WO2022042150A1 - 一种挖掘机控制方法、装置、存储介质及挖掘机 - Google Patents
一种挖掘机控制方法、装置、存储介质及挖掘机 Download PDFInfo
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- WO2022042150A1 WO2022042150A1 PCT/CN2021/107829 CN2021107829W WO2022042150A1 WO 2022042150 A1 WO2022042150 A1 WO 2022042150A1 CN 2021107829 W CN2021107829 W CN 2021107829W WO 2022042150 A1 WO2022042150 A1 WO 2022042150A1
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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
- E02F9/22—Hydraulic or pneumatic drives
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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
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/226—Safety arrangements, e.g. hydraulic driven fans, preventing cavitation, leakage, overheating
Definitions
- the present application relates to the field of excavators, and in particular, to an excavator control method, device, storage medium, and excavator.
- Hydraulic excavator is a common working machine. Hydraulic oil is used as the energy transmission medium. The oil temperature change affects the viscosity of the oil, which will lead to changes in the performance and work efficiency of the entire excavator system.
- the common practice is to recommend users to warm up the car when the hydraulic oil temperature is low, and increase the power of the cooling system in the high temperature section to control the hydraulic oil temperature to maintain a suitable range.
- it takes tens of minutes to warm up the car and users usually start working without fully warming up the car; and the working conditions of the excavator are bad and the working time is long, so it is inevitable that the hydraulic oil temperature is too high. That is, in daily work, the performance of the excavator system does not reach the optimal state, and the work efficiency is relatively reduced.
- the purpose of this application is to provide an excavator control method, device, storage medium and excavator to solve the above problems.
- an embodiment of the present application provides an excavator control method, the method comprising:
- the correction coefficient represents a correction ratio of hydraulic pump torque
- the correction curve includes a corresponding relationship between the oil temperature and the correction coefficient
- the proportional valve of the hydraulic pump is adjusted according to the target torque.
- an excavator control device comprising:
- a processing unit configured to determine a correction coefficient according to a current oil temperature correction curve, wherein the correction coefficient represents the correction ratio of the torque of the hydraulic pump, and the correction curve includes the corresponding relationship of the oil temperature and the correction coefficient; further used for correcting the obtained demand torque according to the correction coefficient to obtain a target torque, wherein the demand torque is the torque input by the driver;
- An adjustment unit configured to adjust the proportional valve of the hydraulic pump according to the target torque.
- an embodiment of the present application provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the foregoing method is implemented.
- an embodiment of the present application provides an excavator, the excavator includes: a processor and a memory, the memory is used to store one or more programs; when the one or more programs are executed by the processor When executed, the above method is implemented.
- the excavator control method, device, storage medium and excavator provided by the embodiments of the present application have the following beneficial effects: first, a correction coefficient is determined according to the current oil temperature correction curve. Among them, the correction coefficient represents the correction ratio of the hydraulic pump torque, and the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient. The obtained demand torque is then corrected according to the correction coefficient to obtain the target torque. The proportional valve of the hydraulic pump is then adjusted according to the target torque. Considering the influence of oil temperature on the oil, the actual output of the excavator will be inconsistent. Through the correction factor, the target torque is adjusted to reduce jitter at low temperature; at high temperature, it is ensured that the current output power can match the user's needs, avoiding problems such as slow excavator movement and reduced work efficiency.
- FIG. 1 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.
- FIG. 2 is a schematic flowchart of a control method for an excavator provided by an embodiment of the present application
- FIG. 3 is a schematic diagram of a correction curve provided by an embodiment of the present application.
- FIG. 4 is one of the schematic flow charts of the excavator control method provided by the embodiment of the present application.
- FIG. 5 is one of the schematic flow charts of the excavator control method provided by the embodiment of the present application.
- FIG. 6 is a schematic diagram of a unit of an excavator control device provided in an embodiment of the present application.
- orientation or positional relationship indicated by the terms “upper”, “lower”, “inner”, “outer”, etc. is based on the orientation or positional relationship shown in the drawings, or the The orientation or positional relationship that the application product is usually placed in use is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore It should not be construed as a limitation on this application.
- connection should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or It can be connected in one piece; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be internal communication between two components.
- the embodiment of the present application provides an electronic device, which may be a vehicle-mounted computer device.
- FIG. 1 is a schematic structural diagram of an electronic device.
- the electronic device includes a processor 10 , a memory 11 , and a bus 12 .
- the processor 10 and the memory 11 are connected through a bus 12 , and the processor 10 is used to execute executable modules, such as computer programs, stored in the memory 11 .
- the processor 10 may be an integrated circuit chip with signal processing capability. In the implementation process, each step of the excavator control method can be completed by the hardware integrated logic circuit in the processor 10 or the instructions in the form of software.
- the above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; it can also be a digital signal processor (Digital Signal Processor, referred to as DSP) ), Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.
- CPU Central Processing Unit
- NP Network Processor
- DSP Digital Signal Processor
- ASIC Application Specific Integrated Circuit
- FPGA Field-Programmable Gate Array
- the memory 11 may include a high-speed random access memory (RAM: Random Access Memory), and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.
- RAM Random Access Memory
- non-volatile memory such as at least one disk memory.
- the bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus or the like. Only one double-headed arrow is shown in FIG. 1, but it does not mean that there is only one bus 12 or one type of bus 12.
- ISA Industry Standard Architecture
- PCI Peripheral Component Interconnect
- EISA Extended Industry Standard Architecture
- the memory 11 is used to store programs, for example, programs corresponding to the excavator control device.
- the excavator control device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware (firmware) or solidified in an operating system (operating system, OS) of the electronic device.
- the processor 10 executes the program to implement the excavator control method.
- the electronic device provided in this embodiment of the present application further includes a communication interface 13 .
- the communication interface 13 is connected to the processor 10 through a bus.
- the electronic device can receive demand instructions or collect information transmitted by other terminals through the communication interface 13 .
- FIG. 1 is only a schematic structural diagram of a part of the electronic device, and the electronic device may further include more or less components than those shown in FIG. 1 , or have different configurations from those shown in FIG. 1 . .
- Each component shown in FIG. 1 may be implemented in hardware, software, or a combination thereof.
- the excavator control method provided in the embodiment of the present application can be applied to, but not limited to, the electronic device shown in FIG. 1 .
- FIG. 2 For the specific process, please refer to FIG. 2 :
- a correction coefficient is determined according to the current oil temperature correction curve.
- the correction coefficient represents the correction ratio of the hydraulic pump torque
- the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient.
- the oil temperature is the temperature of the oil in the hydraulic pump, which can be acquired by a temperature sensor and then transmitted to the processor 10 .
- the correction curve is shown in Figure 3, and the correction factor varies with temperature. In order to solve the problems that may occur in the excavator at different temperatures.
- the demand torque is the torque input by the driver.
- the driver may make an input of the required torque through a gear lever or other connected device.
- the corrected target torque decreases relative to the demand torque, and the proportional valve opening decreases, reducing jitter; at high temperature, the oil becomes thinner and the pressure is insufficient, the corrected target torque increases relative to the demand torque, and the proportional valve increases.
- the opening degree is increased to ensure that the current output power can match the needs of users, and to avoid problems such as slow excavator movement and reduced work efficiency.
- the correction coefficient is first determined according to the current oil temperature correction curve.
- the correction coefficient represents the correction ratio of the hydraulic pump torque
- the correction curve includes the corresponding relationship between the oil temperature and the correction coefficient.
- the obtained demand torque is then corrected according to the correction coefficient to obtain the target torque.
- the proportional valve of the hydraulic pump is then adjusted according to the target torque. Considering the influence of oil temperature on the oil, the actual output of the excavator will be inconsistent.
- the target torque is adjusted to reduce jitter at low temperature; at high temperature, it is ensured that the current output power can match the user's needs, avoiding problems such as slow excavator movement and reduced work efficiency.
- the corresponding relationship between the oil temperature and the correction coefficient includes:
- the correction coefficient is the first correction threshold.
- the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases.
- the correction coefficient is the second correction threshold.
- the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases.
- the correction coefficient linearly decreases from the third correction threshold to the fourth correction threshold as the oil temperature increases.
- the correction coefficient is the fourth correction threshold.
- the first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth temperature threshold.
- the temperature thresholds increase sequentially.
- the first correction threshold and the fourth correction threshold may be the same or different.
- the first correction threshold value is smaller than the second correction threshold value, and the first temperature threshold value is smaller than the second temperature threshold value, that is, the target torque is reduced in an environment where the oil temperature is low. Even if the hydraulic oil temperature is too low, the viscosity of the hydraulic oil increases, and the oil suction resistance of the hydraulic pump increases, because the target torque has been reduced. reduce.
- the interval between the second temperature threshold and the third temperature threshold is equivalent to the interval of normal oil temperature operation.
- the third temperature threshold is less than the fourth temperature threshold, and the second correction threshold is less than the third correction threshold, that is, the target torque is increased in an environment with a high oil temperature. Alleviate or reduce the problem of hydraulic oil becoming thinner due to the high temperature of hydraulic oil, the pressure of hydraulic system will decrease, the actual working flow will decrease, and the efficiency of equipment will decrease.
- the oil temperature When the temperature is higher than the fourth temperature threshold, the oil temperature will continue to rise, which will cause damage to the equipment, and the output power needs to be properly controlled to reduce the oil temperature, so the correction coefficient is reduced.
- the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth temperature threshold are respectively T1, T2, T3, T4 and T5, and the corresponding temperature values are 0, 30, 70 respectively , 90, and 100.
- the first correction threshold and the fourth correction threshold are 0.8, the second correction threshold is 1, and the third correction threshold is 1.2.
- the embodiment of the present application also provides a possible implementation manner.
- the excavator control method further includes:
- S103 may be continued.
- the excavator stops working, for example, the oil temperature exceeds a safety threshold.
- the excavator control method further includes:
- the processor 10 can collect the pilot pressure, and determine the size of the corresponding demand displacement through signal processing such as filtering, amplitude limiting, and calculation.
- the processor 10 can collect the main pressure of the hydraulic pump, and determine the size of the corresponding maximum displacement through signal processing such as filtering, amplitude limiting, and calculation.
- S107 includes:
- the displacement of the current excavator hydraulic pump cannot exceed the limit displacement.
- the feedback torque (current torque of the main pump) is calculated based on the pressure of the main pump and the current of the main pump. According to the difference between the feedback torque and the target torque, the corresponding displacement difference is determined, and then the proportional valve of the hydraulic pump is adjusted according to the displacement difference.
- the adjustment of the proportional valve of the hydraulic pump according to the displacement difference can be carried out by the adjustment unit (sent to the Pid control module).
- FIG. 6 is an excavator control device provided by an embodiment of the application.
- the excavator control device is applied to the electronic equipment described above.
- the excavator control device includes: a processing unit 201 and an adjustment unit 202 .
- the processing unit 201 is used to determine a correction coefficient according to the current oil temperature correction curve, wherein the correction coefficient represents the correction ratio of the torque of the hydraulic pump, and the correction curve includes the corresponding relationship of the oil temperature and correction coefficient; and is also used for obtaining the demand according to the correction coefficient
- the torque is corrected to obtain the target torque, where the requested torque is the torque input by the driver.
- the processing unit 201 may perform S103 and S104.
- the adjusting unit 202 is used for adjusting the proportional valve of the hydraulic pump according to the target torque. Specifically, the adjustment unit 202 may perform S107.
- the corresponding relationship of the oil temperature correction coefficient includes:
- the correction coefficient is the first correction threshold
- the correction coefficient linearly increases from the first correction threshold to the second correction threshold as the oil temperature increases
- the correction coefficient is the second correction threshold
- the correction coefficient linearly increases from the second correction threshold to the third correction threshold as the oil temperature increases
- the correction coefficient linearly decreases from the third correction threshold to the fourth correction threshold as the oil temperature increases
- the correction coefficient is the fourth correction threshold
- the first correction threshold and the fourth correction threshold are both smaller than the second correction threshold, the third correction threshold is greater than the second correction threshold, the first temperature threshold, the second temperature threshold, the third temperature threshold, the fourth temperature threshold and the fifth The temperature thresholds increase sequentially.
- processing unit 201 is further configured to issue an alarm instruction when the oil temperature is less than the first temperature threshold or greater than the fourth temperature threshold. Specifically, the processing unit 201 may perform S101 and S102.
- processing unit 201 is further configured to determine the required displacement according to the pilot pressure; and determine the maximum displacement according to the main pressure of the hydraulic pump. Specifically, the processing unit 201 may perform S105 and S106.
- the adjustment unit 202 is further configured to use the smaller value between the required displacement and the maximum displacement as the restricted displacement; when the target displacement corresponding to the target torque is less than the restricted displacement, adjust the proportional valve of the hydraulic pump according to the target displacement; When the target displacement corresponding to the target torque is greater than or equal to the limited displacement, the proportional valve of the hydraulic pump is adjusted according to the limited displacement.
- the processing unit 201 may perform S103 and S104.
- the adjustment unit 202 may execute S107-1 to S107-4.
- the excavator control device provided in this embodiment can execute the method flow shown in the above method flow embodiment, so as to achieve corresponding technical effects.
- the excavator control device provided in this embodiment can execute the method flow shown in the above method flow embodiment, so as to achieve corresponding technical effects.
- Embodiments of the present application further provide a storage medium, where computer instructions and programs are stored in the storage medium, and when the computer instructions and programs are read and run, the excavator control methods of the foregoing embodiments are executed.
- the storage medium may include memory, flash memory, registers, or a combination thereof, and the like.
- the excavator includes an electronic device as shown in FIG. 1 , which can implement the above-mentioned control method for the excavator.
- the electronic device includes: a processor 10 , a memory 11 , and a bus 12 .
- the processor 10 may be a CPU.
- the memory 11 is used to store one or more programs, and when the one or more programs are executed by the processor 10, the excavator control method of the above-described embodiment is executed.
- each block in the flowchart or block diagrams may represent a module, segment, or portion of code that contains one or more functions for implementing the specified logical function(s) executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures.
- each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations can be implemented in dedicated hardware-based systems that perform the specified functions or actions , or can be implemented in a combination of dedicated hardware and computer instructions.
- each functional module in each embodiment of the present application may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.
- the functions are implemented in the form of software function modules and sold or used as independent products, they may be stored in a computer-readable storage medium.
- the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution, and the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application.
- the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes .
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Abstract
本申请提出一种挖掘机控制方法、装置、存储介质及挖掘机。首先依据当前的油温和修正曲线确定修正系数。其中,修正系数表征液压泵扭矩的修正比例,修正曲线包含油温和修正系数的对应关系。再依据修正系数对获得的需求扭矩进行修正,以得到目标扭矩。然后依据目标扭矩对液压泵的比例阀进行调节。考虑到油温对油液的影响,从而会导致挖掘机的实际输出不一致的问题。通过修正系数,调节目标扭矩,在低温时,减少抖动;高温时,保障当前的输出功率能够与用户的需求匹配,避免产生挖掘机动作慢、工作效率降低等问题的出现。
Description
相关申请的交叉引用
本申请要求于2020年08月25日提交的申请号为202010865034.2,发明名称为“一种挖掘机控制方法、装置、存储介质及挖掘机”的中国专利申请的优先权,其通过引用方式全部并入本文。
本申请涉及挖掘机领域,具体而言,涉及一种挖掘机控制方法、装置、存储介质及挖掘机。
液压挖掘机是一种常见的作业机械,使用液压油作为能量传动媒介,油温变化影响油的粘度高低,从而会导致整个挖掘机***性能和工作效率发生变化。
目前常见的做法是在液压油温低时建议用户进行热车,而在高温段加大散热***的功率,控制液压油温保持在适宜的区间内。但热车需要几十分钟时间,用户通常没有充分热车就会开始工作;且挖掘机的工况恶劣、作业时间长,难免出现液压油温偏高的现象。即在日常工作中,挖掘机***性能没有到达最佳状态,工作效率相对有所降低。
发明内容
本申请的目的在于提供一种挖掘机控制方法、装置、存储介质及挖掘机,以解决上述问题。
为了实现上述目的,本申请实施例采用的技术方案如下:
第一方面,本申请实施例提供一种挖掘机控制方法,所述方法包括:
依据当前的油温和修正曲线确定修正系数,其中,所述修正系数表征液压泵扭矩的修正比例,所述修正曲线包含所述油温和所述修正系数的对应关系;
依据所述修正系数对获得的需求扭矩进行修正,以得到目标扭矩,其中, 所述需求扭矩为驾驶员输入的扭矩;
依据所述目标扭矩对所述液压泵的比例阀进行调节。
第二方面,本申请实施例提供一种挖掘机控制装置,所述装置包括:
处理单元,用于依据当前的油温和修正曲线确定修正系数,其中,所述修正系数表征液压泵扭矩的修正比例,所述修正曲线包含所述油温和所述修正系数的对应关系;还用于依据所述修正系数对获得的需求扭矩进行修正,以得到目标扭矩,其中,所述需求扭矩为驾驶员输入的扭矩;
调节单元,用于依据所述目标扭矩对所述液压泵的比例阀进行调节。
第三方面,本申请实施例提供一种存储介质,其上存储有计算机程序,该计算机程序被处理器执行时实现上述的方法。
第四方面,本申请实施例提供一种挖掘机,所述挖掘机包括:处理器和存储器,所述存储器用于存储一个或多个程序;当所述一个或多个程序被所述处理器执行时,实现上述的方法。
相对于现有技术,本申请实施例所提供的一种挖掘机控制方法、装置、存储介质及挖掘机的有益效果为:首先依据当前的油温和修正曲线确定修正系数。其中,修正系数表征液压泵扭矩的修正比例,修正曲线包含油温和修正系数的对应关系。再依据修正系数对获得的需求扭矩进行修正,以得到目标扭矩。然后依据目标扭矩对液压泵的比例阀进行调节。考虑到油温对油液的影响,从而会导致挖掘机的实际输出不一致的问题。通过修正系数,调节目标扭矩,在低温时,减少抖动;高温时,保障当前的输出功率能够与用户的需求匹配,避免产生挖掘机动作慢、工作效率降低等问题的出现。
为使本申请的上述目的、特征和优点能更明显易懂,下文特举较佳实施例,并配合所附附图,作详细说明如下。
为了更清楚地说明本申请实施例的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,应当理解,以下附图仅示出了本申请的某些实施例,因此不应被看作是对范围的限定,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其它相关的附图。
图1为本申请实施例提供的电子设备的结构示意图;
图2为本申请实施例提供的挖掘机控制方法的流程示意图;
图3为本申请实施例提供的修正曲线的示意图;
图4为本申请实施例提供的挖掘机控制方法的流程示意图之一;
图5为本申请实施例提供的挖掘机控制方法的流程示意图之一;
图6为本申请实施例提供的挖掘机控制装置的单元示意图。
图中:10-处理器;11-存储器;12-总线;13-通信接口;201-处理单元;202-调节单元。
为使本申请实施例的目的、技术方案和优点更加清楚,下面将结合本申请实施例中的附图,对本申请实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本申请一部分实施例,而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
因此,以下对在附图中提供的本申请的实施例的详细描述并非旨在限制要求保护的本申请的范围,而是仅仅表示本申请的选定实施例。基于本申请中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本申请保护的范围。
应注意到:相似的标号和字母在下面的附图中表示类似项,因此,一旦某一项在一个附图中被定义,则在随后的附图中不需要对其进行进一步定义和解释。同时,在本申请的描述中,术语“第一”、“第二”等仅用于区分描述,而不能理解为指示或暗示相对重要性。
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
在本申请的描述中,需要说明的是,术语“上”、“下”、“内”、“外”等 指示的方位或位置关系为基于附图所示的方位或位置关系,或者是该申请产品使用时惯常摆放的方位或位置关系,仅是为了便于描述本申请和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本申请的限制。
在本申请的描述中,还需要说明的是,除非另有明确的规定和限定,术语“设置”、“连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以具体情况理解上述术语在本申请中的具体含义。
下面结合附图,对本申请的一些实施方式作详细说明。在不冲突的情况下,下述的实施例及实施例中的特征可以相互组合。
本申请实施例提供了一种电子设备,可以是车载电脑设备。请参照图1,电子设备的结构示意图。电子设备包括处理器10、存储器11、总线12。处理器10、存储器11通过总线12连接,处理器10用于执行存储器11中存储的可执行模块,例如计算机程序。
处理器10可以是一种集成电路芯片,具有信号的处理能力。在实现过程中,挖掘机控制方法的各步骤可以通过处理器10中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器10可以是通用处理器,包括中央处理器(Central Processing Unit,简称CPU)、网络处理器(Network Processor,简称NP)等;还可以是数字信号处理器(Digital Signal Processor,简称DSP)、专用集成电路(Application Specific Integrated Circuit,简称ASIC)、现场可编程门阵列(Field-Programmable Gate Array,简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
存储器11可能包含高速随机存取存储器(RAM:Random Access Memory),也可能还包括非不易失性存储器(non-volatile memory),例如至少一个磁盘存储器。
总线12可以是ISA(Industry Standard Architecture)总线、PCI(Peripheral Component Interconnect)总线或EISA(Extended Industry Standard Architecture)总线等。图1中仅用一个双向箭头表示,但并不表示仅有一根总线12或一种类型的总线12。
存储器11用于存储程序,例如挖掘机控制装置对应的程序。挖掘机控制装置包括至少一个可以软件或固件(firmware)的形式存储于存储器11中或固化在电子设备的操作***(operating system,OS)中的软件功能模块。处理器10在接收到执行指令后,执行所述程序以实现挖掘机控制方法。
可能地,本申请实施例提供的电子设备还包括通信接口13。通信接口13通过总线与处理器10连接。电子设备可以通过通信接口13接收其他终端传输的需求指令或采集信息。
应当理解的是,图1所示的结构仅为电子设备的部分的结构示意图,电子设备还可包括比图1中所示更多或者更少的组件,或者具有与图1所示不同的配置。图1中所示的各组件可以采用硬件、软件或其组合实现。
本申请实施例提供的一种挖掘机控制方法,可以但不限于应用于图1所示的电子设备,具体的流程,请参考图2:
S103,依据当前的油温和修正曲线确定修正系数。
其中,修正系数表征液压泵扭矩的修正比例,修正曲线包含油温和修正系数的对应关系。油温为液压泵内油液的温度,可以通过温度传感器获取后,传输给处理器10。
可能地,修正曲线如图3所示,修正系数随温度变化而变化。以解决在不同温度下,挖掘机可能出现的问题。
S104,依据修正系数对获得的需求扭矩进行修正,以得到目标扭矩。
其中,需求扭矩为驾驶员输入的扭矩。可能地,驾驶员可以通过档杆或其他连接设备进行需求扭矩的输入。
如果忽略油温的影响,直接按照输入的需求扭矩控制液压泵,可能会出现:液压油温过低,导致液压油的粘度升高,液压泵的吸油阻力变大,此时产生冷机状态下挖掘机动作的不连贯、抖动等问题;或者,液压油温过高导致液压油变稀,液压***压力会随之降低,实际工作流量减少,设备的效率降低,此时产生挖掘机动作慢、工作效率降低等问题。
为了解决上述问题,需要依据修正系数对需求扭矩进行修正以得到目标扭矩。即对需求功率进行修正得到目标功率。
S107,依据目标扭矩对液压泵的比例阀进行调节。
可能地,在低温时,修正后的目标扭矩相对需求扭矩降低,比例阀开度 减小,减少抖动;高温时,油液变稀,压力不足,修正后的目标扭矩相对需求扭矩增加,比例阀开度增加,保障当前的输出功率能够与用户的需求匹配,避免产生挖掘机动作慢、工作效率降低等问题的出现。
综上所述,本申请实施例提供的挖掘机控制方法中,首先依据当前的油温和修正曲线确定修正系数。其中,修正系数表征液压泵扭矩的修正比例,修正曲线包含油温和修正系数的对应关系。再依据修正系数对获得的需求扭矩进行修正,以得到目标扭矩。然后依据目标扭矩对液压泵的比例阀进行调节。考虑到油温对油液的影响,从而会导致挖掘机的实际输出不一致的问题。通过修正系数,调节目标扭矩,在低温时,减少抖动;高温时,保障当前的输出功率能够与用户的需求匹配,避免产生挖掘机动作慢、工作效率降低等问题的出现。
在图2的基础上,关于修正曲线,本申请实施例还提供了一种可能的实现方式,请继续参考图3,油温和修正系数的对应关系包括:
若油温小于第一温度阈值,则修正系数为第一修正阈值。
若油温大于或等于第一温度阈值且小于第二温度阈值,则修正系数随着油温的增加从第一修正阈值线性增加至第二修正阈值。
若油温大于或等于第二温度阈值且小于或等于第三温度阈值,则修正系数为第二修正阈值。
若油温大于第三温度阈值且小于第四温度阈值,则修正系数随着油温的增加从第二修正阈值线性增加至第三修正阈值。
若油温大于或等于第四温度阈值且小于第五温度阈值,则修正系数随着油温的增加从第三修正阈值线性降低至第四修正阈值。
若油温大于或等于第五温度阈值,则修正系数为第四修正阈值。
其中,第一修正阈值和第四修正阈值均小于第二修正阈值,第三修正阈值大于第二修正阈值,第一温度阈值、第二温度阈值、第三温度阈值、第四温度阈值以及第五温度阈值依次增大。
第一修正阈值和第四修正阈值可以相同也可以不同。
第一修正阈值小于第二修正阈值,第一温度阈值小于第二温度阈值,即在油温较低的环境下,降低目标扭矩。即使液压油温过低导致液压油的粘度升高,液压泵的吸油阻力变大,因为已经降低了目标扭矩,此时产生冷机状 态下挖掘机动作的不连贯、抖动等问题也能减轻或减少。
第二温度阈值和第三温度阈值的区间,相当于正常油温工作的区间。
第三温度阈值小于第四温度阈值,第二修正阈值小于第三修正阈值,即在油温较高的环境下,增加目标扭矩。减轻或减少液压油温过高导致液压油变稀,液压***压力会随之降低,实际工作流量减少,设备的效率降低等问题,同时减轻挖掘机动作慢、工作效率降低等问题。
当温度高于第四温度阈值时,此时油温继续升高会对设备造成损害,需要适当控制输出功率,以降低油温,所以修正系数降低。
可能地,第一温度阈值、第二温度阈值、第三温度阈值、第四温度阈值以及第五温度阈值分别为T1、T2、T3、T4以及T5,对应的温度值分别为0、30、70、90以及100。
第一修正阈值和第四修正阈值为0.8,第二修正阈值为1,第三修正阈值为1.2。
在图3的基础上,为了保障挖掘机设备的安全运行,本申请实施例还提供了一种可能的实现方式,请参考图4,挖掘机控制方法还包括:
S101,判断油温是否小于第一温度阈值或大于第四温度阈值。若是,则执行S102;若否,则执行S103。
具体地,当油温小于第一温度阈值或大于第四温度阈值,可能当前环境并不适合挖掘机再工作,若持续工作,可能损坏挖掘机,从而产生安全隐患。为了提醒驾驶员,此时执行S102。反之,则执行S103。
S102,发出告警指令。
可能地,在发出告警指令,可以继续执行S103。在一种可能的实现方式中,在发出告警指令后,挖掘机停止工作,例如油温超过安全阈值。
在图2的基础上,关于S107中的内容,本申请实施例还提供了一种可能的实现方式,请参考图5,挖掘机控制方法还包括:
S105,依据先导压力确定需求排量。
处理器10可以采集先导压力,经过滤波、限幅、计算等信号处理,确定对应的需求排量的大小。
S106,依据液压泵的主压确定最大排量。
处理器10可以采集液压泵的主压,经过滤波、限幅、计算等信号处理, 确定对应的最大排量的大小。
S107包括:
S107-1,将需求排量和最大排量中数值小的作为限制排量。
当前挖掘机液压泵的排量不能超过限制排量。
S107-2,判断目标扭矩对应的目标排量是否小于限制排量。若是,则执行S107-3;若否,则执行S107-4。
若目标扭矩对应的目标排量小于限制排量,即当前排量能够满足目标排量,此时依据目标排量对液压泵的比例阀进行调节,执行S107-3;反之,则执行S107-4。
S107-3,依据目标排量对液压泵的比例阀进行调节。
S107-4,依据限制排量对液压泵的比例阀进行调节。
在图5的基础上,对应S107-3中的内容,本申请实施例还提供了一种可能的实现方式,请参考下文。
依据主泵的压力和主泵的电流计算反馈扭矩(主泵当前的扭矩)。依据反馈扭矩与目标扭矩的差值,确定对应的排量差,再依据排量差对液压泵的比例阀进行调节。
依据排量差对液压泵的比例阀进行调节可以由调节单元(发送给Pid控制模块)进行。
请参阅图6,图6为本申请实施例提供的一种挖掘机控制装置,可选的,该挖掘机控制装置被应用于上文所述的电子设备。
挖掘机控制装置包括:处理单元201和调节单元202。
处理单元201,用于依据当前的油温和修正曲线确定修正系数,其中,修正系数表征液压泵扭矩的修正比例,修正曲线包含油温和修正系数的对应关系;还用于依据修正系数对获得的需求扭矩进行修正,以得到目标扭矩,其中,需求扭矩为驾驶员输入的扭矩。具体地,处理单元201可以执行S103和S104。
调节单元202,用于依据目标扭矩对液压泵的比例阀进行调节。具体地,调节单元202可以执行S107。
进一步地,油温和修正系数的对应关系包括:
若油温小于第一温度阈值,则修正系数为第一修正阈值;
若油温大于或等于第一温度阈值且小于第二温度阈值,则修正系数随着油温的增加从第一修正阈值线性增加至第二修正阈值;
若油温大于或等于第二温度阈值且小于或等于第三温度阈值,则修正系数为第二修正阈值;
若油温大于第三温度阈值且小于第四温度阈值,则修正系数随着油温的增加从第二修正阈值线性增加至第三修正阈值;
若油温大于或等于第四温度阈值且小于第五温度阈值,则修正系数随着油温的增加从第三修正阈值线性降低至第四修正阈值;
若油温大于或等于第五温度阈值,则修正系数为第四修正阈值;
其中,第一修正阈值和第四修正阈值均小于第二修正阈值,第三修正阈值大于第二修正阈值,第一温度阈值、第二温度阈值、第三温度阈值、第四温度阈值以及第5温度阈值依次增大。
进一步地,处理单元201还用于当油温小于第一温度阈值或大于第四温度阈值时,发出告警指令。具体地,处理单元201可以执行S101和S102。
进一步地,处理单元201还用于依据先导压力确定需求排量;依据液压泵的主压确定最大排量。具体地,处理单元201可以执行S105和S106。
调节单元202还用于将需求排量和最大排量中数值小的作为限制排量;当目标扭矩对应的目标排量小于限制排量时,依据目标排量对液压泵的比例阀进行调节;当目标扭矩对应的目标排量大于或等于限制排量时,依据限制排量对液压泵的比例阀进行调节。具体地,处理单元201可以执行S103和S104。具体地,调节单元202可以执行S107-1~S107-4。
需要说明的是,本实施例所提供的挖掘机控制装置,其可以执行上述方法流程实施例所示的方法流程,以实现对应的技术效果。为简要描述,本实施例部分未提及之处,可参考上述的实施例中相应内容。
本申请实施例还提供了一种存储介质,该存储介质存储有计算机指令、程序,该计算机指令、程序在被读取并运行时执行上述实施例的挖掘机控制方法。该存储介质可以包括内存、闪存、寄存器或者其结合等。
下面提供一种挖掘机,该挖掘机包括如图1所示的电子设备,可以实现上述的挖掘机控制方法;具体的,该电子设备包括:处理器10,存储器11、总线12。处理器10可以是CPU。存储器11用于存储一个或多个程序,当一 个或多个程序被处理器10执行时,执行上述实施例的挖掘机控制方法。
在本申请所提供的实施例中,应该理解到,所揭露的装置和方法,也可以通过其它的方式实现。以上所描述的装置实施例仅仅是示意性的,例如,附图中的流程图和框图显示了根据本申请的多个实施例的装置、方法和计算机程序产品的可能实现的体系架构、功能和操作。在这点上,流程图或框图中的每个方框可以代表一个模块、程序段或代码的一部分,所述模块、程序段或代码的一部分包含一个或多个用于实现规定的逻辑功能的可执行指令。也应当注意,在有些作为替换的实现方式中,方框中所标注的功能也可以以不同于附图中所标注的顺序发生。例如,两个连续的方框实际上可以基本并行地执行,它们有时也可以按相反的顺序执行,这依所涉及的功能而定。也要注意的是,框图和/或流程图中的每个方框、以及框图和/或流程图中的方框的组合,可以用执行规定的功能或动作的专用的基于硬件的***来实现,或者可以用专用硬件与计算机指令的组合来实现。
另外,在本申请各个实施例中的各功能模块可以集成在一起形成一个独立的部分,也可以是各个模块单独存在,也可以两个或两个以上模块集成形成一个独立的部分。
所述功能如果以软件功能模块的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、只读存储器(ROM,Read-Only Memory)、随机存取存储器(RAM,Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
以上所述仅为本申请的优选实施例而已,并不用于限制本申请,对于本领域的技术人员来说,本申请可以有各种更改和变化。凡在本申请的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本申请的保护范围之内。
对于本领域技术人员而言,显然本申请不限于上述示范性实施例的细节, 而且在不背离本申请的精神或基本特征的情况下,能够以其它的具体形式实现本申请。因此,无论从哪一点来看,均应将实施例看作是示范性的,而且是非限制性的,本申请的范围由所附权利要求而不是上述说明限定,因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本申请内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
Claims (10)
- 一种挖掘机控制方法,所述方法包括:依据当前的油温和修正曲线确定修正系数,其中,所述修正系数表征液压泵扭矩的修正比例,所述修正曲线包含所述油温和所述修正系数的对应关系;依据所述修正系数对获得的需求扭矩进行修正,以得到目标扭矩,其中,所述需求扭矩为驾驶员输入的扭矩;依据所述目标扭矩对所述液压泵的比例阀进行调节。
- 如权利要求1所述的挖掘机控制方法,其中,所述油温和所述修正系数的对应关系包括:若所述油温小于第一温度阈值,则所述修正系数为第一修正阈值;若所述油温大于或等于所述第一温度阈值且小于第二温度阈值,则所述修正系数随着所述油温的增加从所述第一修正阈值线性增加至第二修正阈值;若所述油温大于或等于所述第二温度阈值且小于或等于第三温度阈值,则所述修正系数为所述第二修正阈值;若所述油温大于所述第三温度阈值且小于第四温度阈值,则所述修正系数随着所述油温的增加从所述第二修正阈值线性增加至第三修正阈值;若所述油温大于或等于所述第四温度阈值且小于第五温度阈值,则所述修正系数随着所述油温的增加从所述第三修正阈值线性降低至第四修正阈值;若所述油温大于或等于所述第五温度阈值,则所述修正系数为所述第四修正阈值;其中,所述第一修正阈值和所述第四修正阈值均小于所述第二修正阈值,所述第三修正阈值大于所述第二修正阈值,所述第一温度阈值、所述第二温度阈值、所述第三温度阈值、所述第四温度阈值以及所述第五温度阈值依次增大。
- 如权利要求2所述的挖掘机控制方法,其中,所述方法还包括:当所述油温小于所述第一温度阈值或大于所述第四温度阈值时,发出告警指令。
- 如权利要求1所述的挖掘机控制方法,其中,所述方法还包括:依据先导压力确定需求排量;依据所述液压泵的主压确定最大排量;所述依据所述目标扭矩对所述液压泵的比例阀进行调节的步骤,包括:将所述需求排量和所述最大排量中数值小的作为限制排量;当所述目标扭矩对应的目标排量小于所述限制排量时,依据所述目标排量对所述液压泵的比例阀进行调节;当所述目标扭矩对应的目标排量大于或等于所述限制排量时,依据所述限制排量对所述液压泵的比例阀进行调节。
- 一种挖掘机控制装置,其中,所述装置包括:处理单元,用于依据当前的油温和修正曲线确定修正系数,其中,所述修正系数表征液压泵扭矩的修正比例,所述修正曲线包含所述油温和所述修正系数的对应关系;还用于依据所述修正系数对获得的需求扭矩进行修正,以得到目标扭矩,其中,所述需求扭矩为驾驶员输入的扭矩;调节单元,用于依据所述目标扭矩对所述液压泵的比例阀进行调节。
- 如权利要求5所述的挖掘机控制装置,其中,所述油温和所述修正系数的对应关系包括:若所述油温小于第一温度阈值,则所述修正系数为第一修正阈值;若所述油温大于或等于所述第一温度阈值且小于第二温度阈值,则所述修正系数随着所述油温的增加从所述第一修正阈值线性增加至第二修正阈值;若所述油温大于或等于所述第二温度阈值且小于或等于第三温度阈值,则所述修正系数为所述第二修正阈值;若所述油温大于所述第三温度阈值且小于第四温度阈值,则所述修正系数随着所述油温的增加从所述第二修正阈值线性增加至第三修正阈值;若所述油温大于或等于所述第四温度阈值且小于第五温度阈值,则所述修正系数随着所述油温的增加从所述第三修正阈值线性降低至第四修正阈值;若所述油温大于或等于所述第五温度阈值,则所述修正系数为所述第四修正阈值;其中,所述第一修正阈值和所述第四修正阈值均小于所述第二修正阈值,所述第三修正阈值大于所述第二修正阈值,所述第一温度阈值、所述第二温度阈值、所述第三温度阈值、所述第四温度阈值以及所述第五温度阈值依次增大。
- 如权利要求6所述的挖掘机控制装置,其中,所述处理单元还用于当所述油温小于所述第一温度阈值或大于所述第四温度阈值时,发出告警指令。
- 如权利要求5所述的挖掘机控制装置,其中,所述处理单元还用于依据先导压力确定需求排量;依据所述液压泵的主压确定最大排量;所述调节单元还用于将所述需求排量和所述最大排量中数值小的作为限制排量;当所述目标扭矩对应的目标排量小于所述限制排量时,依据所述目标排量对所述液压泵的比例阀进行调节;当所述目标扭矩对应的目标排量大于或等于所述限制排量时,依据所述限制排量对所述液压泵的比例阀进行调节。
- 一种存储介质,其上存储有计算机程序,其中,该计算机程序被处理器执行时实现如权利要求1-4中任一项所述的方法。
- 一种挖掘机,包括:处理器和存储器,所述存储器用于存储一个或多个程序;当所述一个或多个程序被所述处理器执行时,实现如权利要求1-4中任一项所述的方法。
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