurality of adjusting periods until the deviation between the current of the driving pump and the target current value is within a preset range, wherein a current adjusting value of each adjusting period is greater than or equal to a current adjusting value of the previous adjusting period. Thus, under the first working condition, for example, during starting, because an adjusting amplitude is small in the early stage of adjustment, starting rushing can be effectively avoided; and because the adjusting amplitude is large in the later stage of adjustment, it is guaranteed that the working machine reaches a required operation speed as soon as possible, thereby enhancing the smoothness of the working machine and improving the driving experience of a driver.

Description

Working machine control method, control device and working machine

This application claims priority to Chinese patent application No. 202211351842.2, filed on October 31, 2022, and entitled “Operation Machinery Control Method, Control Device and Operation Machinery”, which is incorporated herein by reference in its entirety.

Technical Field

The present application belongs to the technical field related to operating machinery, and relates to an operating machinery control method, a control device and an operating machinery.

Background technique

Drivers usually control the operation of working machinery such as road rollers through operating levers, but the control strength of the operating levers is difficult to grasp, which can easily lead to problems such as high speed when starting.

Summary of the invention

The present application provides a working machine control method, a control device and a working machine.

In a first aspect, the present application provides a method for controlling a working machine, comprising:

Obtaining the working condition data of the operating machine, including the handle opening and the actual current value of the travel pump;

Based on the handle opening, a target current value of the travel pump is determined;

Under a first operating condition, based on an actual current value and a target current value, the current of the travel pump is gradually adjusted through a plurality of adjustment cycles until a deviation between the current of the travel pump and the target current value is within a preset range, the first operating condition including that the actual current value is greater than or equal to a first constant;

The current regulation value of each regulation cycle is greater than or equal to the current regulation value of the previous regulation cycle, and the current regulation value is the change value of the current of the travel pump in any regulation cycle.

In a second aspect, the present application also provides a working machine control device, comprising a collection module and a calculation control module;

The acquisition module is used to obtain the working condition data of the operating machine, including the handle opening and the actual current value of the travel pump;

A calculation control module, used for determining a target current value of a travel pump based on a handle opening;

The calculation control module is further used to gradually adjust the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value under a first operating condition until the deviation between the current of the travel pump and the target current value is within a preset range, wherein the first operating condition includes that the actual current value is greater than or equal to a first constant;

In a third aspect, the present application also provides a working machine, comprising the working machine control device as mentioned above.

The control method of the working machine provided by the present application includes: firstly obtaining the working condition data of the working machine, the working condition data including the handle opening and the actual current value of the travel pump; then determining the target current value of the travel pump based on the handle opening; under the first working condition, based on the actual current value and the target current value, gradually adjusting the current of the travel pump through multiple adjustment cycles until the deviation between the current of the travel pump and the target current value is within a preset range, and the first working condition includes that the actual current value is greater than or equal to the first constant; wherein the current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is the change value of the current of the travel pump in any adjustment cycle. In this way, under the first working condition, for example, during the starting process, because the adjustment amplitude is small in the early stage of the adjustment, the starting rush can be effectively avoided; and the adjustment amplitude is large in the later stage, which ensures that the working machine reaches the required operating speed as soon as possible, thereby improving the smoothness of the working machine and the driving experience of the driver.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic flow chart of a working machine control method provided in an embodiment of the present application.

FIG. 2 is a schematic diagram of a flow chart of current regulation in a working machine control method provided in an embodiment of the present application.

FIG3 is a flow chart of a working machine control method provided in another embodiment of the present application.

FIG. 4 is a schematic diagram of the structure of the working machine provided in an embodiment of the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

When the roller is working, it needs to move forward and backward repeatedly on the road surface. During this process, the driver needs to use the operating handle to complete repeated starting and other controls. At present, the detection device accurately identifies the operation of the driver's handle or operating lever, determines the driver's driving intention, and realizes the control of the start and stop and speed of the roller. This method has high requirements on the driver's operating experience, especially when the roller starts, it is not easy for the driver to master the operating range, and it is easy to operate too large, resulting in a rough start of the roller, and even causing wrinkles on the working road surface, affecting the compaction effect, and the driver's driving experience is also poor.

FIG1 is a flow chart of a working machine control method provided in an embodiment of the present application. Taking a working machine as a road roller as an example, as shown in FIG1 , the working machine control method provided in an embodiment of the present application includes:

S101. Acquire the working condition data of the operating machine, where the working condition data includes the handle opening and the actual current value of the travel pump.

The working condition data of the roller includes the handle opening of the roller and the actual current value of the travel pump. The handle opening of the roller is the opening size of the operating handle (or operating lever) under the operation of the driver. In practical applications, the handle opening can be a percentage value, for example, the handle is opened to the maximum position and the handle is opened to the minimum position (back to the middle position) as the opening range. The above handle opening can be the ratio of the information of the corresponding handle position to the information of the entire opening range, such as the ratio of the distance of the handle position from the middle position of the handle to the distance of the maximum handle opening from the middle position of the handle.

The actual current of the travel pump is the current input to the travel pump, which can be controlled by the controller. The actual current value of the travel pump can be obtained by detecting signals from the controller or sensors on various hardware. The actual current of the travel pump directly determines the displacement of the travel pump and directly affects the operating speed of the roller.

S102: Determine a target current value of a travel pump based on the handle opening.

The handle opening can be the opening of the physical handle in the cab, that is, the driver wants to make the working machine have a different operating speed by turning the handle to a certain position. In the embodiment of the present application, by obtaining the handle opening and identifying the driver's driving intention based on the handle opening, by determining the target current value of the travel pump corresponding to the handle opening based on the handle opening, the input current of the travel pump is changed, thereby helping the driver to change the travel pump current through the handle and control the operating speed of the roller.

The handle opening information mentioned above may also be touch screen instructions, as well as other operation instructions in intelligent driving, including voice or gestures corresponding to control instructions, as long as it can be used to represent the driver's driving operation awareness.

S103 . Under the first working condition, based on the actual current value and the target current value, gradually adjust the current of the travel pump through multiple adjustment cycles until the deviation between the current of the travel pump and the target current value is within a preset range.

The first operating condition includes that the actual current value is greater than or equal to the first constant; the current regulation value in each regulation cycle is greater than or equal to the current regulation value of the previous regulation cycle, and the current regulation value is the change value of the current of the travel pump in any regulation cycle.

Among them, the current adjustment value includes positive and negative values. The first working condition includes the starting stage of the operating machine, and the current adjustment value is a positive value. In practical applications, in order to further ensure the starting smoothness, a dead zone voltage value, that is, a first constant, can be set. At this time, the first working condition includes the starting stage after the actual current is greater than or equal to the dead zone current. Of course, the dead zone current can also be not set, that is, the value of the first constant is 0, and at this time, the first working condition includes the entire process of adjusting the actual current from 0 to the target current.

After obtaining the actual current value of the travel pump of the working machinery through detection and determining the target current value of the travel pump through the handle opening, and under the first working condition, the amount by which the travel pump current needs to be adjusted is determined, that is, the difference between the target current value and the actual current value.

During actual adjustment, for the starting stage mentioned above, the current adjustment value is a positive value, and the current of the travel pump can be gradually increased through multiple adjustment cycles. The result of each adjustment cycle is to increase the current of the travel pump. After the current of the travel pump was increased in the previous cycle, the real-time current value of the travel pump has changed. When the next adjustment cycle begins, the adjustment result obtained in the previous adjustment cycle will be used as the adjustment basis for the next adjustment cycle. The next adjustment cycle is a further adjustment based on the adjustment result of the previous adjustment cycle, so that the current of the travel pump continues to increase until the current value of the travel pump is within a preset range from the target current value determined based on the handle opening. Among them, the preset range can be set to 0, that is, the current value of the travel pump is adjusted until the current value of the travel pump is equal to the target current value.

When the target current value is greater than the actual current value, that is, during the start or acceleration of the operating machine, the current adjustment value of the current adjustment cycle is positively correlated with the square of the adjustment number corresponding to the current adjustment cycle, and the current value of the travel pump after adjustment in the current adjustment cycle is positively correlated with the high-order power of the adjustment number corresponding to the current adjustment cycle, and the high-order power includes the cubic and quartic powers. The current value of the travel pump after adjustment in the current adjustment cycle is increased by the current adjustment value of the current adjustment cycle and the current adjustment values of the previous adjustment cycles on the basis of the initial current adjustment value, that is, the current value of the travel pump after adjustment in the current adjustment cycle increases in a step-by-step manner, with a smaller adjustment amplitude in the early stage of adjustment and a larger adjustment amplitude in the later stage, which can ensure that the travel pump of the operating machine reaches the target current value as soon as possible.

For example, when the operating machine starts, the actual current value of the travel pump is 2A, and the target current value is 12A, so the current of the travel pump needs to be increased. The current adjustment amount of the first adjustment cycle is 1, so after the adjustment of the first adjustment cycle, the current value of the travel pump becomes 3A. In the second adjustment cycle, the current 3A obtained after the first increase continues to increase, and in the second adjustment cycle, the current adjustment value is 2A, so it is increased by 2A on the basis of 3A, and the final result is 5A. The current adjustment value in the third adjustment cycle is 3A, so after the increase in the third adjustment cycle, the current value of the travel pump is adjusted to 8A. The current adjustment value in the fourth adjustment cycle is 4A, so after the increase in the fourth adjustment cycle, the value of the travel pump increases to 12A.

The above examples are only for explaining the principle of current regulation. In practical applications, in order to ensure that the error between the final regulation result and the target current is small, the order of magnitude of the current regulation value can be made much smaller than the order of magnitude of the actual current value and the target current value, and the upper limit of the current regulation can be set. For example, if the current regulation value is at the 0.01A level, it will no longer increase after it increases to 0.1A. After the subsequent regulation cycles, it will only be regulated by 0.1A until the difference between the actual current value being regulated and the target current value remains within the preset range, and the regulation stops.

In the embodiment of the present application, the number of adjustment cycles in the above process (how many adjustment cycles are performed in total) and the current adjustment value of each adjustment cycle can be changed according to the difference between the actual current value and the target current value. For example, the number of adjustment cycles is fixed. On this basis, when the difference between the actual current value and the target current value is larger than the difference in the above example, the current adjustment value in each cycle can be increased. For example, in the above embodiment, the current adjustment amount of the first adjustment cycle can be changed to 2A, the current adjustment amount of the second adjustment cycle is 4A, and the current adjustment amount of the third adjustment cycle is 5A, etc.; or the current adjustment amount of each adjustment cycle is the same as in the above example, in which case the number of adjustment cycles will increase accordingly.

The first operating condition may include not only the starting stage of the operating machinery, but also other speed adjustment stages after starting, including acceleration and deceleration (including braking). During acceleration, the current adjustment value is a positive value, and during deceleration (including braking), the current adjustment value is a negative value, thereby increasing or decreasing the travel pump current.

During the deceleration process (including braking), the current regulation value is a negative value, and the current of the travel pump is gradually reduced in multiple adjustment cycles by gradually increasing the current regulation value (the numerical value is gradually increasing but its absolute value is gradually decreasing). For example, the current regulation value in the first cycle is small, and the absolute value of the current value reduced by the travel pump is relatively large (for example, the current regulation value is -5). The current regulation value in the second cycle increases, and the absolute value of the current value reduced by the travel pump is relatively small (for example, the current regulation value is -3). In this process, the current regulation value of each adjustment cycle is also greater than or equal to the current regulation value of the previous adjustment cycle. During the deceleration process, especially the braking process, the absolute value of the current value reduced by the travel pump is first large and then small, that is, the speed reduction of the operating machine is first large and then small, which can achieve smooth braking, improve the smoothness of the operating machine and the driving experience of the driver.

The present application provides a control method for a working machine, firstly obtaining the working condition data of the working machine, the working condition data including the handle opening and the actual current value of the travel pump; then determining the target current value of the travel pump based on the handle opening; under the first working condition, based on the actual current value and the target current value, gradually adjusting the current of the travel pump through multiple adjustment cycles until the deviation between the current of the travel pump and the target current value is within a preset range, the first working condition includes the actual current value being greater than or equal to the first constant; wherein the current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, the current adjustment value is the change value of the current of the travel pump in any adjustment cycle, and the current adjustment value includes positive and negative values. In this way, under the first working condition, for example, during the starting process, because the adjustment amplitude is small in the early stage of the adjustment, the starting rush can be effectively avoided; and the adjustment amplitude is large in the later stage, which ensures that the working machine reaches the required running speed as soon as possible, thereby improving the smoothness of the working machine and the driving experience of the driver.

In some embodiments, in the operating machinery control method provided by the present application, a dead zone current value, i.e., a first constant, can also be set. At this time, when the actual current value of the travel pump is less than the dead zone current value, the operating machinery such as a road roller does not operate. The road roller only operates when the actual current value of the travel pump is greater than or equal to the dead zone current value. In the present application, the control of the operating machinery also includes a second operating condition in which the actual current value of the travel pump is less than the dead zone current value during the starting acceleration phase (the handle opening is not zero). Under the second operating condition, the operating machinery is controlled, including directly adjusting the actual current value of the travel pump to be equal to the dead zone current value, so that the road roller starts or prepares to operate as soon as possible, thereby reducing waiting time.

In some embodiments, the process of determining the target current value based on the handle opening can be specifically determined based on a first constant and a second constant, wherein the first constant is a preset dead zone current value, and the second constant is determined based on the first constant and a preset maximum displacement current value, and the maximum displacement current value is greater than the dead zone current value. The second constant is the difference between the maximum displacement current value and the first constant. The product of the second constant and the handle opening is added to the first constant to obtain the target current value. The determined target current value takes into account the handle opening, the first constant (preset dead zone current value), and the preset maximum displacement current value. The value is more accurate and the start is smoother. Specifically, it is the following formula 1:

_Itarget = ( _IMAX - _Ideadzone ) * K% + _Ideadzone ;

Among them, _Itarget is the target current value, _IMAX is the preset maximum displacement current value, that is, the current value of the travel pump corresponding to the maximum displacement of the travel pump, _Ideadzone is the preset deadzone current value (first constant), and K% is the handle opening.

The preset dead zone current value (first constant) is the minimum current for opening the swash plate of the travel pump. In practical applications, the preset dead zone current value may be the maximum current value when the working machine is not in a moving state, that is, when the current in the working machine travel pump is less than the dead zone current value, the working machine has no speed. The specific preset dead zone current value may be pre-matched and stored in a controller or related memory based on the opening of the working machine handle and the working machine speed of the working machine travel pump (such as the minimum working machine speed) before the working machine or related components leave the factory or are used for actual operations. In the above-mentioned process of dynamically adjusting the adjustment amplitude, when the set dead zone current is small, the working machine reacts slowly and takes a long time to start; and when the set dead zone current is large, the working machine starts more aggressively and is prone to overshoot. Therefore, in the embodiment of the present application, different preset dead zone current values may be set for different models of rollers or different usage requirements.

The second constant is I _MAX -I _{dead zone} in Formula 1, wherein the preset maximum displacement current value is the travel pump current value (a fixed value) corresponding to the maximum displacement of the travel pump of the road roller.

In some embodiments of the present application, a method for gradually adjusting the current value of a travel pump through multiple adjustment cycles based on an actual current value and a target current value can be specifically implemented through algorithms such as dynamic adjustment of high-order curve control, thereby achieving real-time following of the actual current value and the target current value of the travel pump.

First, the actual current value of the operating machine is obtained, and the target current value is calculated according to the handle opening and the above formula 1. The amount to be adjusted is determined according to the target current value and the actual current value of the operating machine travel pump collected and detected. Then, the current of the travel pump is adjusted through multiple adjustment cycles with increasing current adjustment values by dynamically adjusting the high-order curve control algorithm. The basic value (adjusted amount) of each adjustment cycle is the adjustment result of the previous adjustment cycle. In this way, for the acceleration process, after the current value of the travel pump is adjusted in the previous adjustment cycle, the adjustment amplitude is increased in the next adjustment cycle, and the current value of the travel pump is continued to be adjusted, and the adjustment amplitude is gradually increased to avoid a sudden increase in the current value of the travel pump in the initial adjustment, which leads to the phenomenon of unstable operation of the operating machine; for the deceleration process, the initial adjustment amplitude is larger, and the later adjustment amplitude is smaller, to ensure smoother deceleration and braking.

In other embodiments of the present application, the maximum amplitude of current regulation can be limited by setting a maximum current regulation value. That is, a maximum regulation value is set, and when the current regulation value of the above regulation cycle is increased, an upper limit is set. When the current regulation value in a certain regulation cycle increases to be equal to the preset maximum current regulation value, the current regulation value will not continue to increase in the subsequent regulation cycles. Instead, in the subsequent regulation cycles, the current value of the travel pump is adjusted by a current regulation value equal to the maximum current regulation value until the deviation between the current of the travel pump and the target current value is within a preset range. The maximum current regulation value can be obtained based on the current regulation difference and the preset proportional coefficient, and the current regulation difference is the difference between the target current value and the actual current value.

Because the current regulation value is a positive value during acceleration, and a negative value during deceleration, different maximum current regulation values can be set for the above two regulation processes. For example, a positive value is set as the maximum current regulation value for the acceleration process, and a negative value is set as the maximum current regulation value for the deceleration process.

The following will introduce in detail the principle of current regulation in the operating machine control method provided by the present application through a specific implementation process. The operating machine takes a road roller as an example (of course, it can also be other operating machines), as shown in Figure 2:

S201, obtaining the handle opening of the roller and the actual current value of the travel pump.

S202: Determine a target current value of a travel pump based on the handle opening.

The target current value can be directly calculated based on the handle opening and the preset dead zone current value, the maximum displacement current value, etc., using Formula 1 in the above embodiment.

S203: Determine the total amount of current regulation.

After obtaining the actual current value of the travel pump and calculating the target current value, the difference between the two is the total current regulation amount.

S204: Determine a maximum current adjustment value based on a preset proportionality coefficient.

In order to limit the adjustment range during the current regulation process, a maximum current regulation value can be determined by setting a proportional coefficient. In the regulation cycle after the current regulation value reaches the maximum current regulation value, the current of the travel pump is only adjusted by the maximum current regulation value, and the current regulation value is no longer increased.

S205 . Adjust the current value of the travel pump based on the current adjustment amount of the current adjustment cycle.

On the basis of the current of the current travel pump, the current adjustment value of the current adjustment cycle is increased to obtain the current after the current cycle adjustment is completed, and the current adjustment cycle is ended, wherein the current adjustment value includes positive and negative numbers.

S206: Determine whether the current value of the travel pump is equal to the target current value.

After adjusting the current of the travel pump, it can be determined whether the adjusted travel pump current value is equal to the target current value, or whether the deviation between the two is within a preset range. If the two are equal or the deviation is within the preset range, proceed to step S210; if they are not equal and the deviation between the two is outside the preset range, it is necessary to continue adjusting the current value of the travel pump, specifically proceed to step S207.

S207: Determine whether the current adjustment value of the previous adjustment cycle is greater than or equal to the maximum current adjustment value.

If the current regulation value of the last regulation cycle is greater than or equal to the maximum current regulation value, execute step S208; otherwise, execute step S209.

S208, determining the maximum current adjustment value as a new current adjustment value, and returning to step S205.

S209: If the current adjustment value of the previous adjustment cycle is less than the maximum current adjustment value, increase the value of the current current adjustment value to obtain a new current adjustment value, and return to step S205.

For example, if the current value of the travel pump needs to be increased, when the current adjustment value is less than the maximum current adjustment value, the current adjustment value is changed from 1A to 3A, and then the process returns to step S205 to start the next adjustment cycle and continue to adjust the current value of the travel pump.

S210, end the adjustment.

In some embodiments, for the acceleration process, the current adjustment value in each adjustment cycle is changed in a manner that is determined according to the number of adjustments, i.e., the number of adjustments in the current adjustment cycle. The current adjustment value of the current adjustment cycle is positively correlated with, including proportional to, the number of adjustments corresponding to the current adjustment cycle. For example, when the current of the travel pump needs to be increased, a basic adjustment value _X0 for determining the current adjustment value is first determined. In the first adjustment cycle, the current of the travel pump is increased by an amount of _X0 (in this adjustment cycle, the current adjustment amount is _X0 ); in the second adjustment cycle, the current of the travel pump after the first adjustment is directly increased by an amount of _2X0 (in this adjustment cycle, the current adjustment amount is _2X0 ); in the third adjustment cycle, the current of the travel pump after the second adjustment is further increased by an amount of _3X0 (in this adjustment cycle, the current adjustment amount is _3X0 ), and so on, until the current adjustment amount in a certain adjustment cycle is greater than or equal to a preset maximum current adjustment amount, such as 10A, and the subsequent current adjustment amount will not continue to increase. In the subsequent adjustment cycles, in each adjustment cycle, the current value of the travel pump is increased by 10A until the deviation between the current of the travel pump and the target current value is within a preset range.

In other embodiments, for the acceleration process, the current adjustment value may also be changed by a quadratic function based on the number of adjustment cycles, which is implemented by the following process:

When the current adjustment value X is less than the maximum current adjustment value, the change of the current adjustment value X with the number of adjustments can be expressed as:

Wherein, X represents the current regulation value in any regulation cycle, n represents the number of adjustments in the regulation cycle, that is, it represents the number of adjustments in the current regulation cycle, _X0 is the basic regulation value, and the basic regulation value _X0 is also the current regulation amount in the first regulation cycle, and _t0 is the order of the regulation cycle in which the first current regulation value is greater than or equal to the maximum current regulation value, that is, it represents the number of adjustments in the regulation cycle.

When the current adjustment value X is greater than or equal to the maximum current adjustment value, the maximum current adjustment value is used to adjust the travel pump current in subsequent current adjustment cycles to avoid the subsequent current adjustment value being too large and affecting the safety of the operating machinery.

Because the current regulation process of the travel pump is performed continuously, based on the change of the current regulation value in the above embodiment, the change of the travel pump current Y with the number of adjustments can be expressed as:

Wherein, _Y0 is the current value of the travel pump obtained before the travel current value is adjusted. _Y1 is the travel pump current adjusted in the previous adjustment cycle when the current adjustment value is greater than or equal to the maximum current adjustment value for the first time. Because each next adjustment cycle is performed on the adjustment result of the previous adjustment cycle, _Y1 is also the travel pump current adjusted in all previous adjustment cycles when the current adjustment value is greater than or equal to the maximum current adjustment value for the first time.

In the control method mentioned in the above-mentioned embodiment for the acceleration process, after obtaining the handle opening, the current of the travel pump is adjusted in multiple adjustment cycles by continuously increasing the adjustment amplitude, so that in the whole process of current adjustment, the initial adjustment amplitude is smaller and the later adjustment amplitude is larger. The driver is not required to precisely control the handle operating lever, which avoids the problem of the operating machine being jerked after the driver changes the handle opening, especially when the operating machine starts, the stability can be improved.

In other embodiments of the present application, the first operating condition may also include only the acceleration process, and the deceleration process (including braking) may be implemented in different ways. For example, during the deceleration and braking process of an operating machine such as a road roller, a segmented control method is used to control the current drop of the travel pump, including, for example, the current travel pump current is 20A, and a fixed current value is dropped in each segment through multiple segments, thereby simply and quickly controlling the operating machine to stop.

In other embodiments, in order to avoid shaking of the operating machinery when it is parked, based on the dead zone current value provided in the above embodiments, the above control method for the third working condition can be used to control the current of the travel pump to decrease during the stopping process of the operating machinery, so as to achieve rapid and smooth parking, until the current value of the travel pump drops to a preset interval below the dead zone current value, such as below the dead zone current value of -30mA, to avoid stopping the current regulation too early and the residual current in the current causing shaking of the operating machinery.

The control method provided in the present application includes different control strategies for different processes. Of course, in order to meet different actual needs, flexible changes can also be made. For example, the above-mentioned dynamic increase in adjustment amplitude (the current adjustment value of the current adjustment cycle is greater than or equal to the current of the previous adjustment cycle) is adopted in the starting stage in Figure 3, any of the above-mentioned control methods is adopted in the normal driving stage after the start is completed, and any of the above-mentioned two parking control methods is adopted in the braking stage to meet different needs.

Because the driver is a human, there may be an inaccurate operation and then the handle opening may be changed within a short period of time, or the driver may dynamically change the handle opening according to the working environment. At this time, the target current value determined based on the original handle opening is not accurate. Therefore, in other embodiments of the present application, the handle opening can be detected periodically or in real time during the current adjustment process. If the handle opening changes, the handle opening can be updated in time, and the new target current value can be calculated, and a new current adjustment process can be performed to ensure the accuracy of the operation.

The control method provided by the present application can dynamically change the current adjustment amplitude at least in the starting stage of the operating machinery such as the roller, that is, by continuously increasing the adjustment amplitude, so that the operating machinery can start smoothly and the speed can be adjusted smoothly without overshoot, thereby improving the construction quality of the operating machinery and solving the pain points of the operating machinery such as the roller being difficult to get on the flatbed when transferring. Moreover, because the above control methods can be implemented through software programs, the cost is relatively low; and different start-stop control modes can be selected to meet various different needs. Moreover, because the dead zone current value is set during the current adjustment process, the operating machinery can be smoother and without shaking when starting and stopping, which improves the smoothness of the operating machinery and the driving experience of the driver.

An embodiment of the present application also provides a working machine, including a control device for implementing the above-mentioned control method.

In some embodiments, as shown in FIG4 , the control device includes a collection module 1 and a calculation control module 2;

The acquisition module 1 is used to obtain the working condition data of the operating machine, wherein the working condition data includes the handle opening and the actual current value of the travel pump;

The calculation control module 2 is used to determine the target current value of the travel pump based on the handle opening; and the calculation control module 2 is also used to gradually adjust the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value under the first working condition until the deviation between the current of the travel pump and the target current value is within a preset range. The first working condition includes an actual current value greater than or equal to a first constant, wherein the current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is the change value of the current of the travel pump in any adjustment cycle.

The operating machinery provided in the embodiment of the present application obtains the working condition data of the operating machinery through the acquisition module 1 of the control device; then the target current value of the travel pump is determined based on the handle opening through the calculation control module 2; and the current of the travel pump is gradually adjusted through multiple adjustment cycles based on the actual current value and the target current value through the calculation control module, until the deviation between the current of the travel pump and the target current value is within a preset range; and the current adjustment value in each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle. In this way, at least when the operating machinery such as a road roller is started, the travel pump current adjustment is small to avoid a rough start; and then the adjustment amount is large to ensure that the operating machinery reaches the required operating speed as soon as possible, ensure the normal operation of the road roller, improve the smoothness of the operating machinery and improve the driving experience of the driver.

The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. The above description of the disclosed embodiments enables professionals in the field to implement or use the present application. The present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

A method for controlling a working machine, comprising:

Acquiring working condition data of the operating machine, wherein the working condition data includes a handle opening and an actual current value of a travel pump;

determining a target current value of the travel pump based on the handle opening;

Under a first operating condition, based on the actual current value and the target current value, the current of the travel pump is gradually adjusted through multiple adjustment cycles until the deviation between the current of the travel pump and the target current value is within a preset range, the first operating condition including that the actual current value is greater than or equal to a first constant;

The current regulation value of each regulation cycle is greater than or equal to the current regulation value of the previous regulation cycle, and the current regulation value is a change value of the current of the travel pump in any one of the regulation cycles.
The working machine control method according to claim 1, further comprising:

Under the second working condition, the actual current value is adjusted to be equal to the first constant; wherein, the second working condition includes that the actual current value is less than the first constant, and the handle opening is not zero.
The working machine control method according to claim 1, wherein determining the target current value of the travel pump based on the handle opening comprises:

Determining the target current value based on the handle opening, the first constant and the second constant;

The first constant is a preset dead zone current value, the second constant is determined based on the first constant and a preset maximum displacement current value, and the preset maximum displacement current value is the current value of the travel pump corresponding to the maximum displacement of the travel pump.
The working machine control method according to claim 3, wherein the determining the target current value based on the handle opening, the first constant and the second constant comprises:

taking the difference between the maximum displacement current value and the first constant as a second constant;

The target current value is obtained by adding the product of the second constant and the handle opening to the first constant.
The working machine control method according to any one of claims 1 to 4, wherein the step of gradually adjusting the current of the travel pump through a plurality of adjustment cycles based on the actual current value and the target current value comprises:

Based on the actual current value and the target current value, the current of the travel pump is gradually adjusted within a plurality of adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm.
The working machine control method according to claim 5, wherein the step of gradually adjusting the current of the travel pump in multiple adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm comprises:

When the current regulation value in the previous regulation cycle is less than the preset maximum current regulation value, in the current regulation cycle, the current regulation value in the previous regulation cycle is increased to obtain the current regulation value of the current regulation cycle, and based on the current regulation value of the current regulation cycle, the current of the travel pump is adjusted, and the current regulation value of the current regulation cycle is less than or equal to the preset maximum current regulation value.
The working machine control method according to claim 6, wherein, in the current adjustment cycle, the current adjustment value in the previous adjustment cycle is increased to obtain the current adjustment value of the current adjustment cycle, and the current of the travel pump is adjusted based on the current adjustment value of the current adjustment cycle, comprising:

Based on the number of adjustments corresponding to the current adjustment cycle, the current adjustment value is increased on the basis of the current adjustment value in the previous adjustment cycle to obtain the current adjustment value of the current adjustment cycle;

The current adjustment value of the current adjustment cycle is added to the current value of the travel pump obtained after the last adjustment cycle to obtain the current value of the travel pump adjusted in the current adjustment cycle.
According to the working machinery control method according to claim 7, when the target current value is greater than the actual current value, the current adjustment value of the current adjustment cycle is positively correlated with the square of the adjustment number corresponding to the current adjustment cycle; the current value of the travel pump after adjustment in the current adjustment cycle is positively correlated with the higher power of the adjustment number corresponding to the current adjustment cycle.
According to the working machine control method according to claim 5, when the working machine accelerates, the current adjustment value of the current adjustment cycle is proportional to the corresponding number of adjustments.
According to the working machine control method according to claim 5, when the working machine accelerates, the current adjustment value of the current adjustment cycle is determined according to the quadratic function of the corresponding number of adjustment cycles.
The working machine control method according to claim 1, wherein determining the target current value of the travel pump based on the handle opening comprises:

Detecting a change in the handle opening and updating the handle opening;

Based on the updated handle opening, a target current value of the travel pump is determined.
A working machine control device comprises a collection module and a calculation control module;

The acquisition module is used to obtain the working condition data of the operating machine, wherein the working condition data includes the handle opening and the actual current value of the travel pump;

The calculation control module is used to determine the target current value of the travel pump based on the handle opening;

The calculation control module is further used to gradually adjust the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value under a first operating condition until the deviation between the current of the travel pump and the target current value is within a preset range, wherein the first operating condition includes that the actual current value is greater than or equal to a first constant;

The current regulation value of each regulation cycle is greater than or equal to the current regulation value of the previous regulation cycle, and the current regulation value is the change value of the current of the travel pump in any one of the regulation cycles.
A working machine comprises the working machine control device according to claim 12.