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CN118328060B - Control method and driving device of oil pump motor of vehicle, lifting system and vehicle - Google Patents

Control method and driving device of oil pump motor of vehicle, lifting system and vehicle Download PDF

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Publication number
CN118328060B
CN118328060B CN202410719365.3A CN202410719365A CN118328060B CN 118328060 B CN118328060 B CN 118328060B CN 202410719365 A CN202410719365 A CN 202410719365A CN 118328060 B CN118328060 B CN 118328060B
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Prior art keywords
oil pump
pump motor
proportional
integral
coefficient
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CN118328060A (en
Inventor
李宇虹
张平化
孟凡己
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Fj Controlling Co ltd
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Fj Controlling Co ltd
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Priority to CN202410719365.3A priority Critical patent/CN118328060B/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/08—Servomotor systems incorporating electrically operated control means
    • F15B21/087—Control strategy, e.g. with block diagram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/20—Control systems or devices for non-electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/22—Control systems or devices for electric drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
    • B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
    • B66F11/042—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations actuated by lazy-tongs mechanisms or articulated levers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/20507—Type of prime mover
    • F15B2211/20515—Electric motor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/275—Control of the prime mover, e.g. hydraulic control

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Chemical & Material Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Analytical Chemistry (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Positive-Displacement Pumps (AREA)

Abstract

The invention discloses a control method of an oil pump motor of a vehicle, a driving device, a lifting system and the vehicle. The control method of the oil pump motor of the vehicle comprises the following steps: when the operating lever of the vehicle is released, controlling the oil pump motor to reduce speed according to the initial proportional coefficient and the initial integral coefficient and the proportional integral control strategy; when the actual rotating speed of the oil pump motor is smaller than or equal to a rotating speed threshold value, controlling an initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor; the integral term in the proportional-integral control strategy is controlled to be gradually reduced to zero, and the oil pump motor is controlled to be decelerated according to the proportional-integral control strategy according to the target proportional coefficient; when the rotation speed of the oil pump motor is zero, the control of the oil pump motor is stopped. The technical scheme of the embodiment can reduce the reversing speed and the reversing time of the oil pump motor, and is beneficial to reducing the damage degree of the oil pump motor and the gear pump.

Description

Control method and driving device of oil pump motor of vehicle, lifting system and vehicle
Technical Field
The present invention relates to the field of oil pump motor control technologies, and in particular, to a method for controlling an oil pump motor of a vehicle, a driving device, a lifting system, and a vehicle.
Background
The vehicles comprise industrial vehicles, and the industrial vehicles comprise fork trucks, wall type aerial work platforms, scissor aerial work platforms and the like.
When using an industrial vehicle, it is necessary to raise and lower a fork, a mast, a boom, or the like of the industrial vehicle. The hydraulic system can be controlled by the operating rod to ascend or descend the fork, the portal frame or the large arm and the like. The hydraulic system comprises an oil pump motor, a gear pump, an oil tank and an oil cylinder. When the operating rod is pushed, the driver of the oil pump motor drives the oil pump motor to operate, and the controller controls the oil pump motor to be connected with the oil inlet or the oil outlet of the oil cylinder. For example, when lifting of a fork, a portal or a large arm and the like is required to be controlled, an oil pump motor is controlled to be connected with an oil inlet of an oil cylinder, the oil pump motor enters oil in the oil cylinder through the oil inlet of the oil cylinder, a piston of the oil cylinder moves upwards, and a piston rod jacks up the fork, the portal or the large arm and the like. When the fork, the portal or the large arm and the like are lifted to the set positions corresponding to the operating rods, the operating rods are released, and the rotation speed of the oil pump motor is reduced to zero, so that the fork, the portal or the large arm and the like stay at the set positions.
But because in the ascending process of fork, portal or big arm etc., the oil pump motor transmits the pressure oil to the hydro-cylinder for the pressure in the oil tank is less than outside pressure, when oil pump motor deceleration to zero, can produce the power of suck-back, makes the gear pump reverse, and gear pump reverse speed is great or the time is longer, causes the damage to the gear pump, influences the life of gear pump.
Disclosure of Invention
The invention provides a control method of an oil pump motor of a vehicle, a driving device, a lifting system and the vehicle, and aims to solve the problems that after the rotation speed of the oil pump motor becomes zero, the reversing speed of a gear pump is high or the time is long, the gear pump is damaged, and the service life of the gear pump is influenced.
According to an aspect of the present invention, there is provided a control method of an oil pump motor of a vehicle including a hydraulic system including the oil pump motor and a driving device; the driving device is connected with the oil pump motor; the method is performed by the driving device;
the method comprises the following steps:
When the operating lever of the vehicle is released, controlling the oil pump motor to reduce speed according to an initial proportional coefficient and an initial integral coefficient and a proportional integral control strategy; the proportional-integral control strategy comprises an integral term and a proportional term; the value of the proportional term is obtained by multiplying the difference between the rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by a proportional coefficient; the value of the integral term is obtained by the sum of the product of the value of the proportional term of the current control period and the integral coefficient and the value of the integral term of the previous control period; the initial proportional coefficient is a preset proportional coefficient value, and the initial integral coefficient is a preset integral coefficient value; one control period is a process of outputting an output value once according to an input value by a proportional-integral control strategy;
when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling the initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor;
The integral term in the proportional-integral control strategy is controlled to be gradually reduced to zero, and the oil pump motor is controlled to be decelerated according to the proportional-integral control strategy according to the target proportional coefficient;
and stopping controlling the oil pump motor when the rotation speed of the oil pump motor is zero.
Optionally, after updating the initial scaling factor to the target scaling factor, the method further comprises:
determining a compensation amount according to the initial proportion coefficient and the target proportion coefficient;
controlling the integral term in the proportional-integral control strategy to gradually decrease to zero, including:
And compensating an integral term in the proportional integral control strategy according to the compensation quantity, and controlling the compensated integral term to gradually decrease to zero.
Optionally, the determining the compensation amount according to the initial scaling factor and the target scaling factor includes:
and multiplying the first difference value of the initial proportional coefficient and the target proportional coefficient by the second difference value of the target rotating speed and the actual rotating speed of the oil pump motor to obtain the compensation quantity.
Optionally, the controlling the compensated integral term to gradually decrease to zero includes:
Determining a time step value according to a first preset duration and the execution frequency of the proportional-integral control strategy;
And determining an adjusting step value according to the absolute value of the compensated integral term and the time step value, and gradually reducing the compensated integral term to zero according to the adjusting step value.
Optionally, compensating the integral term in the proportional-integral control strategy according to the compensation amount includes:
And subtracting the compensation quantity from an integral term in the proportional-integral control strategy to obtain a compensated integral term.
Optionally, stopping the control of the oil pump motor when the rotational speed of the oil pump motor is zero, including:
And stopping controlling the oil pump motor when the maintenance time period of the rotation speed of the oil pump motor is zero is longer than or equal to a second preset time period.
Optionally, the first preset duration is less than a preset threshold.
According to another aspect of the present invention, there is provided a driving apparatus for performing the control method of the oil pump motor of the vehicle according to any one of the embodiments of the present invention, the vehicle including a hydraulic system including the oil pump motor and the driving apparatus; the driving device is connected with the oil pump motor;
the driving device includes:
The first control module is used for controlling the oil pump motor to be decelerated according to the initial proportional coefficient and the initial integral coefficient and a proportional integral control strategy when the operating lever of the vehicle is released; the proportional-integral control strategy comprises an integral term and a proportional term; the value of the proportional term is obtained by multiplying the difference between the rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by a proportional coefficient; the value of the integral term is obtained by the sum of the product of the value of the proportional term of the current control period and the integral coefficient and the value of the integral term of the previous control period; the initial proportional coefficient is a preset proportional coefficient value, and the initial integral coefficient is a preset integral coefficient value; one control period is a process of outputting an output value once according to an input value by a proportional-integral control strategy;
The coefficient adjusting module is used for controlling the initial integral coefficient to be zero when the actual rotating speed of the oil pump motor is smaller than or equal to a rotating speed threshold value, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor;
The second control module is used for controlling an integral term in the proportional-integral control strategy to gradually decrease to zero, and controlling the oil pump motor to decelerate according to the proportional-integral control strategy according to the target proportional coefficient; and stopping the control of the oil pump motor when the rotation speed of the oil pump motor is zero.
According to another aspect of the invention there is provided a lifting system comprising a drive device according to any of the embodiments of the invention and a hydraulic system;
The hydraulic system comprises an oil pump motor; the driving device is connected with the oil pump motor.
According to another aspect of the invention there is provided a vehicle comprising a lifting system according to any of the embodiments of the invention.
According to the technical scheme, after the operating rod of the vehicle is released, the actual rotation speed of the oil pump motor is obtained in real time or periodically in the process of controlling the oil pump motor to slow down, when the actual rotation speed of the oil pump motor is smaller than or equal to the rotation speed threshold value, the initial integral coefficient is controlled to be zero, so that the integral term is not accumulated any more, and the situation that the integral term becomes a value smaller than 0 when the rotation speed of the oil pump motor is reduced to zero is avoided, so that the speed of the oil pump motor for reversing is high. And the initial proportion coefficient is updated to be a larger target proportion coefficient, so that the rotating speed of the oil pump motor can be quickly reduced to zero, and even if the oil pump motor is reversely rotated due to the pressure difference between the inside and the outside of the oil tank, the rotating speed of the oil pump motor can be quickly regulated to zero again, so that the reverse speed and the reverse time of the oil pump motor are reduced, the damage degree to the oil pump motor and the gear pump is reduced, and the service lives of the oil pump motor and the gear pump are prolonged. And the integral term in the control proportional integral control strategy is gradually reduced to zero, so that the rotating speed of the oil pump motor can be quickly changed to zero without interference of the integral term when the oil pump motor rotates reversely, the reverse speed and the reverse time of the oil pump motor are further reduced, the damage degree to the oil pump motor and the gear pump is further reduced, and the service lives of the oil pump motor and the gear pump are further prolonged.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a control method of an oil pump motor of a vehicle according to an embodiment of the present invention;
fig. 2 is a flowchart of a control method of an oil pump motor of a further vehicle according to an embodiment of the present invention;
fig. 3 is a flowchart of a control method of an oil pump motor of a further vehicle according to an embodiment of the present invention;
fig. 4 is a flowchart of a control method of an oil pump motor of a further vehicle according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a driving device according to an embodiment of the present invention;
fig. 6 is a schematic circuit diagram of a lifting system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
As mentioned in the background art, since the oil pump motor transmits the pressure oil to the oil cylinder in the ascending process of the fork, the portal or the large arm, etc., the pressure in the oil tank is smaller than the external pressure, when the oil pump motor is reduced to zero, the reverse suction force is generated, so that the gear pump is reversed, and the reversing speed of the gear pump is larger or the time is longer. The inventors have found that the cause of this problem is: the motor driver adopts a speed proportional integral control strategy and a current proportional integral control strategy for controlling the oil pump motor, namely, the target rotating speed of the oil pump motor and the fed-back actual rotating speed are transmitted to the speed proportional integral control strategy, the output value of the speed proportional integral control strategy is input into the current proportional integral control strategy, the current proportional integral control strategy takes the value output by the speed proportional integral control strategy as a target current value, and the current proportional integral control strategy controls the operation of the oil pump motor according to the fed-back actual current value and the target current value, so that the rotating speed of the oil pump motor gradually reaches the target rotating speed. in the speed proportional-integral control strategy, for example, the output value is V out, the proportional term is U p, the integral term is U i, and V out=Up+Ui. For example, the current rotation speed instruction of the oil pump motor is V ref, the actual rotation speed of the current oil pump motor is V fab, the proportionality coefficient is K p, and then U p=（Vref-Vfab）×Kp. for example, the integral coefficient is K i, the integral term U i=Ui-1+Ki×Up, where U i-1 is the previous integral term. The inventors have found that, after the lever of the vehicle is released, the final target rotation speed is 0, and each rotation speed command is set according to the final target rotation speed. Because the final target rotational speed is 0, each time the rotational speed command V ref is smaller than the actual rotational speed V fab, the proportional term U p is smaller than 0, and the integral term U i is gradually reduced to be smaller than 0. when V out is smaller than 0, the oil pump motor outputs reverse force until the rotation speed of the oil pump motor reaches 0. When the rotation speed of the oil pump motor reaches 0, the proportional term U p is zero, the integral term U i is smaller than 0, so that the oil pump motor reverses (opposite to the rotation direction of the oil pump motor when the oil pump motor just begins to decelerate, namely opposite to the rotation direction of the oil pump motor when the fork, the portal or the big arm and the like ascend), and the internal and external pressure difference of the oil tank causes the reverse acceleration of the gear pump and the oil pump motor, so that the difference value between the target rotation speed 0 and the actual rotation speed (smaller than 0) of the oil pump motor is larger than 0, The proportional term becomes greater than 0 so that the absolute value of the integral term also gradually decreases until V out is zero again, and the oil pump motor stops running. Therefore, after the rotation speed of the oil pump motor is zero, the reverse rotation speeds of the oil pump motor and the gear pump motor are high, and the oil pump motor can be stopped only after a long time is required, so that the oil pump motor and the gear pump are damaged greatly, and the service lives of the oil pump motor and the gear pump are influenced.
In view of the above technical problems, the vehicle provided by the embodiment of the invention includes a hydraulic system and a driving device, the hydraulic system includes an oil pump motor; the driving device is connected with the oil pump motor; the method of the oil pump motor of the vehicle is performed by the driving device. The vehicles comprise industrial vehicles, and the industrial vehicles comprise fork trucks, wall type aerial work platforms, scissor aerial work platforms and the like. The hydraulic system comprises an oil pump motor, a gear pump, an oil tank and an oil cylinder. When the operating lever of the vehicle is pushed, the driver of the oil pump motor drives the oil pump motor to operate, and the controller or the driver of the vehicle controls the oil pump motor to be connected with the oil inlet or the oil outlet of the oil cylinder. For example, when a fork, a portal or a large arm of an industrial vehicle is required to be controlled to ascend, an oil pump motor is controlled to be connected with an oil inlet of an oil cylinder, the oil pump motor presses oil in the oil tank into the oil cylinder through the oil inlet of the oil cylinder, a piston of the oil cylinder moves upwards, and a piston rod jacks up the fork, the portal or the large arm. When the fork, the portal or the large arm and the like are lifted to the set positions corresponding to the operating rods, the operating rods are released, and the rotation speed of the oil pump motor is reduced to zero, so that the fork, the portal or the large arm and the like stay at the set positions. The driving device may be the above-described driver of the oil pump motor, or the above-described driver of the oil pump motor may include the driving device.
Fig. 1 is a flowchart of a control method of an oil pump motor of a vehicle according to an embodiment of the present invention, and referring to fig. 1, the control method of the oil pump motor of the vehicle includes:
s110, when the operating lever of the vehicle is released, the oil pump motor is controlled to be decelerated according to a proportional integral control strategy according to the initial proportional coefficient and the initial integral coefficient.
Wherein, the operating lever is used for controlling the fork, the portal or the big arm of the vehicle to ascend or descend. The release of the lever means that pushing or pulling of the lever is stopped, the lever may stay in an initial position or in a certain set position, which is related to the height of the fork, mast or boom etc. When the fork, the portal or the large arm and the like are required to ascend, the operating rod is pushed to the set position, so that the fork, the portal or the large arm and the like ascend, and when the fork, the portal or the large arm and the like ascend to the height corresponding to the set position, the operating rod is released, and the fork, the portal or the large arm and the like stay at the height corresponding to the set position. The proportional integral control strategy comprises an integral term and a proportional term, the proportional term comprises a proportional coefficient, and the value of the proportional term is obtained by multiplying the difference between a rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by the proportional coefficient; the integral term includes an integral coefficient, and the value of the integral term is obtained by multiplying the value of the proportional term of the current control period by the integral coefficient and summing the value of the integral term of the previous control period. The initial proportional coefficient is a proportional coefficient when the oil pump motor is just started to be controlled to decelerate, and the initial proportional coefficient is a preset proportional coefficient value, for example. The initial integral coefficient is an integral coefficient when the oil pump motor is just started to be controlled to decelerate, and is, for example, a preset integral coefficient value. The rotating speed instruction of the current control period is determined according to the final target rotating speed corresponding to the operating rod, the actual rotating speed of the oil pump motor of the current control period and the regulating acceleration. For example, the rotation speed command of the current control period is the difference between the final target rotation speed and the actual rotation speed of the oil pump motor of the current control period, divided by the adjustment acceleration. It is known that the regulating acceleration is less than zero when the final target rotational speed is less than the actual rotational speed of the oil pump motor. Thus, when the speed of the oil pump motor is reduced once per control period of the proportional-integral control strategy, the speed of the oil pump motor can be gradually reduced by executing the proportional-integral control strategy.
Specifically, when the operating lever of the vehicle is released, the final target rotation speed is zero, the rotation speed instruction of each time (each control period) is determined, and the rotation speed instruction of each time and the actual rotation speed of the oil pump motor are input into the proportional-integral control strategy, so that the rotation speed of the oil pump motor is gradually reduced, and the fork, the portal frame or the large arm and the like can be controlled to stay at the height corresponding to the set position conveniently. One control period is a process of outputting an output value once according to an input value (a rotation speed command and an actual rotation speed) by a proportional-integral control strategy.
S120, when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling an initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor.
The rotation speed threshold is, for example, a small rotation speed value, and may be one rotation speed value from 30rpm to 70rpm, for example, 50rpm, which is not limited in this embodiment.
Specifically, the rotational speed of the oil pump motor is controlled to be gradually reduced according to a proportional integral control strategy, and meanwhile, the actual rotational speed of the oil pump motor is obtained in real time or periodically, when the actual rotational speed of the oil pump motor is smaller than or equal to a rotational speed threshold value, namely, when the oil pump motor is about to be decelerated to 0, the initial integral coefficient is controlled to be zero, the integral term cannot be changed along with the proportional term, so that the integral term cannot be accumulated any more, and the integral term is prevented from becoming a value smaller than 0 when the rotational speed of the oil pump motor is reduced to zero, so that the speed of the oil pump motor for reversing is high. And the initial proportion coefficient is updated to be the target proportion coefficient, so that the proportion coefficient of the proportion item is larger, the rotating speed of the oil pump motor can be reduced to zero quickly, and even if the oil pump motor is reversed due to the pressure difference between the inside and the outside of the oil tank, the rotating speed of the oil pump motor can be regulated to zero quickly again, so that the reversing speed and the reversing time of the oil pump motor are reduced, the damage degree to the oil pump motor and the gear pump is reduced, and the service lives of the oil pump motor and the gear pump are prolonged.
And the initial integral coefficient is controlled to be zero when the actual rotation speed of the oil pump motor is smaller than or equal to the rotation speed threshold value, so that the absolute value of the integral term is larger when the oil pump motor just begins to decelerate, the speed of deceleration is accelerated, and the control efficiency of the oil pump motor is improved.
S130, controlling an integral term in a proportional-integral control strategy to gradually decrease to zero, and controlling an oil pump motor to reduce according to a proportional-integral control strategy according to a target proportional coefficient.
Specifically, after the proportional coefficient is updated, the oil pump motor is continuously controlled to be decelerated according to the target proportional coefficient, and the integral term is simultaneously controlled to be gradually reduced until the integral term is reduced to zero. That is, in controlling the oil pump motor to decelerate in accordance with the proportional-integral control strategy based on the target proportional coefficient, the value of the integral term is updated stepwise, and each control cycle controls the oil pump motor to decelerate in accordance with the updated value of the integral term.
For example, the target proportionality coefficient is K pth, the proportionality term is U p, the actual rotation speed of the oil pump motor is V fab, the target rotation speed is 0, then U p=-Vfab×Kpth, the integral term is 0, the output value V out=-Vfab×Kpth of the proportional-integral control strategy makes the oil pump motor reverse, the output value V out of the proportional-integral control strategy is opposite to the actual rotation speed of the oil pump motor is V fab, the reverse rotation of the oil pump motor is overcome, the target proportionality coefficient is larger, no interference of the integral term exists, the rotation speed of the oil pump motor can be quickly changed to zero, the reverse rotation speed and the reverse rotation time of the oil pump motor are reduced, the damage degree to the oil pump motor and the gear pump is reduced, and the service lives of the oil pump motor and the gear pump are prolonged.
And S140, stopping controlling the oil pump motor when the rotation speed of the oil pump motor is zero.
Specifically, when the rotation speed of the oil pump motor is zero, the driving device turns off the output, and releases the control of the oil pump motor, so that the power consumption can be reduced, and the control cost is reduced.
According to the technical scheme, after the operating rod of the vehicle is released, the actual rotation speed of the oil pump motor is obtained in real time or periodically in the process of controlling the oil pump motor to be decelerated, when the actual rotation speed of the oil pump motor is smaller than or equal to the rotation speed threshold value, the initial integral coefficient is controlled to be zero, so that the integral term is not accumulated any more, the integral term is prevented from becoming a value smaller than 0 when the rotation speed of the oil pump motor is reduced to zero, and the speed of the oil pump motor for reversing is enabled to be large. And the initial proportion coefficient is updated to be a larger target proportion coefficient, so that the rotating speed of the oil pump motor can be quickly reduced to zero, and even if the oil pump motor is reversely rotated due to the pressure difference between the inside and the outside of the oil tank, the rotating speed of the oil pump motor can be quickly regulated to zero again, so that the reverse speed and the reverse time of the oil pump motor are reduced, the damage degree to the oil pump motor and the gear pump is reduced, and the service lives of the oil pump motor and the gear pump are prolonged. And the integral term in the control proportional integral control strategy is gradually reduced to zero, so that the rotating speed of the oil pump motor can be quickly changed to zero without interference of the integral term when the oil pump motor rotates reversely, the reverse speed and the reverse time of the oil pump motor are further reduced, the damage degree to the oil pump motor and the gear pump is further reduced, and the service lives of the oil pump motor and the gear pump are further prolonged.
On the basis of the above technical solution, fig. 2 is a flowchart of a control method of an oil pump motor of a vehicle according to an embodiment of the present invention, optionally, referring to fig. 2, the control method of the oil pump motor of the vehicle includes:
And S210, when the operating lever of the vehicle is released, controlling the oil pump motor to reduce speed according to the initial proportional coefficient and the initial integral coefficient and the proportional integral control strategy.
S220, when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling an initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor.
And S230, determining the compensation amount according to the initial proportion coefficient and the target proportion coefficient.
Specifically, after the initial proportional coefficient is updated to the target proportional coefficient, the output value of the proportional-integral control strategy will change, if the difference between the target proportional coefficient and the initial proportional coefficient is larger, the output value of the proportional-integral control strategy will change greatly, that is, the output value of the proportional-integral control strategy will change stepwise, and the action change of the gear pump will be not smooth enough, which is unfavorable for the control of the gear pump. And the compensation quantity is determined according to the change quantity corresponding to the initial proportional coefficient and the target proportional coefficient, so that the output value of the proportional-integral control strategy can be conveniently adjusted, and the output value of the proportional-integral control strategy is prevented from being changed greatly.
S240, compensating an integral term in the proportional integral control strategy according to the compensation quantity, and controlling the compensated integral term to gradually decrease to zero.
Specifically, by compensating the integral term in the proportional integral control strategy according to the compensation amount, the updated part of the proportional coefficient can not change the proportional integral control strategy, so that the output value of the proportional integral control strategy is prevented from changing greatly, the running of the gear pump is controlled smoothly, and the control effect is improved.
S250, controlling the oil pump motor to reduce speed according to a proportional integral control strategy according to the target proportional coefficient.
It should be noted that, the step of controlling the compensated integral term to decrease to zero and the step S250 may be performed simultaneously, and the execution sequence of the step of controlling the compensated integral term to decrease to zero and the step S250 is not limited in this embodiment.
And S260, stopping the control of the oil pump motor when the rotation speed of the oil pump motor is zero.
On the basis of the above technical solution, fig. 3 is a flowchart of a control method of an oil pump motor of a vehicle according to an embodiment of the present invention, optionally, referring to fig. 3, the control method of the oil pump motor of the vehicle includes:
And S310, when the operating lever of the vehicle is released, controlling the oil pump motor to reduce speed according to the initial proportional coefficient and the initial integral coefficient and the proportional integral control strategy.
S320, when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling an initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor.
S330, multiplying the first difference value of the initial proportional coefficient and the target proportional coefficient by the second difference value of the target rotating speed and the actual rotating speed of the oil pump motor to obtain the compensation quantity.
Specifically, the target scaling factor is subtracted from the initial scaling factor to obtain a first difference value. And subtracting the actual rotation speed of the oil pump motor from the target rotation speed to obtain a second difference value. The actual rotation speed of the oil pump motor is the corresponding actual rotation speed when the proportionality coefficient is updated, namely the corresponding actual rotation speed when the actual rotation speed of the oil pump motor is just judged to be smaller than or equal to the rotation speed threshold value. And multiplying the first difference value and the second difference value to obtain a compensation quantity, wherein the compensation quantity is the change quantity of the proportional term caused by the change of the proportional coefficient, namely the change quantity of the output value of the proportional integral control strategy caused by the change of the proportional coefficient. Therefore, the integral term in the proportional integral control strategy is compensated according to the compensation quantity, so that the updated part of the proportional coefficient can not change the proportional integral control strategy, the output value of the proportional integral control strategy is prevented from changing greatly, the running of the gear pump is controlled smoothly, and the control effect is improved.
And S340, compensating the integral term in the proportional integral control strategy according to the compensation quantity, and determining a time step value according to the first preset duration and the execution frequency of the proportional integral control strategy.
Specifically, the time step value may be obtained by dividing the first preset duration by the execution frequency of the proportional-integral control strategy, i.e., dividing the first preset duration by the execution frequency of the proportional-integral control strategy. The time step value is the adjustment times of gradually reducing the integral term to zero, and the adjustment step value is conveniently determined according to the adjustment times, so that the integral term is gradually reduced until the integral term is zero.
S350, determining an adjusting step value according to the absolute value of the compensated integral term and the time step value, and gradually reducing the compensated integral term to zero according to the adjusting step value.
Specifically, after determining the time step value, dividing the absolute value of the compensated integral term by the time step value to obtain an adjustment step value, and gradually reducing the compensated integral term according to the adjustment step value until the integral term in the proportional-integral control strategy is zero. For example, the compensated integral term is U j, the execution frequency of the proportional-integral control strategy is T mpa, the first preset duration is T dec, and the step value U dec=｜Uj｜÷（Tdec÷Tmpa is adjusted).
S360, controlling the oil pump motor to reduce speed according to a proportional integral control strategy according to the target proportional coefficient.
And S370, stopping the control of the oil pump motor when the rotation speed of the oil pump motor is zero.
On the basis of the above technical solution, optionally, compensating the integral term in the proportional integral control strategy according to the compensation amount includes:
and subtracting the compensation quantity from an integral term in the proportional-integral control strategy to obtain a compensated integral term.
Specifically, the compensation amount is subtracted from the integral term in the proportional-integral control strategy, so that the influence of a part of the proportional-coefficient update on the output value of the proportional-integral control strategy can be eliminated, and the output value of the proportional-integral control strategy is prevented from being subjected to step change. The subtraction of the compensation amount from the integral term in the proportional-integral control strategy is to subtract the compensation amount from the integral term corresponding to the updated initial proportional coefficient which is the target proportional coefficient, that is, to subtract the compensation amount from the integral term corresponding to the control initial integral coefficient which is zero.
On the basis of the above technical solution, fig. 4 is a flowchart of a control method of an oil pump motor of a vehicle according to an embodiment of the present invention, optionally, referring to fig. 4, the control method of the oil pump motor of the vehicle includes:
S410, when the operating lever of the vehicle is released, the oil pump motor is controlled to be decelerated according to a proportional integral control strategy according to the initial proportional coefficient and the initial integral coefficient.
S420, when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling an initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor.
S430, multiplying the first difference value of the initial proportional coefficient and the target proportional coefficient by the second difference value of the target rotating speed and the actual rotating speed of the oil pump motor to obtain the compensation quantity.
S440, compensating the integral term in the proportional integral control strategy according to the compensation quantity, and determining a time step value according to the first preset duration and the execution frequency of the proportional integral control strategy.
S450, determining an adjusting step value according to the absolute value of the compensated integral term and the time step value, and gradually reducing the compensated integral term to zero according to the adjusting step value.
S460, controlling the oil pump motor to reduce speed according to the target proportional coefficient and the proportional integral control strategy.
And S470, stopping controlling the oil pump motor when the maintenance time length of the rotation speed of the oil pump motor is zero is greater than or equal to the second preset time length.
Specifically, the second preset duration is, for example, one value of 1s-3s, for example, 2s, or may be another value, which is not limited in this embodiment. When the maintenance time length of the rotation speed of the oil pump motor is zero is greater than or equal to the second preset time length, the indication that the rotation speed of the oil pump motor is maintained to be zero can not reverse, and at the moment, the control of the oil pump motor is stopped, so that the stable stop of the oil pump motor can be ensured, and erroneous judgment is avoided.
On the basis of the above technical solutions, optionally, the first preset duration is smaller than a preset threshold.
Specifically, the preset threshold is, for example, one value of 300ms-2s, for example, 600ms, and the first preset duration may take 500ms or other values, which is not limited in this embodiment. By setting the first preset time length to be smaller than the preset time length, the integral term of the proportional-integral control strategy can be guaranteed to be changed to zero quickly, so that when the rotating speed of the oil pump motor is zero, the integral term is guaranteed to be zero, and the situation that the reversing speeds of the oil pump motor and the gear pump are large due to the existence of the integral term is avoided.
The embodiment of the invention also provides a driving device, which can execute the control method of the oil pump motor of the vehicle provided by any embodiment. Fig. 5 is a schematic structural view of a driving device according to an embodiment of the present invention, and referring to fig. 5, a vehicle includes a hydraulic system including an oil pump motor and the driving device; the driving device is connected with the oil pump motor.
The driving device includes: a first control module 101, a coefficient adjustment module 102, and a second control module 103; the first control module 101 is configured to control the oil pump motor to decelerate according to a proportional-integral control strategy according to an initial proportional coefficient and an initial integral coefficient when an operation lever of the vehicle is released; the proportional integral control strategy comprises an integral term and a proportional term; the value of the proportional term is obtained by multiplying the difference between the rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by a proportional coefficient; the value of the integral term is obtained by the sum of the product of the value of the proportional term of the current control period and the integral coefficient and the value of the integral term of the previous control period; the initial proportional coefficient is a preset proportional coefficient value, and the initial integral coefficient is a preset integral coefficient value; one control period is a process of outputting an output value once according to an input value by a proportional-integral control strategy;
the coefficient adjusting module 102 is configured to control the initial integral coefficient to be zero and update the initial proportional coefficient to be a target proportional coefficient when the actual rotation speed of the oil pump motor is less than or equal to the rotation speed threshold; wherein the target scaling factor is greater than the initial scaling factor;
The second control module 103 is configured to control an integral term in the proportional-integral control strategy to gradually decrease to zero, and control the oil pump motor to slow down according to the proportional-integral control strategy according to the target proportional coefficient; and stopping the control of the oil pump motor when the rotation speed of the oil pump motor is zero.
The drive device may be a drive of the oil pump motor or the drive of the oil pump motor may comprise the drive device. When the actual rotation speed of the oil pump motor is less than or equal to the rotation speed threshold value, the coefficient adjusting module 102 controls the initial integral coefficient to be zero so that the integral term is not accumulated any more, and the integral term is prevented from becoming a value less than 0 when the rotation speed of the oil pump motor is reduced to zero so that the speed of the oil pump motor in reverse rotation is high. And, the coefficient adjustment module 102 updates the initial proportionality coefficient to a larger target proportionality coefficient, so that the rotating speed of the oil pump motor can be reduced to zero quickly, and even if the oil pump motor is reversed due to the pressure difference between the inside and the outside of the oil tank, the rotating speed of the oil pump motor can be quickly adjusted to zero again, thereby reducing the reversing speed and the reversing time of the oil pump motor, being beneficial to reducing the damage degree to the oil pump motor and the gear pump, and further prolonging the service lives of the oil pump motor and the gear pump. And, the integral term in the proportional integral control strategy is controlled by the second control module 103 to gradually decrease to zero, when the oil pump motor reverses, no interference of the integral term exists, so that the rotation speed of the oil pump motor quickly becomes zero, the reversing speed and the reversing time of the oil pump motor are further reduced, the damage degree to the oil pump motor and the gear pump is further reduced, and the service lives of the oil pump motor and the gear pump are further prolonged.
The embodiment of the present invention further provides a lifting system, fig. 6 is a schematic circuit structure of a lifting system provided by the embodiment of the present invention, and referring to fig. 6, the lifting system includes a driving device 100 and a hydraulic system 200 provided by any of the embodiments described above, and the hydraulic system 200 includes an oil pump motor 201; the driving device 100 is connected to an oil pump motor 201.
The lifting system can control the fork, the portal frame or the large arm of the vehicle to ascend or descend according to the movement of the operating rod.
The hydraulic system may also include, for example, a gear pump, a tank, and a cylinder. When the operation lever of the vehicle is pushed, the driving device 100 drives the oil pump motor 201 to operate, and the controller controls the oil pump motor 201 to be connected with the oil inlet or the oil outlet of the oil cylinder. For example, when a fork, a portal frame or a large arm of an industrial vehicle needs to be controlled to ascend, the oil pump motor 201 is controlled to be connected with an oil inlet of an oil cylinder, oil in the oil tank enters the oil cylinder through the oil inlet of the oil cylinder by the oil pump motor 201, a piston of the oil cylinder moves upwards, and a piston rod jacks up the fork, the portal frame or the large arm. When the fork, the mast, the boom, or the like is raised to the set position corresponding to the operation lever, the operation lever is released, and the driving device 100 controls the rotation speed of the oil pump motor 201 to be reduced to zero, so that the fork, the mast, the boom, or the like stays at the set position.
The driving device 100 obtains the actual rotation speed of the oil pump motor 201 in real time or periodically during the process of controlling the oil pump motor 201 to slow down, and controls the initial integral coefficient to be zero when the actual rotation speed of the oil pump motor 201 is less than or equal to the rotation speed threshold value, so that the integral term is not accumulated any more, and the integral term is prevented from becoming a value less than 0 when the rotation speed of the oil pump motor 201 is reduced to zero, so that the reverse rotation speed of the oil pump motor 201 is high. And, through updating initial proportionality coefficient to great target proportionality coefficient for the rotational speed of oil pump motor 201 can reduce to zero sooner, and even when oil pump motor reversal is led to because the oil tank internal-external pressure differential, can again quick adjustment oil pump motor 201's rotational speed be zero, thereby reduce oil pump motor 201's reversal speed and reversal time, be favorable to reducing the damage degree to oil pump motor 201 and gear pump, and then extension oil pump motor 201 and gear pump's life-span. And, the integral term in the control proportional integral control strategy is gradually reduced to zero, when the oil pump motor 201 rotates reversely, no interference of the integral term exists, so that the rotating speed of the oil pump motor 201 can be quickly changed to zero, the reverse speed and the reverse time of the oil pump motor 201 are further reduced, the damage degree to the oil pump motor 201 and the gear pump is further reduced, and the service lives of the oil pump motor 201 and the gear pump are further prolonged.
The embodiment of the invention also provides a vehicle, which comprises the lifting system provided by any embodiment. The vehicle may be an industrial vehicle and the vehicle may be an electric vehicle, for example. Since the vehicle includes the lifting system provided by any of the above embodiments, the same advantageous effects as those provided by any of the above embodiments are provided, and will not be described here again.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A control method of an oil pump motor of a vehicle, characterized in that the vehicle comprises a hydraulic system and a driving device, the hydraulic system comprises the oil pump motor; the driving device is connected with the oil pump motor; the method is performed by the driving device;
the method comprises the following steps:
When the operating lever of the vehicle is released, controlling the oil pump motor to reduce speed according to an initial proportional coefficient and an initial integral coefficient and a proportional integral control strategy; the proportional-integral control strategy comprises an integral term and a proportional term; the proportional term includes a proportional coefficient, and the integral term includes an integral coefficient; the value of the proportional term is obtained by multiplying the difference between the rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by a proportional coefficient; the value of the integral term is obtained by the sum of the product of the value of the proportional term of the current control period and the integral coefficient and the value of the integral term of the previous control period; the initial proportional coefficient is a preset proportional coefficient value, and the initial integral coefficient is a preset integral coefficient value; the initial proportional coefficient is a proportional coefficient when the oil pump motor is controlled to be decelerated just before starting; the initial integral coefficient is an integral coefficient when the oil pump motor is just started to be controlled to decelerate; one control period is a process of outputting an output value once according to an input value by a proportional-integral control strategy;
when the actual rotation speed of the oil pump motor is smaller than or equal to a rotation speed threshold value, controlling the initial integral coefficient to be zero, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor;
The integral term in the proportional-integral control strategy is controlled to be gradually reduced to zero, and the oil pump motor is controlled to be decelerated according to the proportional-integral control strategy according to the target proportional coefficient;
and stopping controlling the oil pump motor when the rotation speed of the oil pump motor is zero.
2. The method of claim 1, further comprising, after updating the initial scaling factor to a target scaling factor:
determining a compensation amount according to the initial proportion coefficient and the target proportion coefficient;
controlling the integral term in the proportional-integral control strategy to gradually decrease to zero, including:
And compensating an integral term in the proportional integral control strategy according to the compensation quantity, and controlling the compensated integral term to gradually decrease to zero.
3. The method of claim 2, wherein said determining the compensation amount based on the initial scaling factor and the target scaling factor comprises:
and multiplying the first difference value of the initial proportional coefficient and the target proportional coefficient by the second difference value of the target rotating speed and the actual rotating speed of the oil pump motor to obtain the compensation quantity.
4. The method of claim 2, wherein the controlling the compensated integral term to decrease gradually to zero comprises:
Determining a time step value according to a first preset duration and the execution frequency of the proportional-integral control strategy;
And determining an adjusting step value according to the absolute value of the compensated integral term and the time step value, and gradually reducing the compensated integral term to zero according to the adjusting step value.
5. The method of claim 2, wherein compensating the integral term in the proportional-integral control strategy according to the compensation amount comprises:
And subtracting the compensation quantity from an integral term in the proportional-integral control strategy to obtain a compensated integral term.
6. The method of claim 1, wherein stopping control of the oil pump motor when the rotational speed of the oil pump motor is zero comprises:
And stopping controlling the oil pump motor when the maintenance time period of the rotation speed of the oil pump motor is zero is longer than or equal to a second preset time period.
7. The method of claim 4, wherein the first predetermined time period is less than a predetermined threshold.
8. A driving device for performing the control method of the oil pump motor of the vehicle according to any one of claims 1 to 7, the vehicle including a hydraulic system including the oil pump motor and a driving device; the driving device is connected with the oil pump motor;
the driving device includes:
The first control module is used for controlling the oil pump motor to be decelerated according to the initial proportional coefficient and the initial integral coefficient and a proportional integral control strategy when the operating lever of the vehicle is released; the proportional-integral control strategy comprises an integral term and a proportional term; the proportional term includes a proportional coefficient, and the integral term includes an integral coefficient; the value of the proportional term is obtained by multiplying the difference between the rotating speed instruction of the current control period and the actual rotating speed of the oil pump motor by a proportional coefficient; the value of the integral term is obtained by the sum of the product of the value of the proportional term of the current control period and the integral coefficient and the value of the integral term of the previous control period; the initial proportional coefficient is a preset proportional coefficient value, and the initial integral coefficient is a preset integral coefficient value; the initial proportional coefficient is a proportional coefficient when the oil pump motor is controlled to be decelerated just before starting; the initial integral coefficient is an integral coefficient when the oil pump motor is just started to be controlled to decelerate; one control period is a process of outputting an output value once according to an input value by a proportional-integral control strategy;
The coefficient adjusting module is used for controlling the initial integral coefficient to be zero when the actual rotating speed of the oil pump motor is smaller than or equal to a rotating speed threshold value, and updating the initial proportional coefficient to be a target proportional coefficient; wherein the target scaling factor is greater than the initial scaling factor;
The second control module is used for controlling an integral term in the proportional-integral control strategy to gradually decrease to zero, and controlling the oil pump motor to decelerate according to the proportional-integral control strategy according to the target proportional coefficient; and stopping the control of the oil pump motor when the rotation speed of the oil pump motor is zero.
9. A lifting system comprising the drive device of claim 8 and a hydraulic system;
The hydraulic system comprises an oil pump motor; the driving device is connected with the oil pump motor.
10. A vehicle comprising the lift system of claim 9.
CN202410719365.3A 2024-06-05 2024-06-05 Control method and driving device of oil pump motor of vehicle, lifting system and vehicle Active CN118328060B (en)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011196500A (en) * 2010-03-23 2011-10-06 Hitachi Automotive Systems Ltd Control device of electric oil pump
CN115199521A (en) * 2022-06-20 2022-10-18 东风汽车集团股份有限公司 Control method and device of oil pump motor, automobile and storage medium

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011196500A (en) * 2010-03-23 2011-10-06 Hitachi Automotive Systems Ltd Control device of electric oil pump
CN115199521A (en) * 2022-06-20 2022-10-18 东风汽车集团股份有限公司 Control method and device of oil pump motor, automobile and storage medium

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