Compensation method and device for hysteresis of proportional valve of excavator, excavator and processor

Abstract

The embodiment of the invention provides an excavator proportional valve hysteresis compensation method and device, an excavator and a processor, the excavator comprises a main pump, a controller and a proportional valve. The method comprises the steps of obtaining the target action of the main pump; generating a corresponding PWM signal according to the target action of the main pump; superposing a tremor signal on the PWM signal; and outputting the PWM signal superposed with the tremor signal to a proportional valve so as to reduce hysteresis of the proportional valve. By optimizing the program of the controller, the hysteresis condition of the proportional valve is compensated and improved under the condition that the electro-hydraulic control system is not changed and the original PWM (Pulse Width Modulation) output frequency is not changed at the same time. Meanwhile, the PWM output signal is always subjected to change response, so that the control precision of the proportional valve is greatly improved, errors generated when the controller adjusts the proportional valve to do reciprocating movement are reduced, and the precision and stability of the hydraulic system are remarkably improved.

Description

technical field [0001] The invention relates to the technical field of proportional valves, in particular to a compensation method, device, excavator and processor for excavator proportional valve hysteresis. Background technique [0002] The electro-hydraulic proportional control valve is a key component of the hydraulic control system. The electro-hydraulic proportional valve is a typical nonlinear time-varying system. Due to the hysteresis of the electromagnetic circuit of the electromagnet and the clearance in the proportional valve, the input current of the proportional valve is in a reciprocating cycle, and the same output pressure or flow corresponds to the input current. The percentage of the maximum current difference input current is called the hysteresis error of the proportional valve. The smaller the hysteresis error, the smaller the pressure output difference when the proportional valve circulates back and forth under the action of the input current, and the b...

AI Technical Summary

Problems solved by technology

However, in this technical solution, in the actual working process of the hydraulic excavator, the spool needs to overcome static friction and hydraulic oil resistance to move after receiving the electrical signal, resulting in a hysteresis phenomenon in the proportional valve after receiving the electrical signal, which seriously affects hydraulic excavation. The accuracy of the electro-hydraulic proportional control of the excavator reduces the control stability of the excavator

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