CN115076361B - Retarder electromagnetic valve control method, retarder electromagnetic valve control device, retarder electromagnetic valve control equipment and retarder electromagnetic valve control medium - Google Patents
Retarder electromagnetic valve control method, retarder electromagnetic valve control device, retarder electromagnetic valve control equipment and retarder electromagnetic valve control medium Download PDFInfo
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- CN115076361B CN115076361B CN202210730568.3A CN202210730568A CN115076361B CN 115076361 B CN115076361 B CN 115076361B CN 202210730568 A CN202210730568 A CN 202210730568A CN 115076361 B CN115076361 B CN 115076361B
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H61/02—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used
- F16H61/0202—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric
- F16H61/0204—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by the signals used the signals being electric for gearshift control, e.g. control functions for performing shifting or generation of shift signal
- F16H61/0206—Layout of electro-hydraulic control circuits, e.g. arrangement of valves
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
- F16K37/00—Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H61/00—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing
- F16H2061/0075—Control functions within control units of change-speed- or reversing-gearings for conveying rotary motion ; Control of exclusively fluid gearing, friction gearing, gearings with endless flexible members or other particular types of gearing characterised by a particular control method
- F16H2061/0087—Adaptive control, e.g. the control parameters adapted by learning
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Transmission Of Braking Force In Braking Systems (AREA)
Abstract
The embodiment of the invention discloses a retarder electromagnetic valve control method, a retarder electromagnetic valve control device, retarder electromagnetic valve control equipment and a retarder electromagnetic valve control medium, wherein the retarder electromagnetic valve control method comprises the following steps: acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking a target vehicle; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can quickly inquire the feedforward control current required by realizing the target air pressure value and matched with the current state of the retarder based on the feedforward electromagnetic valve control current configuration table which is updated dynamically, and improves the control speed of the electromagnetic valve.
Description
Technical Field
The embodiment of the invention relates to the technical field of vehicle control, in particular to a retarder electromagnetic valve control method, device, equipment and medium.
Background
The working principle of the retarder is that the air pressure in the retarder is controlled by controlling the opening of an electromagnetic valve in the retarder, and the air pressure drives oil to enter a working cavity, so that torque is generated, and the speed reduction effect on a vehicle is realized. Therefore, the control speed and the control precision of the electromagnetic valve determine the torque response speed and the torque response precision of the hydrodynamic retarder. However, due to the influence of working time and device manufacturing, when the electromagnetic valve reaches a certain opening, the air pressure actually generated in the retarder is different from the target air pressure. In order to accelerate the control accuracy of the electromagnetic valve, the prior art generally adopts a control mode of combining feedforward and closed loop, and because of overshoot of closed loop control, a certain time is needed to be taken for the control deviation to reach a small range, and the control speed of the electromagnetic valve is slower.
Disclosure of Invention
The embodiment of the invention provides a retarder electromagnetic valve control method, device, equipment and medium, which can improve the control speed of an electromagnetic valve.
In a first aspect, an embodiment of the present invention provides a retarder electromagnetic valve control method, where the method includes:
acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking a target vehicle;
Inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
In a second aspect, an embodiment of the present invention provides a retarder electromagnetic valve control device, including:
the air pressure value acquisition module is used for acquiring a target air pressure value and an actual air pressure value of the retarder operation in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and the target control signal determining module is used for determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
In a third aspect, an embodiment of the present invention provides a computer apparatus, including:
One or more processors;
A memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the retarder solenoid valve control method as described in any of the embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer readable storage medium, on which a computer program is stored, which when executed by a processor implements the retarder solenoid valve control method according to any of the embodiments.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder operation in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can quickly inquire the feedforward control current required by realizing the target air pressure value and matched with the current state of the retarder based on the feedforward electromagnetic valve control current configuration table which is updated dynamically, and improves the control speed of the electromagnetic valve.
Drawings
Fig. 1 is a flowchart of a retarder electromagnetic valve control method according to an embodiment of the present invention;
fig. 2 is a control flow chart of a retarder solenoid valve according to a first embodiment of the present invention;
FIG. 3 is a flow chart of a method for dynamically updating a control current configuration table of a feed-forward solenoid according to a second embodiment of the present invention;
FIG. 4 is a flow chart of a method for dynamically updating a control current configuration table of a feed-forward solenoid according to a third embodiment of the present invention;
FIG. 5 is a flow chart for dynamically updating a control current configuration table of a feed-forward solenoid valve according to a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of a retarder electromagnetic valve control device according to a fourth embodiment of the present invention;
fig. 7 is a schematic structural diagram of a computer device according to a fifth embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
Fig. 1 is a flowchart of a retarder electromagnetic valve control method according to an embodiment of the present invention, where the embodiment of the present invention is applicable to a vehicle control scenario, the method may be performed by a retarder electromagnetic valve control device, and the device may be implemented by software and/or hardware.
As shown in fig. 1, the retarder solenoid valve control method includes the steps of:
s110, acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking the target vehicle.
Wherein the target vehicle represents a vehicle equipped with a retarder, by which vehicle braking can be achieved. The target air pressure value of the retarder operation indicates the internal air pressure value required by the retarder to achieve the target braking effect, and the target air pressure value can be obtained by inquiring a relation table of the torque and the air pressure according to the torque required by achieving the target braking effect. The actual air pressure value represents the internal air pressure value in the actual running process of the retarder, and the actual air pressure value can be obtained through an air pressure sensor connected with the retarder. Because the actual air pressure value and the target air pressure value have errors, the actual air pressure value generated in the retarder is not equal to the target air pressure value, and the target vehicle cannot achieve the target braking effect, corresponding control is needed, and the actual air pressure value generated in the retarder reaches the target air pressure value.
S120, inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value.
The feedforward control current represents the current determined through feedforward control, the control speed of the electromagnetic valve can be improved through feedforward control, the feedforward electromagnetic valve control current configuration table can reflect the corresponding relation between the target air pressure value and the feedforward control current, and the feedforward control current corresponding to the target air pressure value can be inquired through inputting the target air pressure value. In order to ensure the accuracy of the corresponding relation between the target air pressure value and the feedforward control current, the feedforward electromagnetic valve control current configuration table is dynamically updated, and the mapping relation between the target air pressure value and the feedforward control current is corrected in a staged manner. For example, learning and correction of the map of the target air pressure value and the feedforward control current may be performed by means of a stepwise current test or machine learning. The closed-loop control current represents the current determined by closed-loop control, the closed-loop control can improve the control precision of the electromagnetic valve, a PID (Proportion Integration Differentiation, proportional integral derivative) control method can be selected, and the closed-loop control current is calculated according to the actual air pressure value and the target air pressure value.
S130, determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
The target electromagnetic valve control current represents a current value actually required for reaching a target air pressure value in the retarder, and the target electromagnetic valve control current is equal to the sum of the feedforward control current and the closed-loop control current. Therefore, the current sum value of the feedforward control current and the closed-loop control current can be calculated, the current sum value is used as a target electromagnetic valve control current, and the electromagnetic valve control of the retarder is realized according to the target electromagnetic valve control current.
Specifically, fig. 2 is a flowchart of a retarder solenoid valve control according to an embodiment of the present invention, where a "feedforward chart" represents a feedforward solenoid valve control current configuration table; the self-learning algorithm is used for sequentially setting the test air pressure controlled by the electromagnetic valve in a preset test air pressure range according to a preset step length, respectively collecting the monitoring current values of the retarder under the control of each test air pressure, carrying out data processing on the monitoring current values, and updating a feedforward electromagnetic valve control current configuration table according to the processing result; "feedforward set current" means feedforward control current; "control current" means a target solenoid control current; the PID is used for determining closed-loop control current according to the actual air pressure value and the target air pressure; "PID control current" means a closed loop control current; the air pressure sensor is used for detecting the actual air pressure value inside the retarder.
As shown in fig. 2, the retarder solenoid valve control flow is: after the target air pressure is input, a feedforward set current is calculated by inquiring a feedforward chart, on the other hand, a PID control current is calculated by a PID algorithm according to the difference value between the target air pressure and the actual air pressure, then the feedforward set current and the PID control current are added, a target control current is calculated, and the electromagnetic valve control of the retarder is realized according to the target control current.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder operation in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on a target air pressure value, determining feedforward control current, and determining closed-loop control current based on an actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can quickly inquire the feedforward control current required by realizing the target air pressure value and matched with the current state of the retarder based on the feedforward electromagnetic valve control current configuration table which is updated dynamically, and improves the control speed of the electromagnetic valve.
Example two
Fig. 3 is a flowchart of a dynamic updating method of a feedforward electromagnetic valve control current configuration table, which is provided in a second embodiment of the present invention, and the embodiment of the present invention may be applied to a vehicle control scenario, where the method may be performed by a retarder electromagnetic valve control device, and the device may be implemented by software and/or hardware.
As shown in fig. 3, the method for dynamically updating the feedforward solenoid control current configuration table comprises the following steps:
s210, starting the electromagnetic valve control current self-learning process of the retarder according to a preset updating time period.
The preset update time period represents a preset period time for updating the feedforward electromagnetic valve control current configuration table once, and for example, the feedforward electromagnetic valve control current configuration table may be updated once at intervals of five hundred hours. The difference between the working time of the retarder and the manufacturing of the mechanical body causes the difference of the air pressure built in the retarder when the electromagnetic valve of the retarder is opened at the same opening degree. Therefore, the operating characteristics of each retarder itself are periodically learned for each different retarder, respectively, in order to update its control parameters.
S220, based on a preset step length, sequentially setting the test air pressure controlled by the electromagnetic valve in a preset test air pressure range, and respectively collecting the monitoring current values of the retarder under the control of each test air pressure.
The preset step length represents a setting interval of a test air pressure value controlled by the electromagnetic valve, for example, the preset step length can be set to 20 kilopascals, and then air pressure values in a range of test air pressure value intervals of 20 kilopascals, 40 kilopascals, 60 kilopascals, 80 kilopascals and the like are sequentially used as the test air pressure. The test air pressure represents the air pressure in the retarder which is tested in the self-learning process, and in order to ensure the integrity of the test result, the air pressure range which can be reached in the retarder can be used as the test air pressure range.
In the actual detection process, because the real-time air pressure value is in continuous change, the real-time air pressure is difficult to be equal to the test air pressure, a reasonable error threshold value can be set, and when the difference value between the real-time air pressure value and the test air pressure is smaller than the reasonable error threshold value and the preset time can be maintained, the current value in the time is recorded.
S230, data processing is carried out on the monitored current value, and the feedforward electromagnetic valve control current configuration table is updated according to a processing result.
The method comprises the steps of removing abnormal constant values, of which the variance is larger than a reasonable variance threshold, of all monitoring current average values, corresponding to each testing air pressure, according to the monitoring current value corresponding to each testing air pressure, calculating average monitoring current values of all monitoring current values after the abnormal values are removed, taking the average monitoring current values in the period of time as the monitoring current values under the control of the testing air pressure, so that the mapping relation between a target air pressure value and a feedforward control current value is obtained, recording the mapping relation between the target air pressure value and the feedforward control current value in a table form, and taking the table as an updated feedforward electromagnetic valve control current configuration table.
According to the technical scheme provided by the embodiment of the invention, the electromagnetic valve control current self-learning process of the retarder is started according to the preset updating time period; based on a preset step length, sequentially setting the test air pressure controlled by the electromagnetic valve in a preset test air pressure range, and respectively collecting the monitoring current value of the retarder under the control of each test air pressure; and carrying out data processing on the monitored current value, and updating a feedforward electromagnetic valve control current configuration table according to the processing result. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, updates the feedforward electromagnetic valve control current configuration table, and improves the control speed of the electromagnetic valve.
Example III
Fig. 4 is a flowchart of a method for dynamically updating a feedforward electromagnetic valve control current configuration table according to a third embodiment of the present invention, where the method may be implemented by a retarder electromagnetic valve control device, and the device may be implemented by software and/or hardware.
As shown in fig. 4, the method for dynamically updating the feedforward solenoid control current configuration table includes the steps of:
And S310, judging whether the target vehicle corresponding to the retarder is in a static state or not, and judging whether the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value or not.
When the target vehicle corresponding to the retarder is in a static state, the influence of other factors on the dynamic update of the feedforward electromagnetic valve control current configuration table can be reduced, so that the target vehicle is required to be in a static state when the feedforward electromagnetic valve control current configuration table is dynamically updated. The preset air pressure threshold value represents a reasonable air pressure threshold value with normal air pressure of the air reservoir of the retarder, and when the air pressure of the air reservoir of the retarder is larger than the preset air pressure threshold value, the air pressure of the air reservoir of the retarder is in a normal working range.
And S320, when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value, starting an electromagnetic valve control current self-learning process of the retarder.
The method comprises the steps that when the air pressure of the air storage cylinder of the retarder is larger than a preset air pressure threshold value, namely the air pressure of the air storage cylinder of the retarder is in a normal working range, and when a target vehicle corresponding to the retarder is in a static state and the air pressure of the air storage cylinder of the retarder is in the normal working range, an electromagnetic valve of the retarder is started to control a current self-learning process.
S330, setting the range of the test air pressure to be 20-320 kilopascals, and taking 20 kilopascals as the preset step length to sequentially take values to determine the test value of the test air pressure.
In the third embodiment of the present invention, the maximum internal air pressure that can be achieved by the retarder is 320 kpa, and in a specific example, an air pressure value of 0 kpa indicates that the retarder is in a closed state, and the preset step length is 20 kpa, and 20 kpa can be selected as the minimum value of the test air pressure, and the test air pressure range is set to 20-320 kpa.
And S340, monitoring a real-time air pressure value of the retarder, and collecting a monitoring current value in a preset state duration when the real-time air pressure value is in a state that an air pressure difference value between the real-time air pressure value and the test air pressure is smaller than a preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration.
The preset air pressure difference value threshold value indicates that the default real-time air pressure value is equal to the threshold value of the test air pressure under the condition of reasonable error, and the monitoring current value is acquired when the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than the preset air pressure difference value threshold value. The preset state duration represents a preset period of time capable of checking whether the real-time air pressure value has an accidental situation, and when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than the preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration, the accidental situation of the real-time air pressure value can be eliminated, and the monitored voltage value in the duration is taken as a final sampling value.
S350, calculating an average monitoring current value of the monitoring current values according to the monitoring current values corresponding to each testing air pressure, and taking the average monitoring current value as a testing target current value corresponding to the testing air pressure value.
In order to ensure the accuracy of the detected current values, it is necessary to delete the abnormal constant in the monitored current values and calculate the average monitored current value of each monitored current value after deleting the abnormal value. For example, the variance of each current value of the monitored current values and the average value of all the monitored current values may be calculated, when the difference value is greater than a preset variance threshold value, the monitored current value corresponding to the difference value is taken as an abnormal value, deletion is performed, and the average monitored current value of each monitored current value after the abnormal value is removed is calculated, and the average monitored current value is taken as a test target current value corresponding to the test air pressure value.
S360, updating the feedforward electromagnetic valve control current configuration table based on the mapping relation between the test air pressure value and the corresponding test target current value.
The mapping relation between the target air pressure value and the feedforward control current is recorded in a table form, and the table is used as an updated feedforward electromagnetic valve control current configuration table.
Optionally, interpolation calculation can be performed according to the mapping relation between the test air pressure value and the corresponding test target current value to obtain a test target current value corresponding to the non-test air pressure value; then, based on each of the test air pressure and the non-test air pressure, the feedforward electromagnetic valve control current configuration table is updated with the corresponding test target current value and interpolation target current value.
The non-test air pressure represents air pressure without specific test, interpolation estimation can be performed according to the mapping relation between the test target air pressure value and the corresponding test current, so as to obtain an interpolation target current value corresponding to the non-test air pressure, and each test current and each non-test current are obtained. Based on each test air pressure and non-test air pressure, corresponding test target current values and interpolation target current values, a mapping relation between the target air pressure values and feedforward control currents is obtained, the mapping relation between the target air pressure values and the feedforward control currents is recorded in a table form, and the table is used as an updated feedforward electromagnetic valve control current configuration table.
Specifically, fig. 5 is a flow chart for dynamically updating a control current configuration table of a feed-forward solenoid according to a third embodiment of the present invention. Wherein "feedforward map" represents a feedforward solenoid control current configuration table.
As shown in fig. 5, the dynamic update flow of the feedforward solenoid control current configuration table is as follows: firstly, judging whether the vehicle is stationary and the air pressure of the air reservoir is enough, and when the vehicle is stationary and the air pressure of the air reservoir is enough, controlling the current of the electromagnetic valve of the retarder from learning. Then, setting the test air pressure pset=20 kilopascals, and then judging whether the real-time air pressure value is in a state that the air pressure difference value from the test air pressure is smaller than 10 kilopascals, and the duration of the state can reach 30 seconds; when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than 10 kilopascals and the duration of the state can reach 30 seconds, calculating an average value of the monitored current values as a test target current value of the set air pressure value, and then updating a feedforward electromagnetic valve control current configuration table based on the relation between the test air pressure and the corresponding test target current. Further, the test air pressure is increased by 20 kilopascals, the learning process is repeated until the test air pressure is greater than 320 kilopascals, the electromagnetic valve control current of the retarder is stopped, and self-learning is finished.
According to the technical scheme provided by the embodiment of the invention, whether the target vehicle corresponding to the retarder is in a static state or not is judged, and whether the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value or not is judged; when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value, starting an electromagnetic valve control current self-learning process of the retarder; setting the range of the test air pressure to 20-320 kilopascals, taking 20 kilopascals as a preset step length, and sequentially taking values to determine the test value of the test air pressure; monitoring the real-time air pressure value of the retarder, and collecting the monitoring current value in the preset state duration when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than the preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration; calculating an average monitoring current value of the monitoring current values as a testing target current value corresponding to the testing air pressure value according to the monitoring current value corresponding to each testing air pressure; and updating the feedforward electromagnetic valve control current configuration table based on the mapping relation between the test air pressure value and the corresponding test target current value. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can dynamically learn the control characteristic of the electromagnetic valve, updates the feedforward electromagnetic valve control current configuration table, and improves the control speed of the electromagnetic valve.
Example IV
Fig. 6 is a schematic structural diagram of a retarder electromagnetic valve control device provided in a second embodiment of the present invention, where the embodiment of the present invention is applicable to a vehicle control scenario, and the device may be implemented by software and/or hardware, and integrated into a computer device with an application development function.
As shown in fig. 6, the retarder solenoid valve control device includes: an air pressure value acquisition module 410, a control signal acquisition module 420, and a target control signal determination module 430.
The current value obtaining module 410 is configured to obtain a target air pressure value and an actual air pressure value of a retarder running during a braking process of a target vehicle; a control signal acquisition module 420, configured to query a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determine a feedforward control current, and determine a closed-loop control current based on the actual air pressure value and the target air pressure value; the target control signal determining module 430 is configured to determine a target solenoid valve control current according to the feedforward control current and the closed-loop control current, and implement solenoid valve control of the retarder according to the target solenoid valve control current.
According to the technical scheme provided by the embodiment of the invention, the target air pressure value and the actual air pressure value of the retarder operation in the braking process of the target vehicle are obtained; inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on a target air pressure value, determining feedforward control current, and determining closed-loop control current based on an actual air pressure value and the target air pressure value; and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current. The technical scheme of the embodiment of the invention solves the problem of slower control speed of the electromagnetic valve in the prior art, can quickly inquire the feedforward control current required by realizing the target air pressure value and matched with the current state of the retarder based on the feedforward electromagnetic valve control current configuration table which is updated dynamically, and improves the control speed of the electromagnetic valve. In an alternative embodiment, the target control signal determination module 430 is further configured to calculate a current sum of the feedforward control current and the closed-loop control current; the current sum is taken as a target solenoid valve control current.
In an alternative embodiment, the retarder electromagnetic valve control device further comprises a feedforward electromagnetic valve control current configuration table dynamic updating module, which is used for starting an electromagnetic valve control current self-learning process of the retarder according to a preset updating time period; based on a preset step length, sequentially setting the test air pressure controlled by the electromagnetic valve in a preset test air pressure range, and respectively collecting the monitoring current value of the retarder under the control of each test air pressure; and carrying out data processing on the monitored current value, and updating a feedforward electromagnetic valve control current configuration table according to the processing result.
In an alternative embodiment, the feedforward electromagnetic valve control current configuration meter dynamic updating module is further configured to monitor a real-time air pressure value of the retarder, and collect a monitored current value in a preset state duration when the real-time air pressure value is in a state where an air pressure difference with the test air pressure is smaller than a preset air pressure difference threshold value, and the state duration is longer than or equal to the preset state duration.
In an alternative embodiment, the feedforward electromagnetic valve control current configuration table dynamic updating module is further configured to calculate, for each monitored current value corresponding to the test air pressure, an average monitored current value of the monitored current values as a test target current value corresponding to the test air pressure value;
and updating the feedforward electromagnetic valve control current configuration table based on the mapping relation between the test air pressure value and the corresponding test target current value.
In an optional implementation manner, the feedforward electromagnetic valve control current configuration table dynamic updating module is further used for judging whether a target vehicle corresponding to the retarder is in a static state or not and judging whether the air pressure of an air storage cylinder of the retarder is greater than a preset air pressure threshold value or not; when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air reservoir of the retarder is larger than a preset air pressure threshold value, starting an electromagnetic valve control current self-learning process of the retarder.
In an alternative embodiment, the feedforward solenoid control current configuration table dynamic update module is further configured to set the test air pressure range to 20-320 kilopascals; taking 20 kilopascals as a preset step length, and sequentially taking values to determine a test value of the test air pressure.
The retarder electromagnetic valve control device provided by the embodiment of the invention can execute the retarder electromagnetic valve control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example five
Fig. 7 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. Fig. 7 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in fig. 7 is only an example and should not be construed as limiting the functionality and scope of use of embodiments of the invention.
As shown in fig. 7, the computer device 12 is in the form of a general purpose computing device. Components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, a bus 18 that connects the various system components, including the system memory 28 and the processing units 16.
Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, and a local bus using any of a variety of bus architectures. By way of example, and not limitation, such architectures include Industry Standard Architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.
Computer device 12 typically includes a variety of computer system readable media. Such media can be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM) 30 and/or cache memory 32. The computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from or write to non-removable, nonvolatile magnetic media (not shown in FIG. 7, commonly referred to as a "hard disk drive"). Although not shown in fig. 7, a magnetic disk drive for reading from and writing to a removable non-volatile magnetic disk (e.g., a "floppy disk"), and an optical disk drive for reading from or writing to a removable non-volatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In such cases, each drive may be coupled to bus 18 through one or more data medium interfaces. The system memory 28 may include at least one program product having a set (e.g., at least one) of program modules configured to carry out the functions of the embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored in, for example, system memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each or some combination of which may include an implementation of a network environment. Program modules 42 generally perform the functions and/or methods of the embodiments described herein.
The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and/or any devices (e.g., network card, modem, etc.) that enable the computer device 12 to communicate with one or more other computing devices. Such communication may occur through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks such as a Local Area Network (LAN), a Wide Area Network (WAN) and/or a public network, such as the Internet, through network adapter 20. As shown, network adapter 20 communicates with other modules of computer device 12 via bus 18. It should be appreciated that although not shown in fig. 7, other hardware and/or software modules may be used in connection with computer device 12, including, but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, data backup storage systems, and the like.
The processing unit 16 executes various functional applications and data processing by running a program stored in the system memory 28, for example, implementing a retarder solenoid valve control method provided in the present embodiment, the method includes:
acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking a target vehicle;
Inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
Example six
The sixth embodiment provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor, implements the retarder solenoid valve control method as provided in any embodiment of the present invention, including:
acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking a target vehicle;
Inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
and determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current.
The computer storage media of embodiments of the invention may take the form of any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations of the present invention may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
It will be appreciated by those of ordinary skill in the art that the modules or steps of the invention described above may be implemented in a general purpose computing device, they may be centralized on a single computing device, or distributed over a network of computing devices, or they may alternatively be implemented in program code executable by a computer device, such that they are stored in a memory device and executed by the computing device, or they may be separately fabricated as individual integrated circuit modules, or multiple modules or steps within them may be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A retarder solenoid valve control method, characterized in that the method comprises:
acquiring a target air pressure value and an actual air pressure value of the retarder operation in the process of braking a target vehicle;
Inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current, and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
Determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current, and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current;
Wherein, the dynamic updating process of the feedforward electromagnetic valve control current configuration table comprises the following steps:
Starting an electromagnetic valve control current self-learning process of the retarder according to a preset updating time period;
Based on a preset step length, sequentially setting test air pressures controlled by electromagnetic valves in a preset test air pressure range, and respectively collecting monitoring current values of the retarder under the control of each test air pressure;
Performing data processing on the monitored current value, and updating the feedforward electromagnetic valve control current configuration table according to a processing result;
wherein said determining a target solenoid valve control current based on said feedforward control current and said closed-loop control current comprises:
calculating a current sum of the feedforward control current and the closed-loop control current;
and taking the current sum value as the target electromagnetic valve control current.
2. The method according to claim 1, wherein the separately collecting the monitored current values of the retarder under each test air pressure control comprises:
and monitoring the real-time air pressure value of the retarder, and collecting the monitoring current value in the preset state duration when the real-time air pressure value is in a state that the air pressure difference value between the real-time air pressure value and the test air pressure is smaller than the preset air pressure difference value threshold value and the state duration is longer than or equal to the preset state duration.
3. The method of claim 1, wherein the data processing the monitored current value and updating the feed-forward solenoid control current configuration table based on the processing result comprises:
calculating an average monitoring current value of the monitoring current values as a testing target current value corresponding to the testing air pressure value according to the monitoring current value corresponding to each testing air pressure;
and updating the feedforward electromagnetic valve control current configuration table based on the mapping relation between the test air pressure value and the corresponding test target current value.
4. The method of claim 1, wherein prior to initiating the solenoid control current self-learning process of the retarder, the method further comprises:
judging whether a target vehicle corresponding to the retarder is in a static state or not, and judging whether the air pressure of an air storage cylinder of the retarder is larger than a preset air pressure threshold value or not;
when the target vehicle corresponding to the retarder is in a static state and the air pressure of the air cylinder of the retarder is larger than a preset air pressure threshold value, starting an electromagnetic valve control current self-learning process of the retarder.
5. The method according to claim 1, wherein sequentially setting the solenoid valve controlled test air pressure within the preset test air pressure range based on the preset step size comprises:
setting the test air pressure range to 20-320 kilopascals;
taking 20 kilopascals as the preset step length, and sequentially taking values to determine the test value of the test air pressure.
6. A retarder solenoid valve control device, characterized in that the device comprises:
the air pressure value acquisition module is used for acquiring a target air pressure value and an actual air pressure value of the retarder operation in the braking process of the target vehicle;
the control signal acquisition module is used for inquiring a dynamically updated feedforward electromagnetic valve control current configuration table matched with the retarder based on the target air pressure value, determining feedforward control current and determining closed-loop control current based on the actual air pressure value and the target air pressure value;
The target control signal determining module is used for determining a target electromagnetic valve control current according to the feedforward control current and the closed-loop control current and realizing electromagnetic valve control of the retarder according to the target electromagnetic valve control current;
The retarder electromagnetic valve control device further comprises a feedforward electromagnetic valve control current configuration table dynamic updating module, wherein the feedforward electromagnetic valve control current configuration table dynamic updating module is used for starting an electromagnetic valve control current self-learning process of the retarder according to a preset updating time period; based on a preset step length, sequentially setting test air pressures controlled by electromagnetic valves in a preset test air pressure range, and respectively collecting monitoring current values of the retarder under the control of each test air pressure; performing data processing on the monitored current value, and updating the feedforward electromagnetic valve control current configuration table according to a processing result;
The target control signal determining module is also used for calculating the current sum value of the feedforward control current and the closed-loop control current; the current sum is taken as a target solenoid valve control current.
7. A computer device, the computer device comprising:
One or more processors;
A memory for storing one or more programs;
When executed by the one or more processors, causes the one or more processors to implement the retarder solenoid valve control method as claimed in any one of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a retarder solenoid valve control method as claimed in any of claims 1-5.
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| CN202210730568.3A CN115076361B (en) | 2022-06-24 | 2022-06-24 | Retarder electromagnetic valve control method, retarder electromagnetic valve control device, retarder electromagnetic valve control equipment and retarder electromagnetic valve control medium |
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| CN202210730568.3A CN115076361B (en) | 2022-06-24 | 2022-06-24 | Retarder electromagnetic valve control method, retarder electromagnetic valve control device, retarder electromagnetic valve control equipment and retarder electromagnetic valve control medium |
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