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

Abstract

Embodiments of the present invention provide a compensation method, device, excavator and processor for hysteresis of proportional valve of an excavator. The excavator includes a main pump, a controller and a proportional valve. The method includes: acquiring a target action of the main pump; The target action is to generate a corresponding PWM signal; superimpose the dither signal on the PWM signal; and output the PWM signal after superimposing the dither signal to the proportional valve to reduce the hysteresis of the proportional valve. By optimizing the controller program, the hysteresis of the proportional valve is compensated and improved without changing the electro-hydraulic control system and the original PWM output frequency. At the same time, because the PWM output signal is constantly changing and responding, the control accuracy of the proportional valve is greatly improved, and the error when the controller adjusts the proportional valve for reciprocating motion is reduced, which significantly improves the accuracy and stability of the hydraulic system.

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 hysteresis of a proportional valve of an excavator. Background technique [0002] Electro-hydraulic proportional control valve is a key component of 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 input corresponding to the same output pressure or flow rate. The percentage of the input current of the maximum difference of the current is called the hysteresis error of the proportional valve. The smaller the hysteresis error is, when the proportional valve circulates back and forth under the action of the input current, the smaller the pressure output d...

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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