CN115593322A - Work machine control method, control device, and work machine - Google Patents

Abstract

The present application discloses a working machine control method, a control device, and a working machine. The method includes: first acquiring working condition data including the handle opening of the working machine and the actual current of the travel pump; and then determining the target current of the travel pump based on the handle opening value; in the first working 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, wherein each The current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the last adjustment cycle. In this way, in the first working condition, for example, during the starting process, because of the small adjustment range in the early stage of adjustment, it can effectively avoid rushing at the start; and the large adjustment range in the later stage ensures that the operating machine can reach the required operating speed as soon as possible, which greatly improves the operating speed. The smoothness of the working machine and the driving experience of the driver.

Description

Work machine control method, control device and work machine

technical field

The present application relates to the technical field related to operating machines, and in particular to a control method, a control device and an operating machine.

Background technique

The operation of the operation machinery, especially the road roller, is generally performed in a short operation area, with repeated compaction. During the operation, the driver needs to control the road roller to complete the start, acceleration, steady speed, deceleration, line change and stop periodically. .

In the prior art, the driver generally directly controls the operation of the roller through the operating lever, but it is difficult to grasp the control force of the operating lever, and it is difficult to grasp the starting speed of the roller, especially when the roller is controlled to start, it is easy to cause the roller to start faster. Chong problem.

Contents of the invention

In view of this, the present invention aims to provide a method for controlling an operating machine, a control device, and an operating machine.

In a first aspect, the present invention provides a method for controlling a work machine, including:

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

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

In the first working condition, based on the actual current value and the target current value, the current of the travel pump is gradually adjusted through a plurality of adjustment cycles until the deviation between the current of the travel pump and the target current value is within Within a preset range, the first working condition includes that the actual current value is 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 driving pump in any one of the adjustment cycles .

Optionally, also include:

In 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 is not zero.

Optionally, the determining the target current value of the travel pump based on the handle opening includes:

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

Wherein, 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 driving pump The current value of the driving pump corresponding to the maximum displacement.

Optionally, the determining the target current value based on the handle opening, the first constant and the second constant includes:

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

Adding the product of the second constant and the handle opening to the first constant to obtain the target current value.

Optionally, the stepwise adjusting the current of the driving pump through a plurality of adjustment cycles based on the actual current value and the target current value includes:

Based on the actual current value and the target current value, according to a preset dynamic adjustment high-order curve control algorithm, the current of the driving pump is gradually adjusted in a plurality of adjustment cycles.

Optionally, the stepwise adjustment of the current of the running pump in a plurality of adjustment cycles according to the preset dynamic adjustment high-order curve control algorithm includes:

When the current adjustment value in the last adjustment cycle is less than the preset maximum current adjustment value, in the current adjustment cycle, increase the current adjustment value in the last adjustment cycle to obtain the current adjustment value in the current adjustment cycle, And the current of the running pump is adjusted based on the current adjustment value of the current adjustment cycle, and the current adjustment value of the current adjustment cycle is less than or equal to the preset maximum current adjustment value.

Optionally, in the current adjustment cycle, increase the current adjustment value in the previous adjustment cycle to obtain the current adjustment value in the current adjustment cycle, and based on the current adjustment value in the current adjustment cycle, adjust the The current of the travel pump is regulated, including:

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

On the basis of the current value of the travel pump obtained after the last regulation cycle, the current regulation value of the current regulation cycle is increased to obtain the current value of the travel pump adjusted by the current regulation cycle.

Optionally, 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 number of adjustments corresponding to the current adjustment cycle; the current adjustment cycle The adjusted current value of the travel pump is positively related to the high-order square of the number of adjustments corresponding to the current adjustment period.

In the second aspect, the present application also provides a working machine control device, including an acquisition module and a calculation control module;

The acquisition module is used to acquire the working condition data of the working machine, the working condition data includes the handle opening and the actual current value of the driving pump;

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

The calculation control module is further configured 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 current of the travel pump The deviation from 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 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 driving pump in any one of the adjustment cycles .

In a third aspect, the present application also provides an operating machine, including the aforementioned operating machine control device.

The present application provides a method for controlling an operating machine, a control device, and an operating machine. The method includes: firstly acquiring working condition data of the operating machine, the working condition data including the handle opening and the actual current value of the travel pump; then based on the handle opening, Determine the target current value of the travel pump; in 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 the preset Within the range, 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 in any adjustment cycle The change value of the current of the running pump. In this way, in the first working condition, for example, during the starting process, because of the small adjustment range in the early stage of adjustment, it can effectively avoid rushing at the start; and the large adjustment range in the later stage ensures that the operating machine can reach the required operating speed as soon as possible, which greatly improves the operating speed. The smoothness of the working machine and the driving experience of the driver.

Description of drawings

The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the embodiments of the present application to explain the present application, and do not constitute limitations to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

Fig. 1 is a schematic flowchart of a method for controlling a working machine provided by an embodiment of the present invention.

Fig. 2 is a schematic flow chart of current regulation in the working machine control method provided by the embodiment of the present invention.

Fig. 3 is a schematic flowchart of a method for controlling a working machine provided in another embodiment of the present application.

Fig. 4 is a schematic structural diagram of the working machine provided by the embodiment of the present application.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Application overview:

When the work machinery is working, especially the road roller, it is generally necessary to repeatedly move forward and backward on the road surface such as asphalt road. In this process, the driver needs to control the operation handle and other components to complete the repeated starting, acceleration, reversing, Controls such as deceleration and stopping. As the quality of pavement construction is getting higher and higher, especially for the construction quality of high-speed asphalt pavement, the performance of road rollers, especially the stability of operation, is also getting higher and higher.

In the prior art, the detection device is generally used to accurately identify the driver's handle or operating lever operation, so as to determine the driver's driving intention and control the road roller. For example, for a fully hydraulic double drum roller, by detecting the opening of the operating rod or handle, the input current of the driving pump is controlled, thereby controlling the displacement of the driving pump, and realizing the control of the start, stop and speed of the roller. This method has high requirements on the driver’s operating experience, especially when the roller is starting, the driver is not easy to grasp the operating range, and the operating range is too large, which will cause the roller to start abruptly, and even cause wrinkles on the working road surface, which will affect the compaction operation effect, and the driver's driving experience is also poor.

Fig. 1 is a schematic flow chart of the operation machine control method provided by the embodiment of the present invention. Taking a road roller as an example, as shown in Fig. 1, the operation machine control method provided by the embodiment of the present application includes:

S101. Obtain working condition data of the working machine, where the working condition data includes the opening of the handle and the actual current value of the driving pump.

Specifically, the working condition data for the road roller includes the handle opening of the road roller and the actual current value of the driving pump. It should be noted that the opening of the handle of the road roller is the opening of the operating handle (or operating lever, etc.) under the operation of the driver. In order to facilitate the follow-up process, in practical applications, the opening of the handle can be a percentage value. The degree can be the ratio of the information corresponding to the position of the handle to the information of the entire opening range, such as the ratio of the distance between the handle position and the median position of the handle, and the distance between the maximum opening degree of the handle and the median position of the handle.

The actual current of the travel pump is the current input to the travel pump, which may be controlled by the controller. The actual current value of the driving pump can be obtained through the detection of signals such as the controller or the detection of sensors on various hardware. The actual current of the travel pump directly determines the displacement of the travel pump, which directly affects the running speed of the roller.

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

Specifically, the handle opening can be the opening of a specific physical handle in the cab, that is, the driver wants to drive the handle to a certain position so that the operating machine has different operating speeds. In this embodiment of the application, by obtaining the handle Opening, and based on the handle opening to identify the driver's driving intention, by determining the target current value of the driving pump corresponding to the handle opening based on the handle opening, changing the input current of the driving pump, helping the driver to change the driving pump through the handle Current, the purpose of controlling the running speed of the roller.

It should be noted that the above-mentioned handle opening information can also be other information that can reflect the driver's driving awareness, such as touch screen instructions, and other operating instructions in intelligent driving, including voice or Gestures, etc., as long as they can be used to represent the driver's driving operation consciousness.

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

Wherein, the first working condition includes that the actual current value is greater than or equal to the first constant; the current adjustment value in each adjustment cycle is greater than or equal to the current adjustment value in the previous adjustment cycle, and the current adjustment value is at any The change value of the current of the drive pump in a regulation cycle.

Wherein, the current adjustment value includes a positive value and a negative value. Specifically, the first working condition includes the starting stage of the working machine, and the current adjustment value is a positive value. In practical applications, in order to further ensure the smoothness of starting, a certain dead-zone voltage value can be set, that is, the first constant mentioned above. At this time, the above-mentioned 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 may not be set, that is, the value of the first constant is 0, and at this time, the first working condition includes the whole process of adjusting the actual current from 0 to the target current.

After obtaining the actual current value of the driving pump of the working machine obtained through detection and the target current value of the driving pump determined by the opening of the handle, and under the first working condition mentioned above, determine the amount to be adjusted for the driving pump current , which is the difference between the target current value and the actual current value.

In the actual adjustment, for the start-up phase mentioned above, the current adjustment value is positive, and the current of the driving pump can be gradually increased through multiple adjustment cycles. It should be noted that each adjustment cycle results in an increase in the travel pump current. After the current of the running pump increases in the previous cycle, the real-time current value of the running pump has changed. When the next adjustment cycle starts, the adjustment result obtained in the previous adjustment cycle will be used as the adjustment basis for the next adjustment cycle. . That is to say, the next adjustment cycle is based on the adjustment results of the previous adjustment cycle, and further adjustments are made, so that the current of the travel pump increases until the current value of the travel pump is equal to the target current determined based on the handle opening. The value deviation is within the preset range. Wherein, the preset range can be set as 0, that is, the current value of the running pump is adjusted until the current value of the running pump is equal to the target current value.

Specifically, when the target current value is greater than the actual current value, that is, in the process of starting or accelerating the operating machine, the current adjustment value of the current adjustment cycle is positively related to the quadratic square of the adjustment times corresponding to the current adjustment cycle, and the current adjustment cycle adjustment The current value of the driving pump after that is positively related to the high-order power of the adjustment times corresponding to the current adjustment period, and the high-order power includes the third power and the fourth power. In this way, the current value of the driving pump adjusted 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 adjustment value of the driving pump adjusted in the current adjustment cycle The value increases in steps, the adjustment range is small in the early stage of adjustment, and the adjustment range is large in the later stage, which can ensure that the driving pump of the working machine reaches the target current value as soon as possible.

For example, when the working machine starts, the acquired actual current value of the travel pump is 2A, and the target current value is 12A, and the current of the travel pump needs to be increased. The current adjustment amount of the first adjustment cycle is 1, then after the first adjustment cycle adjustment, the current value of the driving 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 increase 2A on the basis of 3A, and finally The result obtained was 5A. The current adjustment value in the third adjustment cycle is 3A, then after the third adjustment cycle is increased, the current value of the driving pump is adjusted to 8A. The current adjustment value in the fourth adjustment cycle is 4A, then after the fourth adjustment cycle increases, the value of the driving pump increases to 12A.

It should be noted that the above examples are just to explain 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 value of the current regulation value can be much smaller than the difference between the actual current value and the target current value. order of magnitude, and set the upper limit to which the current is regulated. For example, the current adjustment value is at the level of 0.01A. After the current adjustment value increases to 0.1A, it will not continue to increase. After the subsequent adjustment cycle, it will only be adjusted by 0.1A until the adjusted actual current value is equal to the target current value. The difference stays within the preset range and the adjustment is stopped.

In addition, in the embodiment of the present application, the adjustment times of the adjustment cycle in the above process (how many adjustment cycles are performed in total) and the current adjustment value of each adjustment cycle can be determined according to the difference between the actual current value and the target current value change. 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-mentioned 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, the current adjustment amount of the third adjustment cycle is 5A, etc.; or each The current adjustment amount of the adjustment cycle is the same as that in the above example, and the number of adjustment cycles will increase accordingly.

Further, the first working condition may include not only the start-up stage of the working machine, but also other speed adjustment stages after start-up, including acceleration and deceleration (including braking). It can be understood that, during acceleration, the current regulation value It is a positive value. When decelerating (including braking), the current adjustment value is negative, so as to realize the increase or decrease of the driving pump current.

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

The present application provides a method for controlling an operating machine. First, the working condition data of the operating machine is obtained. The working condition data includes the opening of the handle and the actual current value of the traveling pump; then, based on the opening of the handle, the target current value of the traveling pump is determined; Under one working condition, based on the actual current value and the target current value, the current of the driving pump is gradually adjusted through multiple adjustment cycles until the deviation between the current of the driving pump and the target current value is within a preset range. The first working condition includes the actual current The 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 driving pump in any adjustment cycle, and Current adjustment values include positive and negative values. In this way, in the first working condition, for example, during the starting process, because of the small adjustment range in the early stage of adjustment, it can effectively avoid rushing at the start; and the large adjustment range in the later stage ensures that the operating machine can reach the required operating speed as soon as possible, which greatly improves the operating speed. The smoothness of the working machine and the driving experience of the driver.

In some embodiments, as mentioned above, in the operating machine control method provided by the present application, the dead zone current value, that is, the first constant, can also be set. At this time, when the actual current value of the driving pump is less than the dead zone current value, The operating machinery such as the road roller does not run, and the road roller only runs when the actual current value of the driving pump is greater than or equal to the dead zone current value. In this application, the control of the working machine also includes the control of the working machine in the second working condition when the start-up acceleration phase (handle opening is not zero) and the actual current value of the driving pump is less than the dead zone current value, that is, the second working condition. Control, including directly adjusting the actual current value of the driving pump to be equal to the dead zone current value, so as to make the roller start or prepare to run as soon as possible and reduce the waiting time.

In some embodiments, the process of determining the target current value based on the handle opening can be specifically determined based on the first constant and the second constant, wherein the first constant is the preset dead-zone current value, and the second constant is based on the first The constant and the preset maximum displacement current value are determined, and the maximum displacement current value is greater than the dead zone current value. Specifically, the second constant is the difference between the maximum displacement current value and the first constant, and the product of the second constant and the handle opening is added to the first constant to obtain the target current value, and the determined target current value Considering the handle opening, the first constant (the preset dead zone current value), and the preset maximum displacement current value, the values are more accurate and the start is more stable. Specifically, the formula 1 is as follows:

I _target =(I _MAX -I _{dead zone} )*K%+I _{dead zone} ;

Wherein, I _target is the target current value, I _MAX is the preset maximum displacement current value, that is, the current value of the running pump corresponding to the maximum displacement of the running pump, and the I _{dead zone} is the preset dead zone current value (the first constant), K% is the handle opening.

Wherein, the preset dead zone current value (the first constant) is the minimum current at which the travel pump swash plate opens. In practical applications, the preset dead-zone current value may be the maximum current value of the working machine not in a moving state, that is, when the current in the driving pump of the working machine is less than the dead-zone current value, the working machine has no speed. The specific preset dead zone current value can be based on the opening of the handle of the working machine and the speed of the working machine driving the pump (such as the minimum speed of the working machine) before the working machine or related components leave the factory or before it is used for actual work. The data is pre-matched and stored in the controller or associated memory. It can be understood that, in the above process of dynamically adjusting the adjustment range, when the set dead zone current is small, the operating machine responds slowly and takes a long time to start; while when the set dead zone current is large, the working machine starts more aggressively. , and easy to overshoot. Therefore, in the embodiment of the present application, different preset dead-zone current values can be set for different types of road rollers or different usage requirements.

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

In some embodiments of the present application, based on the actual current value and the target current value, the method of gradually adjusting the current value of the driving pump through multiple adjustment cycles can be specifically implemented by algorithms such as dynamic adjustment of high-order curve control, so that Realize the real-time follow-up of the actual current value and the target current value of the driving pump.

Specifically, first obtain the actual current value of the working machine, calculate the target current value according to the opening of the handle and the above formula 1, and determine the value that needs to be adjusted according to the target current value and the actual current value of the running pump of the working machine detected by collection. quantity. Then, by dynamically adjusting the high-order curve control algorithm, the current of the travel pump is adjusted through multiple adjustment cycles in which the current adjustment value increases. It can be understood that the basic value (adjusted quantity) 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 driving pump is adjusted in the previous adjustment cycle, it will be adjusted in the next adjustment cycle. During the adjustment period, increase the adjustment range, and continue to adjust the current value of the driving pump, so as to gradually increase the adjustment range, and avoid the sudden increase of the current value of the driving pump at the initial stage of adjustment, resulting in the phenomenon of unstable operation of the operating machinery; for the deceleration process , the initial adjustment range is relatively large, and the later adjustment range is small to ensure more stable deceleration and braking.

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

It should be noted that, because the current adjustment value is positive during the acceleration process, and the current adjustment value is negative during the deceleration process, so different maximum current adjustment values can be set for the above two adjustment processes, for example Set a positive value for the maximum current adjustment value for the acceleration process, and set a negative value for the maximum current adjustment value during the deceleration process.

In the following, a specific implementation process will be used to introduce in detail the principle of current regulation in the operation machine control method provided by the present application. The work machine still takes a road roller as an example (of course, other work machines are also possible), as shown in Figure 2:

S201. Obtain the handle opening of the road roller and the actual current value of the travel pump.

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

Specifically, based on the opening of the handle, the preset dead-zone current value, the maximum displacement current value, etc., the target current value can be directly calculated through formula 1 in the above embodiment.

S203. Determine the total amount of current regulation.

Specifically, after the actual current value of the driving pump is obtained and the target current value is calculated, the difference between the two is the total amount of current regulation.

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

Specifically, in order to limit the adjustment range during the current adjustment process, a maximum current adjustment value can be determined by setting a proportional coefficient, so that in the adjustment cycle after the current adjustment value reaches the maximum current adjustment value, only the maximum current adjustment The current of the pump is adjusted, and the value of the current adjustment value is no longer continued to increase.

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

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

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

After the current of the running pump is adjusted, it can be judged whether the adjusted current value of the running pump 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 not equal and the deviation between the two is outside the preset range, it is necessary to continue to adjust the current value of the travel pump, specifically enter step S207 .

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

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

S208. Determine the maximum current adjustment value as a new current adjustment value, and return to step S205.

S209. If the current adjustment value in the previous adjustment cycle is smaller 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.

Specifically, for example, when it is necessary to increase the current value of the driving pump, when the current adjustment value is less than the maximum current adjustment value, for example, change the current adjustment value from 1A to 3A, and then return to step S205 to start the next adjustment cycle and continue to adjust the driving The current value of the pump is adjusted.

S210, end the adjustment.

In some embodiments, for the acceleration process, the manner of changing the current adjustment value in each adjustment cycle may be determined according to the number of adjustments, that is, the number of adjustments in the current adjustment cycle. The current adjustment value including the current adjustment cycle is positively correlated or proportional to the number of adjustments corresponding to the current adjustment cycle. For example, when it is necessary to increase the current of the driving pump, first determine a basic adjustment value X ₀ for determining the current adjustment value, and in the first adjustment cycle, increase the current of the driving pump by an amount of X ₀ (the adjustment cycle, the current adjustment amount is X ₀ ); in the second adjustment cycle, the driving pump current after the first adjustment is directly increased by 2 X ₀ (in this adjustment cycle, the current adjustment amount is 2X ₀ ) ;In the third adjustment cycle, add 3 X ₀ to the driving pump current after the second adjustment (in this adjustment cycle, the current adjustment amount is 3X ₀ ), and so on until a certain adjustment cycle The current adjustment amount in the current adjustment is greater than or equal to the preset maximum current adjustment amount, such as 10A, and the current adjustment amount in the future will not continue to increase. In the subsequent adjustment cycles, in each adjustment cycle, the current value of the driving pump Just add 10A until the deviation between the current of the driving pump and the target current value is within the preset range.

In other embodiments, for the acceleration process, the current adjustment value can also be changed through a quadratic function based on the number of adjustment cycles, as follows:

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:

Among them, X represents the current adjustment value in any adjustment cycle, n represents the number of adjustments in the adjustment cycle, that is, represents the number of adjustments in the current adjustment cycle, and X ₀ is the basic adjustment value. It can be understood that the basic adjustment The value X ₀ is also the current adjustment amount in the first adjustment cycle, and t ₀ is the order of the adjustment cycle in which the first current adjustment value is greater than or equal to the maximum current adjustment value, which means that the adjustment cycle is the number of adjustments.

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 driving pump current in the subsequent current adjustment cycle, so as to avoid the subsequent current adjustment value being too large, which will affect the safety of the working machine.

It can be understood that, because the current adjustment process of the travel pump is carried out continuously, based on the change of the current adjustment value in the above embodiment, the change of the travel pump current Y with the number of adjustments can be expressed as:

Wherein, Y ₀ is the current value of the driving pump obtained before the driving current value is adjusted. Y ₁ is the driving 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 based on the adjustment result of the previous adjustment cycle, _Y1 is also the driving pump current adjusted by all previous adjustment cycles when the current adjustment value is greater than or equal to the maximum current adjustment value for the first time.

Further, in the control method mentioned in the above-mentioned embodiment for the acceleration process, after obtaining the handle opening degree, the current of the travel pump is adjusted in multiple adjustment cycles by increasing the adjustment range, so that the current During the whole process of adjustment, the initial adjustment range is small, and the later adjustment range is relatively large. It does not require the driver to precisely control the handle lever, which avoids problems such as the driver’s operation machine rushing after changing the handle opening, especially for When the working machine starts, the stability can be greatly improved.

In other embodiments of the present application, the first working condition may only include the acceleration process, and the deceleration process (including braking) may be implemented in different ways. The segment control method is to control the current drop of the travel pump, including, for example, the current travel pump current is 20A, through multiple segments, and each segment drops a fixed current value, so as to realize the control of the stop of the working machine simply and quickly.

In some other embodiments, in order to avoid shaking when the working machine stops, on the basis of the current value in the dead zone provided by the above-mentioned embodiment, it is also possible to use the above-mentioned control method for the third working condition to control the driving during the stopping process of the working machine. The pump current drops to achieve a fast and smooth stop until the current value of the driving pump drops to the preset range below the dead zone current value, such as the dead zone current value is below -30mA, so as to avoid premature stop of current regulation, and the residual current in the current Cause the working machine to vibrate.

In addition, the control method provided in this 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 adjustment range is used in the initial stage in Figure 3 (the current adjustment value of the current adjustment cycle is greater than or equal to the current of the last adjustment cycle), any one of the above-mentioned control methods is adopted in the normal driving stage after starting, and the above-mentioned two parking control methods are used in the braking stage. Any one, so as to meet different needs.

In addition, because the driver is a human, there may be inaccurate operations, and the handle opening is changed in a short period of time, or the driver dynamically changes the handle opening according to the working environment. At this time, the target current value determined based on the original handle opening and Inaccurate, so in other embodiments of the present application, it is also possible to detect the opening of the handle regularly or in real time during the current adjustment process. If the opening of the handle changes, the opening of the handle can be updated in time and a new target can be calculated. Current value, a new current adjustment process is carried out to ensure the accuracy of the operation.

The control method provided by this application, at least in the starting stage of the working machine such as a road roller, dynamically changes the current adjustment range, that is, through the continuously increasing adjustment range, so that the working machine starts smoothly and the speed adjustment is stable without overshooting. It improves the construction quality of the operating machinery and solves the pain points of operating machinery such as the difficulty of getting on the flatbed truck when the road roller is transferred. Moreover, since the above-mentioned control methods can be realized by software programs, the cost is low; and different start-stop control modes can be selected to meet various requirements. Moreover, in the process of current regulation, through the set dead zone current value, the operating machine can be started and stopped more smoothly without shaking, which greatly improves the smoothness of the operating machine and improves the driving experience of the driver.

Examples of working machines:

Based on the same inventive concept, an embodiment of the present application further provides an operating machine, including a control device, for implementing the above control method.

In some embodiments, as shown in FIG. 4 , the control device includes an acquisition module 1 and a calculation control module 2;

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

The calculation control module 2 is used to determine the target current value of the driving pump based on the handle opening; and the calculation control module 2 is also used to gradually adjust the current value through multiple adjustment cycles under the first working condition based on the actual current value and the target current value. Adjust the current of the travel pump 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 that the actual current value is greater than or equal to a first constant, wherein the current adjustment value of each adjustment cycle All are greater than or equal to the current adjustment value of the last adjustment cycle, and the current adjustment value is the change value of the current of the driving pump in any adjustment cycle.

The operating machine provided in the embodiment of the present application obtains the working condition data of the operating machine through the acquisition module 1 of the control device; then determines the target current value of the driving pump through the calculation control module 2 based on the handle opening; and through the calculation control module based on the actual Current value and target current value, gradually adjust the current of the running pump through multiple adjustment cycles until the deviation between the current of the running pump and the target current value is within the preset range; moreover, the current adjustment value in each adjustment cycle is greater than or Equal to the current regulation value of the last regulation cycle. In this way, at least when the operating machinery such as a road roller is started, the current adjustment of the driving pump is small to avoid rushing at the start; then the adjustment is large to ensure that the operating machinery reaches the required operating speed as soon as possible and the road roller operates normally, greatly improving the operating machinery. smoothness and improve the driver's driving experience.

Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other. The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. A method for controlling an operating machine, comprising: Obtaining the working condition data of the working machine, the working condition data including the opening of the handle and the actual current value of the driving pump; determining a target current value of the travel pump based on the handle opening; In the first working condition, based on the actual current value and the target current value, the current of the travel pump is gradually adjusted through a plurality of adjustment cycles until the deviation between the current of the travel pump and the target current value is within Within a preset range, the first working condition includes that the actual current value is 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 driving pump in any one of the adjustment cycles . 2. The working machine control method according to claim 1, further comprising: In 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 is not zero. 3. The operation machine control method according to claim 1, wherein the determining the target current value of the driving pump based on the opening of the handle comprises: determining the target current value based on the handle opening, the first constant and the second constant; Wherein, 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 driving pump The current value of the driving pump corresponding to the maximum displacement. 4. The operation 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: using the difference between the maximum displacement current value and the first constant as a second constant; Adding the product of the second constant and the handle opening to the first constant to obtain the target current value. 5. The working machine control method according to any one of claims 1-4, characterized in that, based on the actual current value and the target current value, the driving pump is gradually adjusted through a plurality of adjustment cycles currents, including: Based on the actual current value and the target current value, according to a preset dynamic adjustment high-order curve control algorithm, the current of the driving pump is gradually adjusted in a plurality of adjustment cycles. 6. The operation machine control method according to claim 5, wherein the stepwise adjustment of the current of the running pump in a plurality of adjustment cycles according to the preset dynamic adjustment high-order curve control algorithm comprises: When the current adjustment value in the last adjustment cycle is less than the preset maximum current adjustment value, in the current adjustment cycle, increase the current adjustment value in the last adjustment cycle to obtain the current adjustment value in the current adjustment cycle, And the current of the running pump is adjusted based on the current adjustment value of the current adjustment cycle, and the current adjustment value of the current adjustment cycle is less than or equal to the preset maximum current adjustment value. 7. The operation machine control method according to claim 6, characterized in that, in the current adjustment cycle, increasing the current adjustment value in the previous adjustment cycle to obtain the current adjustment value in the current adjustment cycle, and Regulating the current of the running pump based on the current regulation value of the current regulation period, including: Based on the number of adjustments corresponding to the current adjustment cycle, on the basis of the current adjustment value in the previous adjustment cycle, increase the current adjustment value to obtain the current adjustment value in the current adjustment cycle; On the basis of the current value of the travel pump obtained after the last regulation cycle, the current regulation value of the current regulation cycle is increased to obtain the current value of the travel pump adjusted by the current regulation cycle. 8. The operation machine control method according to claim 7, wherein when the target current value is greater than the actual current value, the current adjustment value of the current adjustment cycle corresponds to the current adjustment cycle The quadratic positive correlation of the number of adjustments; the current value of the driving pump adjusted in the current adjustment cycle is positively correlated with the higher order of the adjustment times corresponding to the current adjustment cycle. 9. A working machine control device, characterized in that it includes an acquisition module and a calculation control module; The acquisition module is used to acquire the working condition data of the working machine, the working condition data includes the handle opening and the actual current value of the traveling pump; The calculation control module is used to determine the target current value of the driving pump based on the opening of the handle; The calculation control module is further configured 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 current of the travel pump The deviation from 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 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 one of the adjustment cycles . 10. A working machine, characterized by comprising the working machine control device according to claim 9.

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