CN115182407B - Method and device for controlling arm support, controller and engineering machinery - Google Patents
Method and device for controlling arm support, controller and engineering machinery Download PDFInfo
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- CN115182407B CN115182407B CN202210822560.XA CN202210822560A CN115182407B CN 115182407 B CN115182407 B CN 115182407B CN 202210822560 A CN202210822560 A CN 202210822560A CN 115182407 B CN115182407 B CN 115182407B
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2037—Coordinating the movements of the implement and of the frame
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2264—Arrangements or adaptations of elements for hydraulic drives
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The application discloses a method and device for controlling an arm support, a controller and engineering machinery. The method comprises the following steps: and under the condition that the motion command signal is received, determining the target position of the joint according to the motion command signal, and determining the initial valve control amount of the control valve according to the current position and the target position of the joint. Acquiring the actual temperature of hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is larger than the preset temperature. And determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support. According to the application, through temperature correction valve control quantity, the pressure building time of the hydraulic cylinder can be reduced, the joint response speed can be ensured and the response of the hydraulic system can be improved by controlling the valve flow under different temperature working conditions, so that the boom control precision can be improved.
Description
Technical Field
The application relates to the technical field of engineering machinery, in particular to a method and device for controlling an arm support, a controller and engineering machinery.
Background
At present, the control method for the multi-joint arm support system mainly comprises the steps of installing a sensor at the tail end of each joint arm support, and optimizing the control method by sensing the position and the speed of the tail end to realize accurate control. For a multi-joint arm support system of engineering machinery, the construction condition is complex, the working environment is bad, a sensor cannot be installed at the tail end of an arm support, and electric driving is difficult to meet the requirement of large driving force of the engineering machinery, so that hydraulic driving is mostly adopted in the field of engineering machinery. For the hydraulic system precision control method, the following aspects are mainly focused on:
1) The opening and closing time of the valve is reduced, for example, the response speed is improved by adopting a high-speed switch valve;
2) The control method is optimally designed, such as fuzzy control, synovial membrane control and the like.
The high-speed switching valve has high response speed, but the valve port is smaller, so that the high-speed switching valve is not suitable for a high-flow hydraulic system; the fuzzy control and the synovial membrane control are complex to realize and are based on models, and for engineering machinery, an accurate nonlinear model is difficult to build. In addition, under different working conditions, the response speeds of all joints of the hydraulic system are different, so that the boom control precision is low, and the target position cannot be reached.
Disclosure of Invention
The embodiment of the application aims to provide a method, a device, a controller and engineering machinery for controlling an arm support, which are used for solving the problems that in the prior art, electric driving is difficult to meet the requirement of large driving force of the engineering machinery, and response speeds of joints of a hydraulic system are different under different working conditions, so that the control precision of the arm support is lower.
To achieve the above object, a first aspect of the present application provides a method for controlling a boom including a joint, a hydraulic cylinder corresponding to the joint, and a control valve communicating with the hydraulic cylinder, the method comprising:
under the condition that the motion command signal is received, determining the target position of the joint according to the motion command signal;
determining an initial valve control amount of the control valve according to the current position and the target position of the joint;
acquiring the actual temperature of hydraulic oil in a hydraulic cylinder;
under the condition that the actual temperature is greater than the preset temperature, determining the compensation valve control quantity of the control valve according to the actual temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
In an embodiment of the present application, determining the compensation valve control amount of the control valve according to the actual temperature includes:
acquiring a valve control cylinder pressure building time model, wherein the valve control cylinder pressure building time model comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
based on the valve control cylinder pressure building time model, determining a compensation valve control amount of the control valve according to the actual temperature and the preset temperature, wherein the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time.
In the embodiment of the application, the valve control cylinder pressure building time model meets the formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein t is i The hydraulic cylinder is used for building up pressure time; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is the temperature of the hydraulic oil.
In the embodiment of the application, based on the valve control cylinder pressure building time model, determining the compensation valve control amount of the control valve according to the actual temperature and the preset temperature comprises the following steps:
under the condition that the pressure building time in the valve control cylinder pressure building time model is determined to be the preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control quantity of the control valve according to the change value of the effective flow of the system and the flow-valve control quantity amplification coefficient.
In the embodiment of the application, the change value of the effective flow of the system satisfies the formula (2):
wherein DeltaQ is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
In the embodiment of the application, the compensation valve control amount of the control valve satisfies the formula (3):
wherein K is i To compensate for the valve control amount; n is a flow-valve controlled-flow amplification factor; Δq is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
In the embodiment of the application, the method further comprises the following steps:
and determining the initial valve control amount of the control valve as the target valve control amount of the control valve under the condition that the actual temperature is not greater than the preset temperature.
A second aspect of the present application provides an apparatus for controlling a boom, comprising:
the first determining module is used for determining the target position of the joint according to the motion command signal under the condition that the motion command signal is received;
the second determining module is used for determining the initial valve control quantity of the control valve according to the current position and the target position of the joint;
the acquisition module is used for acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder;
the third determining module is used for determining the compensation valve control quantity of the control valve according to the actual temperature under the condition that the actual temperature is greater than the preset temperature;
the control module is used for determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
A third aspect of the present application provides a controller comprising:
a memory configured to store instructions; and
and a processor configured to call instructions from the memory and when executing the instructions, to implement the above-described method for controlling the boom.
A fourth aspect of the present application provides a construction machine, comprising:
a hydraulic arm including a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of hydraulic oil in the oil cylinder corresponding to each joint in the joints; and
the controller described above.
A fifth aspect of the application provides a machine-readable storage medium having stored thereon instructions for causing a machine to perform the above-described method for controlling a boom.
According to the technical scheme, under the condition that the motion command signal is received, the target position of the joint is determined according to the motion command signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. Acquiring the actual temperature of hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is larger than the preset temperature. And determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support. According to the application, through temperature correction valve control quantity, the pressure building time of the hydraulic cylinder can be reduced, the joint response speed can be ensured and the response of the hydraulic system can be improved by controlling the valve flow under different temperature working conditions, so that the boom control precision can be improved.
Additional features and advantages of embodiments of the application will be set forth in the detailed description which follows.
Drawings
The accompanying drawings are included to provide a further understanding of embodiments of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain, without limitation, the embodiments of the application. In the drawings:
fig. 1 schematically shows an application environment diagram of a method for controlling a boom according to an embodiment of the application;
fig. 2 schematically shows a flow chart of a method for controlling a boom according to an embodiment of the application;
fig. 3 schematically shows a control block diagram of a method for controlling a boom according to an embodiment of the application;
fig. 4 schematically shows a control strategy of a method for controlling a boom according to an embodiment of the application;
fig. 5 schematically shows a block diagram of an apparatus for controlling a boom according to an embodiment of the application;
fig. 6 schematically shows a block diagram of a controller according to an embodiment of the application.
Description of the reference numerals
11. Arm 12 bucket rod
13. Bucket 111 movable arm hydraulic cylinder
121. Bucket rod hydraulic cylinder 131 bucket hydraulic cylinder
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present application more apparent, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application, and it should be understood that the detailed description described herein is merely for illustrating and explaining the embodiments of the present application, and is not intended to limit the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present application, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.
Fig. 1 schematically shows an application environment diagram of a method for controlling a boom according to an embodiment of the application. The method for controlling the arm support, which is provided by the embodiment of the application, can be applied to an application environment shown in fig. 1. In an embodiment of the application, the method for controlling the boom is applied to a hydraulic arm machine comprising a hydraulic arm and a controller 2. Wherein the hydraulic arm is in communication with the controller 2. The hydraulic arm includes a plurality of joints such as a boom 11, an arm 12, and a bucket 13. The boom 11, the arm 12, and the bucket 13 are connected in turn by rotation. Boom cylinder 111, arm cylinder 121, and bucket cylinder 131 are provided to boom 11, arm 12, and bucket 13, respectively. Boom cylinder 111 is used to control boom 11, arm cylinder 121 is used to control arm 12, and bucket cylinder 131 is used to control bucket 13.
The lag exists from the receipt of the motion command signal by each joint to the initiation of motion of the mechanism, which is affected by the characteristics of the hydraulic system, and is mainly related to the time required for the hydraulic system to build up pressure. Therefore, the embodiment of the application considers the influence of the hydraulic system pressure building time on the motion control precision of the tail end of the multi-joint arm support working device, has a simple control scheme and does not need to build a complex nonlinear control model.
Fig. 2 schematically shows a flow chart of a method for controlling a boom according to an embodiment of the application. As shown in fig. 2, an embodiment of the present application provides a method for controlling a boom including a joint, a hydraulic cylinder corresponding to the joint, and a control valve in communication with the hydraulic cylinder, which may include the following steps.
Step 101, when a motion command signal is received, determining a target position of the joint according to the motion command signal.
In the embodiment of the application, the hydraulic arm can comprise a plurality of joints, and during the movement process of the hydraulic arm, the joints are influenced by hydraulic characteristics, and hysteresis exists from the time when each joint receives a movement instruction to the time when the mechanism starts to move, so that the actual positions of the joints can deviate, and the actual positions of the joints are inconsistent with the target positions. Therefore, after the processor receives the motion command signal, the target position to be reached of each joint and the actual position of each joint need to be determined according to the motion command signal, so as to determine whether each joint reaches the target position. In one example, during the working process of the hydraulic arm mechanical equipment, the hydraulic cylinders of the movable arm, the bucket rod and the bucket are required to cooperatively move, and particularly in an operation mode with precision requirements such as slope brushing and ditching, the coordination requirements on all joints are high. Thus, it is necessary to acquire the target position and the actual position of each joint.
Specifically, the processor can acquire the target position of each joint by receiving a motion instruction signal of the controller; the angle of each joint is obtained by an inclination sensor mounted on each joint, thereby obtaining the actual position of each joint.
Step 102, determining the initial valve control amount of the control valve according to the current position and the target position of the joint.
In the embodiment of the application, the current position of the joint can be regarded as the actual position thereof, and the processor can judge whether the actual position of the joint reaches the corresponding target position by respectively comparing the actual position of each joint with the target position so as to determine the corresponding initial valve control amount of the joint control valve. Specifically, after the actual positions of the joints are obtained, the positions of the hinge points of the joints can be calculated according to positive kinematics, and whether any joint reaches the corresponding target position can be judged by comparing the positions of the hinge points, so that the initial valve control amount of the control valve is determined according to the current position and the target position of the joint.
And 103, acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder.
In the embodiment of the application, for any joint, under the condition that the actual position of the joint does not reach the corresponding target position, the target valve control amount of the corresponding hydraulic cylinder control valve needs to be adjusted, wherein the target valve control amount comprises an initial valve control amount and a compensation valve control amount. The processor can determine the initial valve control amount of the hydraulic cylinder control valve corresponding to the joint according to the actual position and the target position, and determine the compensation valve control amount of the hydraulic cylinder control valve corresponding to the joint according to the hydraulic oil temperature. Therefore, it is necessary to acquire the actual temperature of the hydraulic oil in the hydraulic cylinder.
Specifically, the actual temperature of the hydraulic oil in each hydraulic cylinder may be obtained by a temperature sensor provided on each joint.
And 104, determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is greater than the preset temperature.
In the embodiment of the application, the processor can judge whether the actual temperature of the current hydraulic oil is greater than the preset temperature, and the preset temperature can be set according to the actual situation. For example, when the system build-up time is greatly affected by temperature, the value of the preset temperature may be set to a smaller value, in one example, the preset temperature may be set to 45 ℃, and of course, in practical applications, the value of the preset temperature may be set to other values as required. Under the condition that the actual temperature of the current hydraulic oil is greater than the preset temperature, the oil temperature has a great influence on the system pressure building time, and the temperature and the real-time position of the hydraulic oil measured by the temperature sensor are considered at the same time, so that under the condition that the actual temperature of the current hydraulic oil is greater than the preset temperature, the compensation valve control quantity of the hydraulic cylinder control valve corresponding to any joint is required to be calculated.
Step 105, determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
In the embodiment of the application, for any joint, under the condition that the actual position of the joint does not reach the corresponding target position, the target valve control amount of the control valve can be determined according to the initial valve control amount and the compensation valve control amount.
Specifically, the target valve control amount may be an electric current amount or a pressure control amount, which is used to control the opening of a control valve of the hydraulic cylinder corresponding to each joint, so as to control the effective flow of the hydraulic system, thereby controlling the pressure build-up time.
Fig. 3 schematically shows a control block diagram of a method for controlling a boom according to an embodiment of the application. As shown in fig. 3, in one example, the processor first obtains the actual position of each joint and the hydraulic oil temperature in each hydraulic cylinder. Then, whether the actual position of each joint reaches the specified position, that is, the target position is determined, and if the actual position does not reach the specified position, the hydraulic oil temperature in the hydraulic cylinder is further determined. In the case where the hydraulic oil temperature is less than or equal to 45 ℃, the valve control amount is determined according to the actual position and the target position. And under the condition that the temperature of the hydraulic oil is less than or equal to 45 ℃, determining the valve control amount according to the actual position, the target position and the feedback of the temperature of the hydraulic oil.
According to the application, under the condition that a motion command signal is received, the target position of the joint is determined according to the motion command signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. Acquiring the actual temperature of hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is larger than the preset temperature. And determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support. According to the application, through temperature correction valve control quantity, the pressure building time of the hydraulic cylinder can be reduced, the joint response speed can be ensured and the response of the hydraulic system can be improved by controlling the valve flow under different temperature working conditions, so that the boom control precision can be improved.
Fig. 4 schematically illustrates a control strategy diagram of a method for controlling an arm support according to an embodiment of the application, as shown in fig. 4, in one example the joints may comprise a bucket, an arm and a boom. For a bucket, the PID controller first obtains a bucket target position signal and a bucket position actual signal, and then outputs an initial valve control amount. And when the actual temperature of the hydraulic oil is greater than the preset temperature, feeding back the actual temperature of the hydraulic oil through a temperature sensor to obtain a compensation valve control amount, and inputting the compensation valve control amount and the initial valve control amount into a bucket hydraulic cylinder controller until the actual position of the bucket reaches a target position. Similarly, for the arm and boom, the PID controller first obtains the arm target position signal and the boom position actual signal, respectively, and then outputs the initial valve control amounts, respectively. And when the actual temperature of the hydraulic oil is greater than the preset temperature, feeding back the actual temperature of the hydraulic oil through a temperature sensor to obtain a compensation valve control amount, and inputting the compensation valve control amount and the initial valve control amount into the bucket rod hydraulic cylinder controller and the movable arm hydraulic cylinder controller until the actual positions of the bucket rod and the movable arm respectively reach corresponding target positions.
In an embodiment of the present application, determining the compensation valve control amount of the control valve according to the actual temperature includes:
acquiring a valve control cylinder pressure building time model, wherein the valve control cylinder pressure building time model comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
based on the valve control cylinder pressure building time model, determining a compensation valve control amount of the control valve according to the actual temperature and the preset temperature, wherein the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time.
Specifically, the valve control cylinder pressure building time model is a model reflecting the relation between the valve control hydraulic cylinder system pressure building time, the system effective flow and the hydraulic oil temperature. Because the pressure building time of the valve-controlled hydraulic cylinder system is influenced by factors such as system pressure, hydraulic oil temperature, bulk modulus, length-width ratio of a hydraulic pipeline, valve control quantity-pressure proportional coefficient and the like. For the multi-joint arm support hydraulic system, the pressure required by each joint, the length, the diameter and the like of the hydraulic cylinder are different, so that the pressure building time of each hydraulic system is different, the movement of each joint is uncoordinated, and finally the control precision of the tail end of the arm support is influenced. Therefore, by analyzing the relation between the pressure building time of the valve-controlled hydraulic cylinder system and the system pressure, the cylinder length, the hydraulic elastic modulus and the hydraulic oil temperature, a nonlinear model of the pressure building time of the valve-controlled hydraulic cylinder system can be built. The nonlinear model of the valve control hydraulic cylinder system pressure building time meets the formula (4):
wherein t is i The hydraulic cylinder is used for building up pressure time; v is the pressurizing volume of the hydraulic cylinder, and comprises the volume of the hydraulic cylinder and the volume of a pipeline; Δp is the hydraulic oil pressure change, Δp=p-P i The method comprises the steps of carrying out a first treatment on the surface of the P is the system pressure; p is p i Target pressure of the hydraulic system of each joint of the ith; k is the bulk modulus of the hydraulic oil; q is the effective flow of the system; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is the hydraulic oil temperature.
Specifically, by a nonlinear model of the pressure build-up time of the valve control cylinder, the influence rule (hydraulic oil elastic modulus, hydraulic cylinder and pipeline volume are constants) of the system pressure, the oil temperature and the effective flow of the system on the pressure build-up time can be obtained. Because each joint hydraulic system of the multi-joint hydraulic arm equipment is a load sensitive system, the pressure difference can be ensured to be fixed. Therefore, the embodiment of the application mainly considers the influence of the hydraulic oil temperature and the effective flow of the system on the system pressure building time, so as to obtain a simplified valve control cylinder pressure building time model. Based on the simplified pressure building time model of the valve control cylinder, under the condition that the actual temperature of hydraulic oil in the hydraulic cylinder is larger than the preset temperature, the compensation valve control amount of the control valve can be determined according to the actual temperature and the preset temperature, and the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time, so that the control precision of the joint is improved.
Taking the preset temperature of 45 ℃ as an example, under the condition that the actual temperature of the current hydraulic oil is larger than 45 ℃, the oil temperature has a larger influence on the system pressure building time, so that the opening degree of the valve core needs to be further increased to increase the opening area of the valve, thereby increasing the effective flow rate of the system and reducing the response time of the system. And the compensation valve control quantity of the valve control cylinder can be obtained according to the feedback of the temperature sensor through the pressure building model of the valve control cylinder.
In the implementation of the application, the pressure build-up time of the valve control cylinder satisfies the formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein t is i For the time of building up the pressure of the hydraulic cylinder；k Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is the temperature of the hydraulic oil.
In the embodiment of the application, based on the valve control cylinder pressure building time model, determining the compensation valve control amount of the control valve according to the actual temperature and the preset temperature comprises the following steps:
under the condition that the pressure building time in the valve control cylinder pressure building time model is determined to be the preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control quantity of the control valve according to the change value of the effective flow of the system and the flow-valve control quantity amplification coefficient.
Specifically, as known from the valve-controlled cylinder pressure-building time model, when the actual temperature of the hydraulic oil exceeds the preset temperature, the theoretical system flow rate should be increased so that the pressure-building time reaches the theoretical pressure-building time. According to the embodiment of the application, the change value of the effective flow of the system can be determined according to the actual temperature and the preset temperature of the hydraulic oil of any joint, so that the compensation valve control amount of any joint is determined according to the change value of the effective flow of the system and the flow-valve control amount amplification factor N.
In the embodiment of the application, the change value of the effective flow of the system satisfies the formula (2):
wherein DeltaQ is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
In the embodiment of the application, the compensation valve control amount of the control valve satisfies the formula (3):
wherein K is i To compensate for the valve control amount; n is a flow-valve controlled-flow amplification factor; Δq is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
In the embodiment of the application, the method further comprises the following steps:
and determining the initial valve control amount of the control valve as the target valve control amount of the control valve under the condition that the actual temperature is not greater than the preset temperature.
Specifically, in the case where the actual temperature of the hydraulic oil in the hydraulic cylinder is not greater than the preset temperature, the oil temperature has less influence on the pressure build-up time, and only the actual position feedback may be considered at this time. Therefore, the initial valve control quantity of the control valve can be determined as the target valve control quantity of the control valve, the calculated quantity generated in the determination process of the target valve control quantity is reduced, and the response delay of the control valve is reduced.
Fig. 5 schematically shows a block diagram of an apparatus for controlling a boom according to an embodiment of the application. As shown in fig. 5, an embodiment of the present application provides a device for controlling an arm support, where the arm support includes a joint, a hydraulic cylinder corresponding to the joint, and a control valve communicating with the hydraulic cylinder, the device includes:
a first determining module 510, configured to determine, when receiving the motion command signal, a target position of the joint according to the motion command signal;
a second determining module 520, configured to determine an initial valve control amount of the control valve according to the current position and the target position of the joint;
an acquisition module 530 for acquiring an actual temperature of hydraulic oil in the hydraulic cylinder;
a third determining module 540, configured to determine a compensation valve control amount of the control valve according to the actual temperature when the actual temperature is greater than a preset temperature;
a control module 550 for determining a target valve control amount of the control valve based on the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
Specifically, in the case of receiving the motion command signal, the first determination module 510 determines the target position of the joint according to the motion command signal. After the first determination module 510 determines the target position of the joint, the second determination module 520 determines an initial valve control amount for the control valve in conjunction with the current position of the joint. By the acquisition module 530, the actual temperature of the hydraulic oil in the hydraulic cylinder may be acquired, and in case that it is detected that the actual temperature is greater than the preset temperature, the third determination module 540 determines the compensation valve control amount of the control valve according to the actual temperature. The control module 550 may control the opening degree of the control valve according to the target valve control amount of the control valve determined by the initial valve control amount and the compensation valve control amount, thereby controlling the movement of the boom.
Fig. 6 schematically shows a block diagram of a controller according to an embodiment of the application. As shown in fig. 6, an embodiment of the present application provides a controller, which may include:
a memory 610 configured to store instructions; and
the processor 620 is configured to call instructions from the memory 610 and when executing the instructions can implement the method for controlling the boom described above.
Specifically, in an embodiment of the present application, the processor 620 may be configured to:
under the condition that the motion command signal is received, determining the target position of the joint according to the motion command signal;
determining an initial valve control amount of the control valve according to the current position and the target position of the joint;
acquiring the actual temperature of hydraulic oil in a hydraulic cylinder;
under the condition that the actual temperature is greater than the preset temperature, determining the compensation valve control quantity of the control valve according to the actual temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
Further, the processor 620 may be further configured to:
acquiring a valve control cylinder pressure building time model, wherein the valve control cylinder pressure building time model comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
based on the valve control cylinder pressure building time model, determining a compensation valve control amount of the control valve according to the actual temperature and the preset temperature, wherein the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time.
In the embodiment of the application, the valve control cylinder pressure building time model meets the formula (1):
t i ＝k Q /Q+l T ·T； (1)
wherein t is t The hydraulic cylinder is used for building up pressure time; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is the temperature of the hydraulic oil.
Further, the processor 620 may be further configured to:
under the condition that the pressure building time in the valve control cylinder pressure building time model is determined to be the preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control quantity of the control valve according to the change value of the effective flow of the system and the flow-valve control quantity amplification coefficient.
In the embodiment of the application, the change value of the effective flow of the system satisfies the formula (2):
wherein DeltaQ is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
In the embodiment of the application, the compensation valve control amount of the control valve satisfies the formula (3):
wherein K is i To compensate for the valve control amount; n is a flow-valve controlled-flow amplification factor; Δq is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t' is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
Further, the processor 620 may be further configured to:
and determining the initial valve control amount of the control valve as the target valve control amount of the control valve under the condition that the actual temperature is not greater than the preset temperature.
According to the technical scheme, under the condition that the motion command signal is received, the target position of the joint is determined according to the motion command signal, and the initial valve control amount of the control valve is determined according to the current position and the target position of the joint. Acquiring the actual temperature of hydraulic oil in the hydraulic cylinder, and determining the compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is larger than the preset temperature. And determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount, wherein the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support. According to the application, through temperature correction valve control quantity, the pressure building time of the hydraulic cylinder can be reduced, the joint response speed can be ensured and the response of the hydraulic system can be improved by controlling the valve flow under different temperature working conditions, so that the boom control precision can be improved.
As shown in fig. 1, an embodiment of the present application further provides an engineering machine, which may include:
a hydraulic arm including a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of hydraulic oil in the hydraulic cylinder corresponding to each joint in the joints; and
the controller 2 described above.
Specifically, the hydraulic arm mechanical device of the embodiment of the application includes a hydraulic arm, a controller 2, and a temperature sensor. Wherein the hydraulic arm is in communication with the controller 2. The hydraulic arm includes a plurality of joints.
In one example, the hydraulic arm may include a boom 11, an arm 12, and a bucket 13. Boom cylinder 111 is used to control boom 11, arm cylinder 121 is used to control arm 12, and bucket cylinder 131 is used to control bucket 13. In the working process, the boom 11, the arm 12 and the bucket 13 are controlled to cooperatively move by the boom cylinder 111, the arm cylinder 121 and the bucket cylinder 131, so that the hydraulic arm reaches the target position, and particularly in the working mode with precision requirements such as brushing slopes and ditching, the requirements on coordination of all joints are high.
In this embodiment, by analyzing the response time of each joint, a relationship between the pressure build time and the oil temperature, the effective flow of the system, etc. is established, and the pressure build time of each joint arm hydraulic cylinder is adjusted to be in an optimal state, so that the accurate control of the multi-joint hydraulic arm support system can be realized.
In addition, the influence of the hydraulic system pressure building time on the motion control precision of the tail end of the multi-joint arm support working device is considered, the control scheme is simple, and a complex nonlinear control model is not required to be built. The innovation is that the end control precision of the multi-joint arm support hydraulic system is improved by improving the response of each joint.
The embodiment of the application also provides a machine-readable storage medium, wherein the machine-readable storage medium is stored with instructions for causing a machine to execute the method for controlling the boom.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and variations of the present application will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the application are to be included in the scope of the claims of the present application.
Claims (10)
1. A method for controlling a boom, the boom comprising a joint, a hydraulic cylinder corresponding to the joint, and a control valve in communication with the hydraulic cylinder, the method comprising:
under the condition that a motion command signal is received, determining a target position of the joint according to the motion command signal;
determining an initial valve control amount of the control valve according to the current position of the joint and the target position;
acquiring the actual temperature of hydraulic oil in the hydraulic cylinder;
determining a compensation valve control amount of the control valve according to the actual temperature under the condition that the actual temperature is larger than a preset temperature;
determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support;
the determining the compensation valve control amount of the control valve according to the actual temperature comprises the following steps:
acquiring a valve control cylinder pressure building time model, wherein the valve control cylinder pressure building time model comprises a corresponding relation among pressure building time, the temperature of hydraulic oil and the effective flow of a system;
and determining a compensation valve control amount of the control valve based on the valve control cylinder pressure building time model according to the actual temperature and the preset temperature, wherein the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time.
2. The method according to claim 1, wherein the valve controlled cylinder build-up time model satisfies the formula (1):
t i ＝k Q /Q+k T ·T； (1)
wherein t is i The hydraulic cylinder is set up for the pressure time; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; q is the effective flow of the system; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is the temperature of the hydraulic oil.
3. The method according to claim 1, wherein the determining the compensation valve control amount of the control valve based on the valve control cylinder build-up time model according to the actual temperature and the preset temperature includes:
under the condition that the pressure building time in the valve control cylinder pressure building time model is determined to be preset time, determining a change value of the effective flow of the system according to the actual temperature and the preset temperature;
and determining the compensation valve control quantity of the control valve according to the change value of the effective flow of the system and the flow-valve control quantity amplification coefficient.
4. A method according to claim 3, wherein the change in the effective flow rate of the system satisfies the formula (2):
wherein DeltaQ is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t (T) ′ Is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
5. A method according to claim 3, wherein the compensation valve control amount of the control valve satisfies the formula (3):
wherein K is i To compensate for the valve control amount; n is a flow-valve controlled-flow amplification factor; Δq is the change value of the effective flow of the system; k (k) Q The influence coefficient of the effective flow of the system on the pressure building time is obtained; k (k) T Is the influence coefficient of temperature to the pressure build-up time; t is a preset temperature; t (T) ′ Is the actual temperature; t is t i Is the pressure building time of the hydraulic cylinder.
6. The method according to claim 1, wherein the method further comprises:
and determining the initial valve control amount of the control valve as the target valve control amount of the control valve under the condition that the actual temperature is not greater than the preset temperature.
7. An apparatus for controlling a boom, the boom comprising a joint, a hydraulic cylinder corresponding to the joint, and a control valve in communication with the hydraulic cylinder, the apparatus comprising:
the first determining module is used for determining the target position of the joint according to the motion command signal under the condition that the motion command signal is received;
the second determining module is used for determining the initial valve control amount of the control valve according to the current position of the joint and the target position;
the acquisition module is used for acquiring the actual temperature of the hydraulic oil in the hydraulic cylinder;
the third determining module is used for determining the compensation valve control quantity of the control valve according to the actual temperature when the actual temperature is greater than the preset temperature, and obtaining a valve control cylinder pressure building time model, wherein the valve control cylinder pressure building time model comprises the corresponding relation among pressure building time, the temperature of the hydraulic oil and the effective flow of the system; based on the valve control cylinder pressure building time model, determining a compensation valve control amount of the control valve according to the actual temperature and the preset temperature, wherein the compensation valve control amount is used for compensating the influence of the actual temperature on the pressure building time;
the control module is used for determining a target valve control amount of the control valve according to the initial valve control amount and the compensation valve control amount; the target valve control amount is used for controlling the opening degree of the control valve so as to control the movement of the arm support.
8. A controller, comprising:
a memory configured to store instructions; and
a processor configured to invoke the instructions from the memory and when executing the instructions is capable of implementing a method for controlling a boom according to any of claims 1 to 6.
9. A construction machine, comprising:
a hydraulic arm comprising a plurality of joints;
the temperature sensor is arranged on the joints and used for collecting the temperature of hydraulic oil in the hydraulic cylinder corresponding to each joint in the joints; and
the controller of claim 8.
10. A machine-readable storage medium having stored thereon instructions for causing a machine to perform the method for controlling a boom according to any of claims 1 to 6.
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