Engineering machinery self-adaptive PID (Proportion Integration Differentiation) regulation oil pump control method and system

Abstract

The invention belongs to the technical field of new energy engineering machinery, and particularly relates to a self-adaptive PID (Proportion Integration Differentiation) regulation oil pump control method and system for engineering machinery. According to the invention, the oil pump motor is controlled by simulating the voltage speed regulation system and adopting the PID control panel voltage output, and the control is optimized by collecting the use information, so that the long-time low-efficiency operation of the motor in the use process is avoided, the system obtains the optimal control performance, and the operation of the oil pump motor with the optimal efficiency is realized.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy engineering machinery, and in particular relates to an engineering machinery adaptive PID regulation oil pump control method and system. Background Art

[0002] Existing new energy engineering machinery hydraulic motors are directly controlled by controllers. In the actual use of hydraulic motors, it is often hoped that the speed and flow of hydraulic motors can be maintained at a certain optimal value. This can not only reduce energy consumption and improve the operating efficiency of hydraulic motors, but also increase the service life of hydraulic parts, prevent the occurrence of oil leakage in hydraulic units, and reduce the working intensity of hydraulic units. How to use advanced control theory to maximize the performance of flow regulation to achieve dual control of flow and motor speed. Optimizing the control method of hydraulic motors and improving the operating efficiency of hydraulic motors has become a problem to be solved. At present, the most widely used method for regulating hydraulic motors in new energy engineering machinery is to directly control the motor to run continuously at a certain speed. Most of these controllers are designed on engineering machinery with certain parameters. When the operating flow and parameters are uncertain or the operating parameters change, there will be a mismatch between the controller and the actual system, making it difficult for the system to achieve the desired hydraulic flow during design. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for controlling an engineering machinery self-adaptive PID oil pump, which can achieve stability of the engineering machinery hydraulic system through control of a control panel and improve the operating efficiency of the hydraulic motor.

[0004] The technical solution adopted by the present invention is as follows: A construction machinery adaptive PID regulation oil pump control method and system, comprising: Obtaining a regulation signal from the controller, wherein the regulation signal includes an analog quantity signal of an input electric proportional multi-way valve, a real-time temperature signal of the hydraulic oil, and a real-time flow signal; According to the analog signal of the electric proportional multi-way valve, the required motor speed and required flow of the oil pump are matched, and the proportional gain and the rate of change of the deviation are calculated in combination with the real-time temperature signal and the real-time flow signal of the hydraulic oil, and the parameters are adjusted according to the output controller; According to the controller adjustment parameters, the controller adjusts the output parameters online in real time through PID to obtain a nonlinear function, and the output of the controller is adaptively adjusted with the output result of the nonlinear function, and the output result is calibrated as an adaptive parameter; The adaptive parameters output by the acquisition controller are used to dynamically adjust the proportional gain, and the adjusted proportional gain is input into the nonlinear function to be operated next time.

[0005] In a preferred embodiment, the input electrical proportional signal is a 0-5V signal output after the multi-way valve is actuated, supporting 6 analog input signals, the hydraulic oil temperature signal is the real-time temperature of the hydraulic oil, and the flow signal is the current hydraulic flow, which is connected to the input end of the multi-way valve for real-time monitoring of the flow.

[0006] In a preferred embodiment, when the oil pump is working, a proportional gain and a deviation value are obtained, wherein the deviation value is the difference between the expected output value and the actual output value of the oil pump; Get the standard output function; The proportional gain, the expected output value and the actual output value are input into a standard output function, and the output result is calibrated as the output signal of the controller.

[0007] In a preferred embodiment, before the controller adjusts the adaptive parameters, the controller parameter K T , K L The initial value of K is set to 0, and K is gradually increased. T、 K L , until the system oscillates with equal amplitude and records it as critical oscillation, and simultaneously records the critical oscillation gain K at this time T crit and critical oscillation period Tpcrit.

[0008] In a preferred embodiment, the step of matching the required motor speed and required flow rate of the oil pump according to the analog signal of the electric proportional multi-way valve includes: Obtain the opening degree-standard flow relationship table of the electric proportional multi-way valve, and match the required flow of the oil delivery pump based on it; Obtain the working status-standard speed relationship table of the construction machinery, and match it with the actual speed requirements of the shipping oil pump; According to the hydraulic oil temperature signal, flow signal, actual flow demand, and actual speed demand, the proportional gain and the rate of change of the deviation are matched through the preset speed-temperature-flow relationship table.

[0009] In a preferred embodiment, when the oil pump is working, a search is performed in a preset database according to a real-time temperature signal and a real-time flow signal of the hydraulic oil to obtain the dynamic viscosity and density of the hydraulic oil; Obtain a standard function, input the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrate the output result as the Reynolds number Re=Dvρ / μ when the hydraulic oil flows in the oil pipe; Matching the friction coefficient corresponding to the Reynolds number, calculating the drag loss along the hydraulic oil according to the friction coefficient, and adjusting the output voltage of the controller according to the drag loss along the hydraulic oil; The output voltage of the controller is positively correlated with the resistance loss along the way.

[0010] In a preferred embodiment, the step of matching the friction coefficient corresponding to the Reynolds number comprises: When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re; When the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25 .

[0011] In a preferred embodiment, the controller adjustment parameters include flow adjustment parameters and temperature adjustment parameters; Comparing the flow adjustment parameter and the temperature adjustment parameter with the input value of the operator's operating handle to control the hydraulic motor at this time; If the temperature adjustment parameter exceeds a preset alarm threshold, the controller adjusts the output voltage to decrease; If the temperature adjustment parameter is normal, but the flow adjustment parameter is zero and the input value changes, the controller adjusts the output voltage to be lowered.

[0012] The present invention also provides an engineering machinery adaptive PID regulation oil pump control system, which is applied to the above-mentioned engineering machinery adaptive PID regulation oil pump control method, comprising: An acquisition module, used for acquiring a regulation signal of the controller, wherein the regulation signal includes an analog quantity signal of an input electric proportional multi-way valve, a real-time temperature signal of hydraulic oil, and a real-time flow signal; A control output module is used to match the required motor speed and required flow of the oil pump according to the analog signal of the electric proportional multi-way valve, and calculate the proportional gain and the rate of change of the deviation in combination with the real-time temperature signal and the real-time flow signal of the hydraulic oil, and adjust the parameters according to the output controller; An adaptive adjustment module is used to adjust the output parameters of the controller in real time through the online PID adjustment of the controller according to the adjustment parameters of the controller, obtain a nonlinear function, and adaptively adjust the output of the controller with the output result of the nonlinear function, and calibrate the output result as an adaptive parameter; The dynamic optimization module is used to collect the adaptive parameters output by the controller, and dynamically adjust the proportional gain based on the adaptive parameters, and input the adjusted proportional gain into the nonlinear function to be executed next time.

[0013] And, an engineering machinery adaptive PID regulating oil pump control board, comprising: at least one controller; and a memory communicatively coupled to the at least one controller; The memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can execute the above-mentioned engineering machinery adaptive PID regulation oil pump control method.

[0014] The technical effects achieved by the present invention are: The present invention uses an analog voltage speed regulation system for the oil pump motor, adopts a PID control board voltage output for control, and optimizes the control by collecting usage information, thereby avoiding long-term low-efficiency operation of the motor during use, enabling the system to obtain optimal control performance and achieve optimal efficiency operation of the oil pump motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flow chart of the method of the present invention; Figure 2 It is a structural diagram of a control panel of the present invention; Figure 3 is a relationship table between the preset working state and the standard rotation speed of the engineering machinery of the present invention; Figure 4 It is the preset temperature-flow relationship table of the present invention. DETAILED DESCRIPTION

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0017] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0018] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0019] See also Figure 1 As shown, the present invention provides a construction machinery adaptive PID regulation oil pump control method, comprising: S1. Obtaining a regulating signal from a controller, wherein the regulating signal includes an analog signal of an input electric proportional multi-way valve, a real-time temperature signal of hydraulic oil, and a real-time flow signal; S2, matching the required motor speed and required flow of the oil pump according to the analog signal of the electric proportional multi-way valve, and calculating the proportional gain and the rate of change of the deviation in combination with the real-time temperature signal and the real-time flow signal of the hydraulic oil, and adjusting the parameters according to the output controller; S3, according to the controller adjustment parameters, the controller online real-time PID adjustment output parameters, to obtain a nonlinear function, and the output of the controller is adaptively adjusted with the output result of the nonlinear function, and the output result is calibrated as an adaptive parameter; S4. Acquire the adaptive parameters output by the controller, dynamically adjust the proportional gain based on the adaptive parameters, and input the adjusted proportional gain into the nonlinear function to be operated next time.

[0020] As described in the above steps S1-S4, the load changes and external environment changes of the engineering machinery during the working process will cause the temperature and flow of the hydraulic oil to fluctuate, thereby affecting the working efficiency and stability of the oil pump. In order to better adapt to such changes, the present invention further introduces a dynamic monitoring and feedback mechanism to adjust the PID control parameters of the oil pump in real time to achieve more efficient and stable oil pump control. First, it is necessary to obtain the adjustment signal of the controller. These adjustment signals include the input electric proportional multi-way valve analog signal, the hydraulic oil real-time temperature signal and the real-time flow signal, which directly reflects the real-time state of the hydraulic system. Then, according to the electric proportional multi-way valve analog signal, the required motor speed and required flow of the oil pump are matched. At the same time, combined with the real-time temperature signal and the real-time flow signal of the hydraulic oil, the proportional gain and the rate of change of the deviation are calculated. The rate of change of the deviation includes the temperature deviation rate of change and the flow deviation rate of change, so as to reflect the dynamic changes of the system. Then, according to the proportional gain and the rate of change of the deviation, the controller adjustment parameter is output, and according to the controller adjustment parameter, the output parameter is adjusted by the controller online real-time PID to obtain a nonlinear function, wherein the expression of the nonlinear function is: ,in, is the output of the controller at the tth sampling time, is the deviation of the given value at the kth sampling moment, To control the reaction rate, In order to control the stabilization effect, the function expression of dynamically adjusting the proportional gain is: , Represents the proportional gain after dynamic adjustment. The output of this nonlinear function will be used to adaptively adjust the output of the controller to adapt to different working conditions.

[0021] In a preferred embodiment, the input electrical proportional signal is a 0-5V signal output after the multi-way valve is actuated, supporting 6 analog input signals, the hydraulic oil temperature signal is the real-time temperature of the hydraulic oil, and the flow signal is the current hydraulic flow, which is connected to the input end of the multi-way valve for real-time monitoring of the flow.

[0022] In this embodiment, the input electrical proportional signal is a 0-5V voltage signal output after the multi-way valve is actuated. The voltage signal can support 6 analog inputs, that is, it can process 6 different analog signals at the same time, and the hydraulic oil temperature signal refers to the current real-time temperature of the hydraulic oil, so that the temperature condition of the hydraulic oil can be reflected in real time. In addition, the flow signal refers to the hydraulic flow in the current hydraulic system. The flow signal is connected to the input end of the multi-way valve, and the size of the hydraulic flow can be monitored in real time, which plays a key role in ensuring the working efficiency and stability of the hydraulic system.

[0023] In a preferred embodiment, when the oil pump is working, a proportional gain and a deviation value are obtained, wherein the deviation value is the difference between the expected output value and the actual output value of the oil pump; Get the standard output function; The proportional gain, expected output value and actual output value are input into the standard output function together, and the output result is calibrated as the output signal of the controller.

[0024] In this embodiment, the expression of the standard function is: ; In the formula, Represents the proportional gain, which is inversely proportional to the degree of proportionality. ——integral time constant, represents the differential time constant, represents the output signal of the PID controller, It represents the difference between the expected output value and the actual output value of the oil pump. Based on the above formula, the output of the oil pump can be controlled more accurately to ensure that it is as close to the expected output value as possible. At the same time, the introduction of integral time constant and differential time constant can foresee the changing trend of the system to a certain extent and make adjustments in advance, thereby further improving the stability and response speed of the system.

[0025] In a preferred embodiment, before the controller adjusts the adaptive parameters, the controller parameter K T , K L The initial value of K is set to 0, and K is gradually increased. T、 K L , until the system oscillates with equal amplitude and records it as critical oscillation, and simultaneously records the critical oscillation gain K at this time T crit and critical oscillation period Tpcrit.

[0026] In this embodiment, before performing adaptive parameter adjustment of the controller, it is first necessary to initialize the parameters KT and KL of the controller, set their initial values ​​to 0, and set K to a smaller initial value so that the system can be put into stable operation. Then, it is necessary to gradually increase the values ​​of KT and KL until the system exhibits equal-amplitude oscillations. This equal-amplitude oscillation is defined as a critical oscillation. When the system reaches the critical oscillation state, it is necessary to record the values ​​of KT and KL at this time. These two values ​​are calibrated as the critical oscillation gain KTcrit and the critical oscillation period Tpcrit. By continuously adjusting KT and KL, the system oscillation can be controlled within the minimum range, thereby making the system operation more stable.

[0027] In a preferred embodiment, the step of matching the required motor speed and required flow rate of the oil pump according to the analog signal of the electric proportional multi-way valve includes: Obtain the opening degree-standard flow relationship table of the electric proportional multi-way valve, and match the required flow of the oil delivery pump based on it; Obtain the preset working state-standard speed relationship table of the construction machinery, and match the actual speed requirements of the shipping oil pump based on it; According to the hydraulic oil temperature signal, flow signal, actual flow demand, and actual speed demand, the proportional gain and the rate of change of the deviation are matched through the preset speed-temperature-flow relationship table.

[0028] In this embodiment, in order to meet the requirement of the electric proportional multi-way valve for accurate matching between the analog signal and the oil pump speed and flow rate, first, a relationship table between the opening degree of the electric proportional multi-way valve and the standard flow rate is obtained to determine the specific flow rate required by the oil pump at various opening degrees. Next, a relationship table between the preset working state of the engineering machinery and the standard speed needs to be obtained (see Figure 3 ), so as to accurately match the actual speed required by the oil pump according to the working requirements of the construction machinery. In addition, it is also necessary to consider the hydraulic oil temperature signal and flow signal, as well as the actual flow demand and actual speed demand calculated therefrom, which are specifically determined through the preset temperature-flow relationship table (see Figure 4 ) to match the proportional gain and the rate of change of the deviation. In general, we must consider various factors, including the opening degree of the electric proportional multi-way valve, the preset working state of the construction machinery, the temperature and flow of the hydraulic oil, and the rate of change of the proportional gain and the deviation, to ensure that the speed and flow of the oil pump can meet the needs of the construction machinery.

[0029] In a preferred embodiment, when the oil pump is working, a search is performed in a preset database according to the real-time temperature signal and the real-time flow signal of the hydraulic oil to obtain the dynamic viscosity of the hydraulic oil and the density of the hydraulic oil; Obtain a standard function, input the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrate the output result as the Reynolds number when the hydraulic oil flows in the oil pipe; According to the Reynolds number, the friction coefficient corresponding to it is matched, and then the resistance loss along the hydraulic oil is calculated according to the friction coefficient, and the output voltage of the controller is adjusted according to the resistance loss along the way; Among them, the output voltage of the controller is positively correlated with the resistance loss along the way.

[0030] In the above, during the operation of the oil pump, the real-time temperature signal and real-time flow signal of the hydraulic oil are monitored in real time. Through these real-time data, a search can be performed in the internal preset database to obtain the current dynamic viscosity and density of the hydraulic oil. Then, a standard function is used to process the dynamic viscosity and density, that is, the searched dynamic viscosity and density of the hydraulic oil are used as input values ​​and sent to the standard function for calculation. The expression of the standard function is: Re = Dvρ / μ, Re represents the Reynolds number, D represents the inner diameter of the pipeline, v represents the flow rate of the hydraulic oil, ρ represents the density of the hydraulic oil, and μ represents the dynamic viscosity of the hydraulic oil. Based on the above calculation, the Reynolds number of the hydraulic oil flowing in the oil pipe can be obtained, so as to reflect the flow characteristics and flow state of the hydraulic oil, such as laminar flow or turbulent flow. Subsequently, the oil pump will search for the corresponding friction coefficient in another preset database according to the calculated Reynolds number. Once a suitable friction coefficient is found, the oil pump can calculate the along-the-way resistance loss that the hydraulic oil may encounter during the flow process based on this coefficient. The steps of matching the corresponding friction coefficient according to the Reynolds number include: When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re, when the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25， , where the calculation function of the resistance loss along the way is: h f =λLv2 / 2Dg,h f Represents the resistance loss along the way, λ represents the friction coefficient, g represents the acceleration of gravity, and finally, the oil pump will adjust the output voltage of the controller according to the calculated resistance loss along the way. This adjustment is dynamic, which means that as the resistance loss along the way changes, the output voltage of the controller will also be adjusted accordingly. It is worth noting that there is a positive correlation between the output voltage of the controller and the resistance loss along the way, which means that when the resistance loss along the way increases, the output voltage of the controller will also increase accordingly to ensure that the oil pump system can maintain a stable and effective working state.

[0031] In a preferred embodiment, the controller adjustment parameters include flow adjustment parameters and temperature adjustment parameters; Comparing the flow adjustment parameter and the temperature adjustment parameter with the input value of the operator's operating handle to control the hydraulic motor at this time; If the temperature adjustment parameter exceeds the preset alarm threshold, the controller adjusts the output voltage to decrease; If the temperature adjustment parameter is normal, but the flow adjustment parameter is zero and the input value changes, the controller adjusts the output voltage to be lowered.

[0032] In this embodiment, the adjustment parameters of the controller are mainly divided into two categories, namely flow adjustment parameters and temperature adjustment parameters. The flow adjustment parameters and temperature adjustment parameters are the basis for the controller to adjust and control. In the actual operation process, it is necessary to compare and analyze the flow adjustment parameters and temperature adjustment parameters with the input value of the operator's operating handle to control the hydraulic motor at this time. If it is found in the comparison process that the temperature adjustment parameter has exceeded the preset alarm threshold, the controller will immediately take action to adjust the output voltage to reduce it. This is to prevent equipment damage or other safety hazards caused by excessive temperature. On the other hand, if it is found in the comparison process that the temperature adjustment parameter is within the normal range, but the flow adjustment parameter is zero, and the input value is also changing, the controller will also react to adjust the output voltage to reduce it. This is to ensure that when the flow is zero, the change of the input value will not affect the normal operation of the equipment. Therefore, the controller will dynamically adjust the output voltage according to the comparison result of the flow adjustment parameter and the temperature adjustment parameter with the operation input to ensure the stable operation and safety of the equipment, so as to ensure the long-term stable operation of the equipment.

[0033] The present invention also provides an engineering machinery adaptive PID regulation oil pump control system, which is applied to the above-mentioned engineering machinery adaptive PID regulation oil pump control method, comprising: An acquisition module is used to acquire the adjustment signal of the controller, wherein the adjustment signal includes an analog signal of an input electric proportional multi-way valve, a real-time temperature signal of the hydraulic oil, and a real-time flow signal; The control output module is used to match the required motor speed and required flow of the oil pump according to the analog signal of the electric proportional multi-way valve, and calculate the proportional gain and the rate of change of the deviation in combination with the real-time temperature signal and real-time flow signal of the hydraulic oil, and adjust the parameters according to its output controller; The adaptive adjustment module is used to adjust the output parameters through the controller online real-time PID according to the controller adjustment parameters to obtain a nonlinear function, and adaptively adjust the output of the controller with the output result of the nonlinear function, and calibrate its output result as an adaptive parameter; The dynamic optimization module is used to collect the adaptive parameters output by the controller, and dynamically adjust the proportional gain based on the adaptive parameters, and input the adjusted proportional gain into the nonlinear function to be executed next time.

[0034] In the above, the system includes an acquisition module, a control output module, an adaptive adjustment module and a dynamic optimization module. The acquisition module is responsible for collecting various necessary signals, including but not limited to the adjustment signal of the controller, the analog signal of the input electric proportional multi-way valve, the real-time temperature signal of the hydraulic oil and the real-time flow signal of the hydraulic oil. The control output module is responsible for determining the motor speed and flow required by the oil pump according to the input electric proportional multi-way valve analog signal. At the same time, the system will also combine the real-time temperature signal and flow signal of the hydraulic oil to calculate the proportional gain and the rate of change of the deviation, and adjust the adjustment parameters of the controller accordingly. The role of the adaptive adjustment module is to adjust the output parameters through online real-time PID according to the adjustment parameters of the controller, so as to obtain a nonlinear function. The system will adaptively adjust the output of the controller according to the output result of this nonlinear function, and calibrate these adjusted output results as adaptive parameters. The dynamic optimization module is responsible for collecting the adaptive parameters output by the controller, and dynamically adjusts the proportional gain in combination with these parameters. After the adjustment is completed, these new proportional gains will be input into the nonlinear function of the next execution operation, so that the system is continuously optimized and the control effect is improved.

[0035] like Figure 2 As shown, an engineering machinery adaptive PID regulating oil pump control board comprises: at least one controller; and a memory in communication with the at least one controller; The memory stores a computer program that can be executed by at least one controller, and the computer program is executed by at least one controller so that the at least one controller can execute the above-mentioned engineering machinery adaptive PID regulation oil pump control method.

[0036] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, device, article or method including the element.

[0037] The above is only a preferred embodiment of the present invention. It should be noted that, for those skilled in the art, several improvements and modifications can be made without departing from the principles of the present invention, and these improvements and modifications should also be considered as the protection scope of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention shall be implemented according to the conventional means in the art unless otherwise specified and limited.

Claims

1. A construction machinery adaptive PID regulation oil pump control method, characterized in that: include: Obtaining a regulation signal from the controller, wherein the regulation signal includes an analog quantity signal of an input electric proportional multi-way valve, a real-time temperature signal of the hydraulic oil, and a real-time flow signal; According to the analog signal of the electric proportional multi-way valve, the required motor speed and required flow of the oil pump are matched, and the proportional gain and the rate of change of the deviation are calculated in combination with the real-time temperature signal and the real-time flow signal of the hydraulic oil, and the parameters are adjusted according to the output controller; According to the controller adjustment parameters, the controller adjusts the output parameters online in real time through PID to obtain a nonlinear function, and the output of the controller is adaptively adjusted with the output result of the nonlinear function, and the output result is calibrated as an adaptive parameter; The adaptive parameters output by the acquisition controller are used to dynamically adjust the proportional gain, and the adjusted proportional gain is input into the nonlinear function to be operated next time.

2. The method for controlling an engineering machinery adaptive PID oil pump according to claim 1, characterized in that: The input electrical proportional signal is a 0-5V signal output after the multi-way valve is actuated, and supports 6 analog input signals. The hydraulic oil temperature signal is the real-time temperature of the hydraulic oil. The flow signal is the current hydraulic flow, which is connected to the input end of the multi-way valve for real-time monitoring of the flow.

3. The method for controlling an engineering machinery adaptive PID oil pump according to claim 1, characterized in that: When the oil pump is working, a proportional gain and a deviation value are obtained, wherein the deviation value is the difference between the expected output value and the actual output value of the oil pump; Get the standard output function; The proportional gain, the expected output value and the actual output value are input into a standard output function, and the output result is calibrated as the output signal of the controller.

4. The method for controlling an engineering machinery adaptive PID oil pump according to claim 1, characterized in that: Before the controller adjusts the adaptive parameters, the controller parameter K T , K L The initial value of K is set to 0, and K is gradually increased. T、 K L , until the system oscillates with equal amplitude and records it as critical oscillation, and simultaneously records the critical oscillation gain K at this time T crit and critical oscillation period Tpcrit.

5. The construction machinery adaptive PID regulation oil pump control method according to claim 1, characterized in that: The step of matching the required motor speed and required flow rate of the oil pump according to the analog signal of the electric proportional multi-way valve comprises: Obtain the opening degree-standard flow relationship table of the electric proportional multi-way valve, and match the required flow of the oil delivery pump based on it; Obtain the working status-standard speed relationship table of the construction machinery, and match it with the actual speed requirements of the shipping oil pump; According to the hydraulic oil temperature signal, flow signal, actual flow demand, and actual speed demand, the proportional gain and the rate of change of the deviation are matched through the preset speed-temperature-flow relationship table.

6. The construction machinery adaptive PID regulation oil pump control method according to claim 1, characterized in that: When the oil pump is working, a search is performed in a preset database according to a real-time temperature signal and a real-time flow signal of the hydraulic oil to obtain the dynamic viscosity and density of the hydraulic oil; Obtaining a standard function, and inputting the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrating the output result as the Reynolds number when the hydraulic oil flows in the oil pipe; Matching the friction coefficient corresponding to the Reynolds number, calculating the drag loss along the hydraulic oil according to the friction coefficient, and adjusting the output voltage of the controller according to the drag loss along the hydraulic oil; The output voltage of the controller is positively correlated with the resistance loss along the way.

7. The method for controlling an engineering machinery oil pump with adaptive PID regulation according to claim 5 is characterized in that: The step of matching the friction coefficient corresponding to the Reynolds number comprises: When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re; When the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25 .

8. The method for controlling an engineering machinery oil pump with adaptive PID regulation according to claim 1, characterized in that: The controller adjustment parameters include flow adjustment parameters and temperature adjustment parameters; Comparing the flow adjustment parameter and the temperature adjustment parameter with the input value of the operator's operating handle to control the hydraulic motor at this time; If the temperature adjustment parameter exceeds a preset alarm threshold, the controller adjusts the output voltage to decrease; If the temperature adjustment parameter is normal, but the flow adjustment parameter is zero and the input value changes, the controller adjusts the output voltage to be lowered.

9. An engineering machinery adaptive PID regulation oil pump control system, applied to the engineering machinery adaptive PID regulation oil pump control method according to any one of claims 1 to 8, characterized in that: include: An acquisition module, used for acquiring a regulation signal of the controller, wherein the regulation signal includes an analog quantity signal of an input electric proportional multi-way valve, a real-time temperature signal of hydraulic oil, and a real-time flow signal; A control output module is used to match the required motor speed and required flow of the oil pump according to the analog signal of the electric proportional multi-way valve, and calculate the proportional gain and the rate of change of the deviation in combination with the real-time temperature signal and the real-time flow signal of the hydraulic oil, and adjust the parameters according to the output controller; An adaptive adjustment module is used to adjust the output parameters of the controller in real time through the online PID adjustment of the controller according to the adjustment parameters of the controller, obtain a nonlinear function, and adaptively adjust the output of the controller with the output result of the nonlinear function, and calibrate the output result as an adaptive parameter; The dynamic optimization module is used to collect the adaptive parameters output by the controller, and dynamically adjust the proportional gain based on the adaptive parameters, and input the adjusted proportional gain into the nonlinear function to be executed next time.

10. An engineering machinery adaptive PID regulation oil pump control board, characterized by: include: at least one controller; and a memory communicatively coupled to the at least one controller; Wherein, the memory stores a computer program that can be executed by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can execute the engineering machinery adaptive PID regulation oil pump control method described in any one of claims 1 to 8.

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