Control method, device, processor and storage medium for turntable rotation

Abstract

The embodiment of the present application provides a control method, device, processor, storage medium and engineering vehicle for turntable rotation. The method includes: determining the current tilt angle of the vehicle body when the handle output current of the control handle is obtained; determining the current working condition of the engineering vehicle according to the difference between the current tilt angle and the previous tilt angle; and determining the target output pressure of the electric proportional relief valve and the target output flow of the electric proportional flow valve for the current working condition. Through the above method, the processor can adjust the hydraulic oil delivered to the rotary motor in real time according to the current working condition, so that the engineering vehicle starts and stops smoothly under different working conditions and avoids the occurrence of rotary reversal.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery, and in particular to a control method, device, processor, storage medium and engineering vehicle for turntable rotation. Background Art

[0002] The slewing mechanism is an important part of engineering machinery with rotation requirements such as cranes and excavators. The slewing mechanism is required to have high safety and stability during operation. Therefore, the swing main valve is designed with a buffer hydraulic circuit, using a buffer overflow valve to eliminate load impact, and using a overflow valve to limit the maximum pressure of the system, which is used for swing buffering and safety protection of the swing system.

[0003] However, due to the different loads and rotation speeds of the slewing mechanism and the different sites where the engineering machinery is located, the slewing mechanism requires different buffer flows, pressures and response characteristics. However, in the prior art, the overflow valve pressure and flow valve flow are fixed, and the overflow valve and flow valve cannot be adjusted to meet different working conditions. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a control method, device, storage medium, processor and engineering vehicle for turntable rotation.

[0005] In order to achieve the above-mentioned object, the first aspect of the present application provides a control method for the rotation of a turntable, which is applied to an engineering vehicle. The engineering vehicle includes a control handle, a turntable, an electric proportional relief valve, an electric proportional flow valve, and a rotary motor. The electric proportional relief valve is used to control the input pressure to the rotary motor, the electric proportional flow valve is used to control the input flow to the rotary motor, and the control handle is used to trigger the rotation control operation of the turntable. The control method includes:

[0006] When the handle output current of the control handle is obtained, the current tilt angle of the engineering vehicle body is determined;

[0007] Determine the current working condition of the engineering vehicle according to the difference between the current tilt angle and the last tilt angle;

[0008] According to the current working conditions, the target output pressure of the electric proportional relief valve and the target output flow of the electric proportional flow valve are determined.

[0009] In an embodiment of the present application, the engineering vehicle also includes a tilt sensor, and determining the current tilt angle of the vehicle body includes: determining a first tilt angle of the vehicle body relative to the direction of the front and rear of the vehicle and a second tilt angle perpendicular to the direction of the front and rear of the vehicle through the tilt sensor; determining the current tilt angle of the vehicle body based on the first tilt angle and the second tilt angle.

[0010] In an embodiment of the present application, the engineering vehicle further includes a boom and a slew angle sensor, the slew angle sensor is used to determine the slew angle of the boom, and a coordinate system is established with the slew center of the engineering vehicle where the inclination sensor is located as the origin, the longitudinal direction of the engineering vehicle body as the X-axis, and the transverse direction as the Y-axis, and the front direction of the vehicle is the -X direction, the rear direction of the vehicle is the +X direction, -Y is located in the left direction of the front of the vehicle, and +Y is located in the right direction of the front of the vehicle; wherein, when the slew angle is greater than or equal to the first angle and less than the second angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction; in the slew angle When the turning angle is greater than or equal to the second angle and less than the third angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction; when the rotation angle is greater than or equal to the third angle and less than the fourth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction; when the rotation angle is greater than or equal to the fourth angle and less than the fifth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction.

[0011] In the embodiment of the present application, the current tilt angle is determined according to formula (1):

[0012] γ=arccos(cosα*cosβ) (1);

[0013] Wherein, γ is the current tilt angle of the vehicle body, α is the first tilt angle, and β is the second tilt angle.

[0014] In an embodiment of the present application, determining the current operating condition of the engineering vehicle based on the difference between the current tilt angle and the previous tilt angle includes: when the difference is greater than a preset difference, determining that the current operating condition of the engineering vehicle is uphill; when the difference is less than the preset difference, determining that the current operating condition of the engineering vehicle is downhill; when the difference is equal to the preset difference, determining that the current operating condition of the engineering vehicle is moving on horizontal ground.

[0015] In an embodiment of the present application, determining the target output pressure of the electric proportional relief valve includes: obtaining a first vehicle parameter of the engineering vehicle; and determining the target output pressure of the electric proportional relief valve based on the first vehicle parameter, the current tilt angle, and the handle output current.

[0016] In the embodiment of the present application, the vehicle parameters include the reference pressure P K , pressure adjustment coefficient K0, load torque percentage of engineering vehicles K1, inclination coefficient K2, handle output current I, maximum output current of control handle I maxand the output pressure P0 of the electric proportional relief valve when the current is zero; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current includes: determining the target output pressure P according to formula (2):

[0017]

[0018] Among them, tgθ is the current inclination.

[0019] In the embodiment of the present application, the reference pressure P K The value range of is 6MPa~12MPa, and the value range of pressure adjustment coefficient K0 is 0.2~0.6.

[0020] In the embodiment of the present application, the engineering vehicle is a crane, which includes a truck crane and a crawler crane; the value range of the inclination coefficient K2 is 0-0.8*10 6 .

[0021] When the engineering vehicle is a truck crane, the value range of tgθ is -1% to 1%;

[0022] When the engineering vehicle is a crawler crane, the value range of tgθ is -1.5% to 1.5%.

[0023] In an embodiment of the present application, determining the target output flow of the electric proportional flow valve includes: obtaining a second vehicle parameter of the engineering vehicle; and determining the target output flow of the electric proportional flow valve based on the second vehicle parameter and the handle output current.

[0024] In the embodiment of the present application, the second vehicle parameter includes the rated output flow Q of the electric proportional flow valve. h , the oil pump input speed of the engineering vehicle n f , Maximum input speed of the oil pump of the engineering vehicle n max , load torque percentage of engineering vehicles K1, output flow of electric proportional flow valve when current is zero Q0, handle output current I, maximum output current of control handle I max Determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current includes: determining the target output flow Q according to formula (3):

[0025]

[0026] In an embodiment of the present application, the control value of the control handle is obtained, and the target rotation direction of the boom is determined according to the control value; the load torque percentage K1 is determined according to the target rotation direction and the current working condition, where K1∈[0,100%].

[0027] In an embodiment of the present application, the engineering vehicle further includes a hydraulic pump. When the hydraulic pump is a variable piston pump, the control method further includes: for a current working condition, controlling the variable piston pump to output a hydraulic oil amount corresponding to the current working condition.

[0028] A second aspect of the present application provides a processor configured to execute the above-mentioned control method for turntable rotation.

[0029] A third aspect of the present application provides a control device for turntable rotation, comprising the above-mentioned processor.

[0030] The fourth aspect of the present application provides an engineering vehicle, comprising: a control handle for triggering a rotation control operation of a turntable; a turntable; a rotation motor for pulling the turntable to rotate; an electric proportional relief valve for controlling the input pressure to the rotation motor; an electric proportional flow valve for controlling the input flow to the rotation motor; and the above-mentioned control device for turntable rotation.

[0031] In an embodiment of the present application, the engineering vehicle further includes a hydraulic pump, which is a fixed displacement pump or a variable displacement piston pump.

[0032] In the embodiment of the present application, the engineering vehicle is a crane, and the crane includes a truck crane and a crawler crane.

[0033] A fifth aspect of the present application provides a machine-readable storage medium having instructions stored thereon, which, when executed by a processor, configures the processor to execute the above-mentioned control method for turntable rotation.

[0034] The control method, device, processor, storage medium and engineering vehicle for turntable rotation described above determine the current tilt angle of the engineering vehicle body by obtaining the handle output current of the control handle; determine the current working condition of the engineering vehicle according to the difference between the current tilt angle and the previous tilt angle; and determine the target output pressure of the electric proportional relief valve and the target output flow of the electric proportional flow valve for the current working condition. Through the above technical solution, the processor can adjust the hydraulic oil delivered to the rotary motor in real time according to the current working condition, and the rotary motor obtains the hydraulic oil with appropriate pressure and flow, so that the engineering vehicle starts and stops smoothly under different working conditions and avoids the occurrence of rotary reversal.

[0035] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0037] Figure 1 A control structure block diagram of an engineering vehicle according to an embodiment of the present application is schematically shown;

[0038] Figure 2 A schematic diagram of a flow chart of a control method for rotating a turntable according to an embodiment of the present application is shown;

[0039] Figure 3 A schematic diagram of judging the inclination angle of a vehicle body according to an embodiment of the present application is schematically shown;

[0040] Figure 4 The control logic diagram of the electric proportional relief valve according to the embodiment of the present application is schematically shown;

[0041] Figure 5 The control logic diagram of the electric proportional flow valve according to the embodiment of the present application is schematically shown;

[0042] Fig. 6A The schematic diagram of the first embodiment of the electronically controlled slewing control system according to the present application is shown;

[0043] Figure 6B The schematic diagram of the second embodiment of the electronically controlled slewing control system according to the present application is shown;

[0044] Figure 6C A schematic diagram showing a third embodiment of the electronically controlled slewing control system according to the present application;

[0045] Fig.6D A schematic diagram showing a fourth embodiment of the electronically controlled slewing control system according to the present application;

[0046] Fig. 6E A schematic diagram showing a fifth embodiment of an electronically controlled slewing control system according to the present application is shown;

[0047] Figure 7 The internal structure diagram of a computer device according to an embodiment of the present application is schematically shown.

[0048] Description of Reference Numerals

[0049] 1-rotation motor 2-rotation main valve

[0050] 3 Hydraulic pump 4 Electric proportional relief valve

[0051] 5 Electric proportional flow valve 7 First electric proportional solenoid valve

[0052] 8 Second electric proportional solenoid valve 9 Switch solenoid valve

[0053] 10 Hydraulic oil tank 11 Overflow valve

[0054] 12 Pressure reducing valve 13 Swing brake

[0055] 2A Three-position six-way valve 2B Three-position five-way valve

[0056] 3A fixed displacement pump 3B variable displacement piston pump

[0057] 101 first working oil circuit 102 second working oil circuit

[0058] 103P reversing control pressure oil circuit 103T reversing control return oil circuit

[0059] 104 bypass oil supply return oil circuit 105 return oil pressure relief oil circuit

[0060] 1A The first working chamber of the rotary motor 1B The second working chamber of the rotary motor

[0061] 2A-102A 3-position 6-way valve first working oil port

[0062] 2A-102B 3-position 6-way valve second working oil port

[0063] 2A-102C 3-position 6-way valve first oil inlet

[0064] 2A-102D 3-position 6-way valve first oil outlet

[0065] 2A-102P 3-position 6-way valve second oil inlet

[0066] 2A-102T 3-position 6-way valve second oil outlet

[0067] 2A-102X 3-position 6-way valve first reversing oil port

[0068] 2A-102Y 3-position 6-way valve second reversing oil port

[0069] 2B-102A 3 / 5-way valve first working oil port

[0070] 2B-102B 2nd working oil port of 3-position 5-way valve

[0071] 2B-102C Three-position five-way valve pressure feedback port

[0072] 2B-102P Three-position five-way valve oil inlet

[0073] 2B-102T Three-position five-way valve oil outlet

[0074] 2B-102X 3 / 5-way valve first reversing port

[0075] 2B-102Y 3 / 3 5-way valve second reversing oil port DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0077] In one embodiment, a construction vehicle is provided. Figure 1 As shown, the engineering vehicle includes: a control handle 101, used to trigger the swing control operation of the boom and the turntable; an inclination sensor 102, used to determine the current inclination angle of the vehicle body; a boom 110; a turntable 109, fixedly connected to the boom; a swing motor 108, used to pull the turntable for rotation; a swing main valve 105, connected to the swing motor, used to control the flow direction of the hydraulic oil of the swing motor; an electric proportional relief valve 106, connected to the swing main valve, used to control the input pressure to the swing motor; an electric proportional flow valve 107, connected to the swing main valve, used to control the input flow to the swing motor; a control device 104 for turntable rotation; a processor 103, used to analyze and process data.

[0078] Figure 2 The following is a schematic diagram showing a flow chart of a control method for rotating a turntable according to an embodiment of the present application. Figure 2 As shown, in one embodiment of the present application, a control method for rotating a turntable is provided, comprising the following steps:

[0079] Step 201, when the handle output current of the control handle is obtained, determine the current tilt angle of the engineering vehicle body.

[0080] Step 202, determining the current working condition of the engineering vehicle according to the difference between the current tilt angle and the last tilt angle.

[0081] Step 203, according to the current working condition, determine the target output pressure of the electric proportional relief valve and determine the target output flow of the electric proportional flow valve.

[0082] The slewing control method of the turntable is applied to the above-mentioned engineering vehicle with a slewing mechanism, and the vehicle includes a control handle, a boom, a turntable, an electric proportional relief valve, an electric proportional flow valve and a slewing motor. During the slewing control process, the boom is fixedly connected to the slewing turntable. The boom is pulled by the slewing turntable and can perform clockwise or counterclockwise rotation. The rotation of the slewing turntable is pulled by the slewing motor, and the slewing main valve controls the hydraulic oil input to the slewing motor. During the slewing control process, the relief valve can control the pressure of the hydraulic oil flowing through the slewing motor, and the flow valve can control the flow through the slewing motor. Depending on the working conditions of the engineering vehicle, the hydraulic oil pressure and flow required by the slewing motor are different. The use of a fixed-value relief valve in the prior art may result in insufficient slewing pressure, thereby causing slewing start reversal. The use of a fixed-value flow valve in the prior art may result in insufficient buffer flow, thereby causing slewing start brake shaking. In order to avoid the above situation, the present application uses an electric proportional relief valve and an electric proportional flow valve to control the pressure and flow input to the slewing motor. The processor can control the input current of the electric proportional relief valve and the electric proportional flow valve, thereby controlling the valve opening of the two valves to control the input pressure and output flow of the rotary motor.

[0083] When the engineering vehicle is in the process of swing control, the processor can obtain the current working condition of the engineering vehicle, and then adjust the valve opening of the electric proportional overflow valve and the electric proportional flow valve. The user can control the boom to rotate by manipulating the control handle. Therefore, when the processor receives the handle output current of the control handle, it can be determined that the user has started the engineering vehicle and is ready to control the boom to start working. In this case, the processor can determine the current tilt angle of the vehicle body to determine the current working condition of the engineering vehicle, so as to control the valve opening of the electric proportional overflow valve and the electric proportional flow valve to control the input pressure and output flow of the swing motor. The processor can determine the current working condition of the engineering vehicle based on the difference between the current tilt angle of the vehicle body and the last tilt angle of the vehicle body. When the engineering vehicle is on a slope, the engineering vehicle may be downhill or uphill. When the engineering vehicle is on horizontal ground, the working condition of the engineering vehicle is moving on horizontal ground. That is, the working condition of the engineering vehicle includes downhill working condition, uphill working condition and moving on horizontal ground. Compared with the working condition of the engineering vehicle moving on the horizontal ground, the two working conditions of uphill and downhill have higher operating requirements for the swing control system of the engineering machinery. The processor can control the valve opening of the electric proportional relief valve according to the current working condition of the engineering vehicle, so that the swing motor can obtain the input pressure matching the current working condition. At the same time, the processor can also control the valve opening of the electric proportional flow valve, so that the swing motor can obtain the input flow matching the current working condition.

[0084] In one embodiment, the processor can obtain the current tilt angle of the vehicle body once at a preset time interval when the current of the control handle is obtained. The current tilt angle of the vehicle body is obtained in order to obtain the current working condition of the engineering vehicle. In order to obtain the current working condition, the current tilt angle needs to be obtained at least twice. Therefore, the current tilt angle of the vehicle body is obtained once at a preset time, and this time can be very short. When the working condition of the engineering vehicle changes, the processor obtains the current tilt angle of the engineering vehicle and the last tilt angle of the engineering vehicle, and the processor can quickly obtain the change in the working condition.

[0085] In one embodiment, a first tilt angle of the vehicle body relative to the direction of the front and rear of the engineering vehicle and a second tilt angle perpendicular to the direction of the front and rear of the engineering vehicle are determined by a tilt sensor; the current tilt angle of the vehicle body is determined based on the first tilt angle and the second tilt angle. In the present application, the tilt sensor can measure the angle of the vehicle body relative to the front and rear of the engineering vehicle and the angle of the vehicle body relative to the direction perpendicular to the front and rear of the engineering vehicle. The tilt angle of the vehicle body can be calculated based on these two tilt angles.

[0086] In one embodiment, Figure 3 As shown, the engineering vehicle also includes a boom and a slewing angle sensor. The slewing angle sensor is used to determine the slewing angle of the boom. The slewing center of the engineering vehicle where the inclination sensor is located is taken as the origin, the longitudinal direction of the engineering vehicle body is the X axis, and the transverse direction is the Y axis to establish a coordinate system, and the front direction is the -X direction, the rear direction is the +X direction, -Y is located on the left side of the front of the vehicle, and +Y is located on the right side of the front of the vehicle. A, B, C, and D in the figure represent four quadrants respectively. Among them, when the rotation angle is greater than or equal to the first angle and less than the second angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the -X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the +Y direction; when the rotation angle is greater than or equal to the second angle and less than the third angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the +X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the +Y direction; when the rotation angle is greater than or equal to the third angle and less than the fourth angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the +X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the -Y direction; when the rotation angle is greater than or equal to the fourth angle and less than the fifth angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the -X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the -Y direction. The rotation angle sensor can be used to measure the angle of the boom relative to the front direction of the vehicle to obtain the position of the boom relative to the front of the vehicle, and the position of the boom is used by the processor to analyze the working conditions of the engineering vehicle.

[0087] In one embodiment, the first angle is 0 degrees, the second angle is 90 degrees, the third angle is 180 degrees, the fourth angle is 270 degrees, and the fifth angle is 360 degrees.

[0088] In one embodiment, the processor determines the current tilt angle of the vehicle body according to formula (1):

[0089] γ=arccos(cosα*cosβ) (1);

[0090] Wherein, γ is the current tilt angle of the vehicle body, α is the first tilt angle, and β is the second tilt angle.

[0091] In one embodiment, the processor determines the current working condition of the engineering vehicle according to the difference between the current tilt angle and the last tilt angle, including: when the difference is greater than the preset difference, the current working condition of the engineering vehicle is determined to be uphill; when the difference is less than the preset difference, the current working condition of the engineering vehicle is determined to be downhill; when the difference is equal to the preset difference, the current working condition of the engineering vehicle is determined to be moving on horizontal ground. After obtaining the current tilt angle, the processor compares the difference between the two vehicle body tilt angles to compare with the preset difference. Among them, the preset difference is a range. When the difference between the current tilt angle obtained and the last tilt angle is greater than this range, the engineering vehicle is in an uphill working condition; when the difference between the current tilt angle obtained and the last tilt angle obtained is less than this range, the engineering vehicle is in a downhill working condition; when the difference between the current tilt angle obtained and the last tilt angle obtained is within this range, the engineering vehicle is in a horizontal working condition.

[0092] For example, after the user manipulates the control handle, the control handle will send a signal to the processor. The processor will obtain the inclination angle of the vehicle body relative to the direction of the front and rear of the vehicle and the inclination angle perpendicular to the direction of the front and rear of the vehicle, and the current inclination angle of the vehicle body can be calculated based on the two inclination angles. The processor obtains the current inclination angle of the vehicle body once every 50 milliseconds. When the difference between the current vehicle body inclination angle and the last vehicle body inclination angle is greater than 0.2, it is judged that the engineering vehicle is in an uphill condition; when the difference between the current vehicle body inclination angle and the last vehicle body inclination angle is less than -0.2, it is judged that the engineering vehicle is in a downhill condition. When the difference between the current vehicle body inclination angle and the last vehicle body inclination angle is greater than -0.2 and less than 0.2, it is judged that the engineering vehicle is in a horizontal condition.

[0093] In one embodiment, Figure 4As shown, the processor determines the target output pressure of the electric proportional relief valve 405 including: obtaining the first vehicle parameter 403 of the engineering vehicle; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter 403, the current tilt angle 401 and the handle output current 402. When hydraulic oil flows through the relief valve, if the pressure of the hydraulic oil is greater than the set pressure of the relief valve, the relief valve will overflow the hydraulic oil, and the pressure after the hydraulic oil flows through the relief valve is kept to be the set pressure of the relief valve. Among them, the electric proportional relief valve 405 can control the opening of the valve according to the size of the current, and adjust the pressure of the hydraulic oil flowing through the electric proportional relief valve 405. The electrical signals of the first vehicle parameter 403, the current tilt angle 401 and the handle output current 402 are used to obtain the pressure value that the electric proportional relief valve needs to set. Finally, the hydraulic oil controlled by the electric proportional relief valve flows into the rotary motor 404.

[0094] In one embodiment, the vehicle parameters include a reference pressure P K , pressure adjustment coefficient K0, load torque percentage of engineering vehicles K1, inclination coefficient K2, handle output current I, maximum output current of control handle I max and the output pressure P0 of the electric proportional relief valve when the current is zero; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current includes: determining the target output pressure P according to formula (2):

[0095]

[0096] Among them, tgθ is the current inclination.

[0097] In one embodiment, the reference pressure P K The value range of is 6MPa~12MPa, and the value range of pressure adjustment coefficient K0 is 0.2~0.6. The reference pressure and pressure adjustment coefficient can be adjusted according to the specific model of the engineering vehicle.

[0098] In one embodiment, the engineering vehicle is a crane, which includes a truck crane and a crawler crane, and the value range of the inclination coefficient K2 is 0-0.8*10 6 ; When the engineering vehicle is a truck crane, the value of the inclination tgθ is -1% to 1%; when the engineering vehicle is a crawler crane, the value of the inclination tgθ is -1.5% to 1.5%. The existence of the inclination coefficient is to ensure that the pressure of the electric proportional relief valve 405 matches the load at a certain inclination and can rotate normally. The inclination coefficients corresponding to cranes of different modes are different. A crane that requires a higher rotation pressure has a higher inclination coefficient, and a crane that requires a lower rotation pressure has a lower inclination coefficient.

[0099] In one embodiment, Figure 5 As shown, the processor 503 determines the target output flow of the electric proportional flow valve 504, including: obtaining the second vehicle parameter 502 of the engineering vehicle; determining the target output flow of the electric proportional flow valve 504 according to the second vehicle parameter 502 and the handle output current 501. When hydraulic oil flows through the flow valve, if the flow of the hydraulic oil is greater than the set flow of the flow valve, the flow valve will produce throttling to keep the flow of the hydraulic oil after flowing through the flow valve to be the set flow of the flow valve. Among them, the electric proportional flow valve 504 can control the size of the input current and the opening of the flow valve to achieve the purpose of outputting the set flow. The second vehicle parameter 502 and the handle output current 501 are used to control the input current of the electric proportional flow valve 504, and then the electric proportional flow valve 504 can control the flow flowing through the electric proportional flow valve 504, and the hydraulic oil controlled by the electric proportional flow valve 504 flows into the rotary motor 505.

[0100] In one embodiment, the second vehicle parameter includes a rated output flow Q of the electric proportional flow valve. h , the oil pump input speed of the engineering vehicle n f , Maximum input speed of the oil pump of the engineering vehicle n max , load torque percentage of engineering vehicles K1, output flow of electric proportional flow valve when current is zero Q0, handle output current I, maximum output current of control handle I max Determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current includes: determining the target output flow Q according to formula (3):

[0101]

[0102] In one embodiment, the processor obtains the control value of the control handle, and determines the target rotation direction of the boom according to the control value; and determines the load torque percentage K1 according to the target rotation direction and the current working condition, where K1∈[0,100%]. The role of the control handle in the slewing control system includes sending a signal to enable the processor to obtain the current tilt angle of the boom and determine the current rotation direction of the boom.

[0103] In one embodiment, the engineering vehicle further includes a hydraulic pump. When the hydraulic pump is a variable piston pump, the control method further includes: for a current working condition, the processor controls the variable piston pump to output a hydraulic oil amount corresponding to the current working condition.

[0104] For example, when the engineering vehicle is in an uphill condition, after the user manipulates the control handle, a signal is sent to the processor, and the processor obtains the inclination angle of the vehicle body relative to the direction where the front and rear of the vehicle are located and the inclination angle perpendicular to the direction where the front and rear of the vehicle are located. The processor can calculate the current inclination angle of the vehicle body based on the two inclination angles. The processor obtains the inclination angle of the vehicle body once every 50 milliseconds. According to the difference between the two inclination angles, the current working condition of the engineering vehicle is obtained. The processor calculates the first vehicle parameter of the engineering vehicle based on the current working condition and the rotation direction of the boom, and then calculates the pressure required for the swing motor under the current working condition based on the control handle current, the first vehicle parameter and the current inclination angle, and controls the valve opening of the electric proportional overflow valve to adjust the pressure of the hydraulic oil input to the swing motor. The processor obtains the second vehicle parameter of the engineering vehicle based on the current working condition and the rotation direction of the boom, and then calculates the flow required for the swing motor under the current working condition based on the control handle current and the second vehicle parameter, and controls the valve opening of the electric proportional flow valve to adjust the flow of the hydraulic oil input to the swing motor. The processor controls the variable piston pump to output the amount of hydraulic oil corresponding to the current working condition. When the hydraulic oil pressure and flow rate in the slewing motor are appropriate, the slewing motor drives the slewing turntable to run smoothly. The slewing turntable is fixedly connected to the boom, and the boom rotates smoothly.

[0105] By adopting the above method, when the control handle current is obtained, the processor can make the pressure of the electric proportional relief valve dynamically match the pressure required by the load in real time according to the current boom tilt angle, the first vehicle parameter, and the control handle current control signal, so that the pressure is slightly higher than the load pressure; the processor can make the electric proportional flow valve buffer according to the required output of a certain flow according to the second vehicle parameter and the control handle current signal. Through the above technical solution, the present application can eliminate impact, avoid reversal, and achieve smooth rotation operation.

[0106] Fig. 6A The schematic diagram of the electric control slewing control system according to the first embodiment of the present application is shown. Fig. 6A As shown, in one embodiment of the present application, an electric control slewing control system is provided, which is applied to an engineering vehicle, and the engineering vehicle includes a turntable. This embodiment mainly includes the following hydraulic components:

[0107] A rotary motor (1) is used to pull the turntable to rotate;

[0108] A rotary main valve (2), connected to the rotary motor (1), for controlling the flow direction of the hydraulic oil of the rotary motor (1);

[0109] A hydraulic pump (3) for providing power to the electronically controlled slewing control system;

[0110] An electric proportional relief valve (4) for controlling the pressure of the hydraulic oil flowing into the swing motor (1);

[0111] An electric proportional flow valve (5) is used to control the flow of hydraulic oil flowing into the rotary motor (1), and its output flow counteracts the impact of the load, so that the rotary motor (1) can start, brake and operate smoothly;

[0112] The processor (6) is electrically connected to the electric proportional relief valve (4) and the electric proportional flow valve (5). The processor (6) is configured to control the valve opening of the electric proportional relief valve (4) and the electric proportional flow valve (5) by controlling the control current for the electric proportional relief valve (4) and the electric proportional flow valve (5).

[0113] The slewing control system is an important component of engineering machinery with slewing requirements such as cranes and excavators. The slewing mechanism is required to have high safety and stability during operation. Therefore, the slewing main valve is designed with a buffer hydraulic circuit, and a buffer overflow valve is used to eliminate load impact. At the same time, the overflow valve is used to limit the maximum pressure of the system, which is used for slewing buffering and safety protection of the slewing system. Therefore, the slewing control system includes a slewing motor, which is used to pull the turntable to rotate; a slewing main valve, which is connected to the slewing motor and is used to control the flow direction of the hydraulic oil of the slewing motor; a hydraulic pump, which is used to provide power for the electronically controlled slewing control system; an overflow valve, which is used to control the pressure of the hydraulic oil flowing into the slewing motor; and a flow valve, which is used to control the flow of the hydraulic oil flowing into the slewing motor. Its output flow counteracts the impact of the load, so that the slewing motor can start, brake and work smoothly. However, the working conditions of engineering machinery are different. Under different working conditions, the required hydraulic oil pressure and flow are different. Therefore, the overflow valve with a fixed value pressure and the flow valve with a fixed value flow cannot meet the safety and stability required by the slewing mechanism. In order to solve the above problems, the embodiment of the present application adopts an electric proportional relief valve and an electric proportional flow valve with adjustable valve port opening. The processor changes the current of the electric proportional relief valve and the electric proportional flow valve according to the user's input, and adjusts the valve port opening by controlling the current input to the electric proportional relief valve and the electric proportional flow valve, thereby controlling the pressure and flow of the hydraulic oil flowing into the rotary motor.

[0114] like Fig. 6AAs shown, the hydraulic pump (3) is used to provide power for the entire rotary control system. The electric proportional flow valve (5) is connected to both ends of the rotary motor (1) to control the flow of hydraulic oil flowing into the rotary motor (1). Its output flow counteracts the impact of the load, so that the rotary motor (1) can start, brake and operate smoothly. The electric proportional relief valve (4) is connected to the input port and output port of the rotary main valve (2) to control the pressure of the hydraulic oil flowing into the rotary motor (1). The processor (not shown in the figure) is electrically connected to the electric proportional flow valve (5) and the electric proportional relief valve (4) to control the current input to the electric proportional flow valve (5) and the electric proportional relief valve (4) to control the valve port opening of the electric proportional flow valve (5) and the electric proportional relief valve (4).

[0115] In one embodiment, Fig. 6A As shown, the electric control swing control system further comprises a first working oil circuit (101) and a second working oil circuit (102) both of which are connected to the electric proportional flow valve (5). The first end of the first working oil circuit (101) is connected to the first working oil port (102A) of the swing main valve (2), and the second end of the first working oil circuit is connected to the first working chamber (1A) of the swing motor (1). The first end of the second working oil circuit (102) is connected to the second working oil port (102B) of the swing main valve (2), and the second end of the second working oil circuit (102) is connected to the second working chamber (1B) of the swing motor (1).

[0116] For example, hydraulic oil is delivered to the rotary main valve (2) through a hydraulic pump, and the hydraulic oil of the rotary main valve (2) is delivered to the first working chamber (1A) of the rotary motor (1) through a first working oil circuit (101) to provide power for the rotary motor (1), and hydraulic oil flows out of the second working chamber (1B) of the rotary motor (1) to the second working oil circuit (102), and the hydraulic oil flows back to the rotary main valve (2) through the second working oil circuit (102).

[0117] In one embodiment, Fig. 6AAs shown, the electric control rotary control system also includes a hydraulic oil tank (10), a reversing control pressure oil circuit (103P) and a reversing control oil return circuit (103T), wherein the reversing control pressure oil circuit (103P) is connected to the oil inlets of the first electric proportional solenoid valve (7), the second electric proportional solenoid valve (8) and the switch solenoid valve (9), and is connected to the control oil port P1, and the reversing control oil return circuit (103T) is connected to the oil return ports of the first electric proportional solenoid valve (7), the second electric proportional solenoid valve (8) and the switch solenoid valve (9), and is connected to the oil drain port of the hydraulic oil tank. The working oil ports of the first electric proportional solenoid valve (7) and the second electric proportional solenoid valve (8) are both connected to the rotary main valve (2), and the switch solenoid valve (9) is connected to the first electric proportional solenoid valve (7) and the second electric proportional solenoid valve (8). The first electric proportional solenoid valve (7) and the second electric proportional solenoid valve (8) are used to control the working state of the rotary main valve (2). When the rotary main valve (2) switches its working state, the direction of the hydraulic oil flowing through the rotary main valve (2) will change, thereby controlling the rotation direction of the rotary motor (1). After the rotation direction of the rotary motor (1) changes, the rotation direction of the rotary turntable (not shown in the figure) pulled by the rotary motor (1) will also change. After the first proportional solenoid valve (7) and the second proportional solenoid valve (8) are energized, the output pressure oil is used to control the hydraulic oil output from the rotary main valve (2) to the rotary motor (1). The switch solenoid valve (9) is used to control the opening and closing of the rotary brake (13).

[0118] In one embodiment, Figure 6B As shown, the hydraulic pump (3) is a fixed displacement pump (3A).

[0119] In one embodiment, Figure 6B As shown, specifically, the rotary main valve (2) is a three-position six-way valve (2A). The three-position six-way valve (2A) includes a first working oil port (2A-102A), a second working oil port (2A-102B), a first oil inlet (2A-102C), a first oil outlet (2A-102D), a second oil inlet (2A-102P), a second oil outlet (2A-102T), a first reversing oil port (2A-102X) and a second reversing oil port (2A-102Y).

[0120] In one embodiment, Figure 6BAs shown, when the first proportional solenoid valve (7) and the second proportional solenoid valve (8) are powered off, the reversing control oil return oil circuit (103T) is connected to the first reversing oil port (2A-102X) and the second reversing oil port (2A-102Y); when the first proportional solenoid valve (7) is powered on, the first proportional solenoid valve (7) is connected to the first reversing oil port (2A-102X); when the second proportional solenoid valve (8) is powered on, the second proportional solenoid valve (8) is connected to the second reversing oil port (2A-102Y); the processor (6) is further configured to: control The first proportional solenoid valve (7) and the switch solenoid valve (9) are energized to switch the three-position six-way valve (2A) from the current working state to the third working state; or the second proportional solenoid valve (8) and the switch solenoid valve (9) are energized to switch the three-position six-way valve (2A) from the current working state to the first working state; the switch solenoid valve (9), the first proportional solenoid valve (7) and the second proportional solenoid valve (8) are deenergized to keep the three-position six-way valve (2A) in the current working state; wherein, when the three-position six-way valve (2A) is in the first working state, the three-position six-way valve (2A) is in the first working state. The second oil outlet (2A-102T) of the six-way valve (2A) is connected to the first working oil port (2A-102A), the second working oil port (2A-102B) is connected to the second oil inlet (2A-102P), and the first oil inlet (2A-102C) and the first oil outlet (2A-102D) are in a cut-off state; when the three-position six-way valve (2A) is in a second working state, the first oil inlet (2A-102C) of the three-position six-way valve (2A) is connected to the first oil outlet (2A-102D), and the first working oil port (2A-102A) is in a cut-off state. , the second working oil port (2A-102B), the second oil inlet (2A-102P) and the second oil outlet (2A-102T) are in a cut-off state; when the three-position six-way valve (2A) is in a third working state, the second oil outlet (2A-102T) of the three-position six-way valve (2A) is connected to the second working oil port (2A-102B), the first working oil port (2A-102A) is connected to the second oil inlet (2A-102P), and the first oil inlet (2A-102C) and the first oil outlet (2A-102D) are in a cut-off state. The first proportional solenoid valve (7) and the second proportional solenoid valve (8) are used to control the switching of the three-position six-way valve (2A), and the processor (6) controls the working state of the three-position six-way valve (2A) by controlling the current supplied to the first proportional solenoid valve (7) and the second proportional solenoid valve (8).

[0121] For example, during a reversing control process, the user wants to switch the turntable from a stationary state to a clockwise rotation. After receiving the instruction, the processor inputs current to the switch solenoid valve (9) and the second proportional solenoid valve (8), and the hydraulic oil in the reversing control pressure circuit (103P) flows into the second reversing oil port (2A-102Y) through the second proportional solenoid valve (8), and the three-position six-way valve (2A) switches from the second working state to the first working state. The hydraulic oil delivered by the metering pump (3A) flows through the second oil inlet (2A-102P) of the three-position six-way valve (2A), the second working oil port (2A-102B), the second working chamber (1B) of the rotary motor (1), the first working chamber (1A) of the rotary motor (1), the first working oil port (2A-102A) of the three-position six-way valve (2A), and the second oil outlet (2A-102T). The hydraulic oil pressure drives the rotary motor (1) to rotate clockwise, and then the rotary motor (1) can pull the turntable to rotate clockwise.

[0122] In one embodiment, Figure 6B As shown, the first end of the electric proportional relief valve (4) is connected to the second oil outlet (2A-102T), and the second end of the electric proportional relief valve (4) is connected to the oil inlet (2A-102P) of the three-position six-way valve (2A).

[0123] In one embodiment, Figure 6C As shown, the second end of the electric proportional relief valve (4) is connected to the oil outlet of the metering pump (3A), and the first end of the electric proportional relief valve (4) is connected to the hydraulic oil tank (10). The electric proportional relief valve (4) controls the maximum pressure of the hydraulic oil input to the rotary motor (1). When the output pressure of the metering pump (3A) is less than the pressure required by the rotary motor (1), the pressure of the metering pump (3A) no longer increases, and the electric proportional relief valve (4) plays a safety protection role, and the rotary motor cannot rotate at the same time.

[0124] In one embodiment, Figure 6C As shown, the electronically controlled swing control system further comprises a bypass oil replenishment return oil circuit (104), which is connected to the hydraulic oil tank (10) and the second oil outlet (2A-102T) to replenish oil when the swing motor (1) is sucked empty, and transmit the return oil with back pressure to the three-position six-way valve (2A), the first working oil circuit (101) and the second working oil circuit (102), and finally flows into the hydraulic oil tank (10); wherein the transmission order of the hydraulic oil to the three-position six-way valve (2A) is: the first oil inlet (2A-102C), the first oil outlet (2A-102D). When the bypass oil replenishment return oil circuit (104) is in a stationary state and the three-position six-way valve (2A) is in a second working state, the hydraulic oil of the metering pump (3A) is transmitted to the three-position six-way valve (2A), the first working oil circuit (101) and the second working oil circuit (102), and then to the rotary motor (1), thereby completing the oil replenishment.

[0125] In one embodiment, Fig.6D As shown, the hydraulic pump (3) is a variable piston pump (3B) electrically connected to the processor (6); the processor (6) is further configured to: control the flow rate of the hydraulic oil delivered by the variable piston pump (3B) by controlling the working power of the variable piston pump (3B). The variable piston pump (3B) can control the output power according to the control signal of the processor to deliver different amounts of hydraulic oil to the electronically controlled rotary control system. When the electronically controlled rotary control system requires less hydraulic oil, low power is output to save energy; when the electronically controlled rotary control system requires a higher amount of hydraulic oil, high power is output to ensure stable operation of the electronically controlled rotary control system.

[0126] In one embodiment, Fig.6D The oil outlet of the variable piston pump (3B) is also connected to a load-sensitive control system (Ls), which is used to automatically adjust the pressure and flow of the variable piston pump (3B) when the external load and the main valve opening change, so that the variable piston pump (3B) can provide the electronically controlled rotary control system with pressure and flow that adapt to the load, thereby improving the efficiency of the hydraulic system.

[0127] In one embodiment, Fig.6D As shown, the rotary main valve (2) is a three-position five-way valve (2B), and the oil ports of the three-position five-way valve (2B) include: a first working oil port (2B-102A), a second working oil port (2B-102B), an oil inlet (2B-102P), an oil outlet (2B-102T), a pressure feedback oil port (2B-102C), a first reversing oil port (2B-102X), and a second reversing oil port (2B-102Y).

[0128] In one embodiment, Fig.6DAs shown, the processor (6) is further configured to: control the first proportional solenoid valve (7) and the switch solenoid valve (9) to be energized to switch the three-position five-way valve (2B) from the current working state to the first working state; or control the second proportional solenoid valve (8) and the switch solenoid valve (9) to be energized to switch the three-position five-way valve (2B) from the current working state to the third working state; control the switch solenoid valve (9), the first proportional solenoid valve (7) and the second proportional solenoid valve (8) to be de-energized to keep the three-position five-way valve (2B) in the current working state; wherein, when the three-position five-way valve (2B) is in the first working state, the oil inlet (2B-102P) of the three-position five-way valve (2B) is connected to the first working oil port (2B-102A) and the pressure feedback oil port (2B-102C). The oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state; the oil inlet (2B-102P) of the three-position five-way valve (2B) is in a cut-off state.

[0129] For example, during a reversing control process, the user wants to switch the turntable from a stationary state to counterclockwise rotation. After receiving the instruction, the processor inputs current to the switch solenoid valve (9) and the first proportional solenoid valve (7), and the hydraulic oil in the reversing control pressure oil circuit (103P) flows into the first reversing oil port (2B-102X) through the first proportional solenoid valve (7), and the three-position five-way valve (2B) switches from the second working state to the first working state. The hydraulic oil delivered by the variable piston pump (3B) flows through the three-position five-way valve (2B) oil inlet (2B-102P), the first working oil port (2B-102A), the first working chamber (1A) of the rotary motor (1), the second working chamber (1B) of the rotary motor (1), the second working oil port (2B-102B) of the three-position five-way valve (2B), and the oil outlet (2B-102T) in sequence. The hydraulic oil pressure drives the rotary motor (1) to rotate counterclockwise, and then the rotary motor (1) pulls the turntable to rotate counterclockwise.

[0130] In one embodiment, Fig.6D As shown, the electric control slewing control system also includes a relief valve (11); the first end of the electric proportional relief valve (4) is connected to the hydraulic oil tank (10) and the first end of the relief valve (11), and the second end of the electric proportional relief valve (4) is connected to the pressure feedback oil port (2B-102C) of the three-position five-way valve (2B).

[0131] In one embodiment, Fig. 6E As shown, the second end of the electric proportional relief valve (4) is connected to the load feedback port of the variable piston pump (3B), and the first end of the electric proportional relief valve (4) is connected to the hydraulic oil tank (10). The electric proportional relief valve (4) controls the hydraulic oil pressure input to the rotary motor (1). When the hydraulic oil pressure input by the variable piston pump (3B) is too high, the electric proportional relief valve (4) controls the maximum pressure input to the rotary motor (1). When the output pressure of the variable piston pump (3B) is less than the pressure required by the rotary motor (1), the pressure of the variable piston pump (3B) no longer increases, and the electric proportional relief valve (4) plays a safety protection role, and the rotary motor cannot rotate at the same time.

[0132] In one embodiment, Fig. 6E As shown, the electronically controlled rotary control system further includes an oil return pressure reducing oil circuit (105) including a relief valve (11) and a pressure reducing valve (12); the first end of the relief valve (11) is connected to the oil outlet (2B-102T) of the three-position five-way valve (2B), and the second end of the relief valve (11) is connected to the second end of the pressure reducing valve (12); the first end of the pressure reducing valve (12) is connected to the oil inlet (2B-102P) of the three-position five-way valve (2B), and the second end of the pressure reducing valve (12) is connected to the oil outlet of the variable piston pump (3B). The relief valve (11) can limit the maximum pressure of the rotary hydraulic system, and the pressure reducing valve (12) can control the output pressure of the hydraulic oil passing through the pressure reducing valve (12) to be stable at a certain limited value, so as to ensure that the electronically controlled rotary control system operates stably when the variable piston pump (2B) delivers hydraulic oil of different flow rates.

[0133] In one embodiment, an engineering vehicle is also provided, including: a control handle for triggering the rotation control operation of the boom and turntable; an inclination sensor for determining the current inclination angle of the vehicle body; a boom; a turntable fixedly connected to the boom; a control device for rotating the turntable; and the above-mentioned electronically controlled rotation control system.

[0134] For example, when the engineering vehicle is under light load, the turntable needs to be converted from a stationary state to a clockwise rotation state. The processor controls the variable piston pump (3B) to start supplying hydraulic oil to the electronically controlled slewing control system. The hydraulic oil is supplied to the three-position five-way valve (2B) and then enters the first working oil circuit (101) and the second working oil circuit (102). The processor controls the switch solenoid valve (9) and the second proportional solenoid valve (8) to be energized, so that the three-position five-way valve (2B) is switched from the second working state to the third working state. After switching to the third working state, the hydraulic oil flows from the variable piston pump (3B) in sequence through the oil inlet (2B-102P) of the three-position five-way valve (2B), the second working oil port (2B-102B), the second working chamber (1B) of the slewing motor (1), the first working chamber (1A), the first working oil port (2B-102A) of the three-position five-way valve (2B), the oil outlet (3B-102T), and the hydraulic oil tank. After the hydraulic oil flows through the rotary motor (1), the hydraulic oil pressure pushes the rotary motor (1) to rotate clockwise, and the rotary motor (1) rotates and then pulls the rotary turntable to rotate clockwise. The electric proportional relief valve (4) controls the maximum pressure input to the rotary motor (1). When the output pressure of the variable piston pump (3B) is less than the pressure required by the rotary motor (1), the pressure of the variable piston pump (3B) no longer increases, and the electric proportional relief valve (4) plays a safety protection role, and the rotary motor cannot rotate. When the rotary motor (1) starts to rotate, the variable piston pump (3B) receives feedback from the processor, adjusts the output power of the variable piston pump (3B), and delivers low-flow hydraulic oil to the electronically controlled rotary control system.

[0135] With the above control system, the processor can control the current of the electric proportional relief valve and the electric proportional flow valve, adjust the valve opening of the electric proportional relief valve and the electric proportional flow valve, and provide the rotary motor with hydraulic oil with adjustable pressure and flow to meet the needs of actual work and prevent the occurrence of start-up rotary reversal and braking impact caused by insufficient pressure or insufficient flow. At the same time, the processor can control the power of the variable piston pump, turn on high power under heavy load and high torque conditions to ensure sufficient power for the rotary system. Under light load and low torque conditions, turn on low power to save energy.

[0136] In one embodiment, the engineering vehicle is a crane, and the crane includes a truck crane and a crawler crane.

[0137] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the method for automatically testing the transducer pairing performance under the voltage-changing condition is realized by adjusting the kernel parameters.

[0138] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0139] An embodiment of the present application provides a storage medium having a program stored thereon, which, when executed by a processor, implements the above-mentioned method for automatically testing transducer pairing parameters under voltage-changing conditions.

[0140] An embodiment of the present application provides a processor, which is used to run a program, wherein the program executes the above-mentioned method for automatically testing transducer pairing parameters under variable voltage conditions when running.

[0141] In one embodiment, a computer device is provided, whose internal structure diagram can be as follows: Figure 7 As shown. The computer device includes a processor, a network interface and a memory connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes an internal memory and a non-volatile storage medium. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for automatically testing the pairing performance of the transducer is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0142] Those skilled in the art will understand that Figure 7 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0143] An embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented: determining the current tilt angle of the vehicle body when the handle output current of the control handle is obtained; determining the current operating condition of the engineering vehicle based on the difference between the current tilt angle and the previous tilt angle; and determining the target output pressure of the electric proportional overflow valve and the target output flow of the electric proportional flow valve based on the current operating condition.

[0144] In one embodiment, the engineering vehicle also includes a tilt sensor, and determining the current tilt angle of the vehicle body includes: determining a first tilt angle of the vehicle body relative to the front and rear directions of the engineering vehicle and a second tilt angle perpendicular to the front and rear directions of the vehicle body through the tilt sensor; determining the current tilt angle of the vehicle body based on the first tilt angle and the second tilt angle.

[0145] In one embodiment, the engineering vehicle further includes a boom and a slewing angle sensor, the slewing angle sensor is used to determine the slewing angle of the boom, and a coordinate system is established with the slewing center of the engineering vehicle where the inclination sensor is located as the origin, the longitudinal direction of the engineering vehicle body as the X-axis, and the transverse direction as the Y-axis, and the front direction of the vehicle is the -X direction, the rear direction of the vehicle is the +X direction, -Y is located in the left direction of the front of the vehicle, and +Y is located in the right direction of the front of the vehicle; wherein, when the slewing angle is greater than or equal to the first angle and less than the second angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction; in the slewing angle When the angle is greater than or equal to the second angle and less than the third angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction; when the rotation angle is greater than or equal to the third angle and less than the fourth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction; when the rotation angle is greater than or equal to the fourth angle and less than the fifth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction.

[0146] In one embodiment, the current tilt angle is determined according to formula (1):

[0147] γ=arccos(cosα*cosβ) (1);

[0148] Wherein, γ is the current tilt angle of the vehicle body, α is the first tilt angle, and β is the second tilt angle.

[0149] In one embodiment, determining the current working condition of the engineering vehicle based on the difference between the current tilt angle and the previous tilt angle includes: when the difference is greater than a preset difference, determining that the current working condition of the engineering vehicle is uphill; when the difference is less than the preset difference, determining that the current working condition of the engineering vehicle is downhill; when the difference is equal to the preset difference, determining that the current working condition of the engineering vehicle is moving on horizontal ground.

[0150] In one embodiment, determining the target output pressure of the electric proportional relief valve includes: acquiring a first vehicle parameter of the engineering vehicle; and determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, a current tilt angle, and a handle output current.

[0151] In one embodiment, the vehicle parameters include a reference pressure P K , pressure adjustment coefficient K0, load torque percentage of engineering vehicles K1, inclination coefficient K2, handle output current I, maximum output current of control handle I max and the output pressure P0 of the electric proportional relief valve when the current is zero; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current includes: determining the target output pressure P according to formula (2):

[0152]

[0153] Among them, tgθ is the current inclination.

[0154] In one embodiment, the reference pressure P K The value range of is 6MPa~12MPa, and the value range of pressure adjustment coefficient K0 is 0.2~0.6.

[0155] In one embodiment, the engineering vehicle is a crane, which includes a truck crane and a crawler crane, and the value range of the inclination coefficient K2 is 0-0.8*10 6 ;; When the engineering vehicle is a truck crane, the value of the inclination tgθ is -1% to 1%; when the engineering vehicle is a crawler crane, the value of the inclination tgθ is -1.5% to 1.5%.

[0156] In one embodiment, determining the target output flow of the electric proportional flow valve includes: acquiring a second vehicle parameter of the engineering vehicle; and determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current.

[0157] In one embodiment, the second vehicle parameter includes a rated output flow Q of the electric proportional flow valve. h , the oil pump input speed of the engineering vehicle n f , Maximum input speed of the oil pump of the engineering vehicle n max , load torque percentage of engineering vehicles K1, output flow of electric proportional flow valve when current is zero Q0, handle output current I, maximum output current of control handle I max Determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current includes: determining the target output flow Q according to formula (3):

[0158]

[0159] In one embodiment, a control value of a control handle is obtained, and a target rotation direction of the boom is determined according to the control value; and a load torque percentage K1 is determined according to the target rotation direction and the current working condition, where K1∈[0,100%].

[0160] In one embodiment, a control device for rotating a turntable is also provided, comprising the above-mentioned processor.

[0161] In one embodiment, a machine-readable storage medium is further provided. The machine-readable storage medium stores instructions. When the instructions are executed by a processor, the processor is configured to execute the above-mentioned control method for rotating a turntable.

[0162] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: determining the current tilt angle of the vehicle body when the handle output current of the control handle is obtained; determining the current working condition of the engineering vehicle based on the difference between the current tilt angle and the previous tilt angle; and determining the target output pressure of the electric proportional overflow valve and the target output flow of the electric proportional flow valve for the current working condition.

[0163] In one embodiment, the engineering vehicle also includes a tilt sensor, and determining the current tilt angle of the vehicle body includes: determining a first tilt angle of the vehicle body relative to the front and rear directions of the engineering vehicle and a second tilt angle perpendicular to the front and rear directions of the vehicle body through the tilt sensor; determining the current tilt angle of the vehicle body based on the first tilt angle and the second tilt angle.

[0164] In one embodiment, the engineering vehicle further includes a boom and a slew angle sensor, the slew angle sensor is used to determine the slew angle of the boom, and a coordinate system is established with the center point of the engineering vehicle body as the origin, the direction parallel to the engineering vehicle body as the X-axis, and the direction perpendicular to the engineering vehicle body as the Y-axis, and the front direction of the vehicle is the -X direction, the rear direction of the vehicle is the +X direction, -Y is located in the left direction of the front of the vehicle, and +Y is located in the right direction of the front of the vehicle; wherein, when the slew angle is greater than or equal to the first angle and less than the second angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction. ; When the rotation angle is greater than or equal to the second angle and less than the third angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the +Y direction; when the rotation angle is greater than or equal to the third angle and less than the fourth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the +X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction; when the rotation angle is greater than or equal to the fourth angle and less than the fifth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction.

[0165] In one embodiment, the current tilt angle is determined according to formula (1):

[0166] γ=arccos(cosα*cosβ) (1);

[0167] Wherein, γ is the current tilt angle of the vehicle body, α is the first tilt angle, and β is the second tilt angle.

[0168] In one embodiment, determining the current working condition of the engineering vehicle based on the difference between the current tilt angle and the previous tilt angle includes: when the difference is greater than a preset difference, determining that the current working condition of the engineering vehicle is uphill; when the difference is less than the preset difference, determining that the current working condition of the engineering vehicle is downhill; when the difference is equal to the preset difference, determining that the current working condition of the engineering vehicle is moving on horizontal ground.

[0169] In one embodiment, determining the target output pressure of the electric proportional relief valve includes: acquiring a first vehicle parameter of the engineering vehicle; and determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, a current tilt angle, and a handle output current.

[0170] In one embodiment, the vehicle parameters include a reference pressure P K , pressure adjustment coefficient K0, load torque percentage of engineering vehicles K1, inclination coefficient K2, handle output current I, maximum output current of control handle I maxand the output pressure P0 of the electric proportional relief valve when the current is zero; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current includes: determining the target output pressure P according to formula (2):

[0171]

[0172] Among them, tgθ is the current inclination.

[0173] In one embodiment, the reference pressure P K The value range of is 6MPa~12MPa, and the value range of pressure adjustment coefficient K0 is 0.2~0.6.

[0174] In one embodiment, the engineering vehicle is a crane, which includes a truck crane and a crawler crane, and the value range of the inclination coefficient K2 is 0-0.8*10 6 ;; When the engineering vehicle is a truck crane, the value of the inclination tgθ is -1% to 1%; when the engineering vehicle is a crawler crane, the value of the inclination tgθ is -1.5% to 1.5%.

[0175] In one embodiment, determining the target output flow of the electric proportional flow valve includes: acquiring a second vehicle parameter of the engineering vehicle; and determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current.

[0176] In one embodiment, the second vehicle parameter includes a rated output flow Q of the electric proportional flow valve. h , the oil pump input speed of the engineering vehicle n f , Maximum input speed of the oil pump of the engineering vehicle n max , load torque percentage of engineering vehicles K1, output flow of electric proportional flow valve when current is zero Q0, handle output current I, maximum output current of control handle I ma□ Determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current includes: determining the target output flow Q according to formula (3):

[0177]

[0178] In one embodiment, a control value of a control handle is obtained, and a target rotation direction of the boom is determined according to the control value; and a load torque percentage K1 is determined according to the target rotation direction and the current working condition, where K1∈[0,100%].

[0179] In one embodiment, the engineering vehicle further includes a hydraulic pump. When the hydraulic pump is a variable piston pump, the control method further includes: for a current working condition, the processor controls the variable piston pump to output a hydraulic oil amount corresponding to the current working condition.

[0180] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0181] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0182] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0183] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0184] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0185] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0186] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media 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 disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0187] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0188] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A control method for turntable rotation, characterized in that: Applied to an engineering vehicle, the engineering vehicle comprises a control handle, a turntable, an electric proportional relief valve, an electric proportional flow valve and a swing motor, the electric proportional relief valve is used to control the input pressure to the swing motor, the electric proportional flow valve is used to control the input flow to the swing motor, the control handle is used to trigger the swing control operation of the turntable, and the control method comprises: In the case of acquiring the handle output current of the control handle, determining the current tilt angle of the engineering vehicle body; Determining a current working condition of the engineering vehicle according to a difference between the current tilt angle and a previous tilt angle; According to the current working condition, determining the target output pressure of the electric proportional relief valve and determining the target output flow of the electric proportional flow valve; Wherein, determining the current working condition of the engineering vehicle according to the difference between the current tilt angle and the last tilt angle includes: when the difference is greater than a preset difference, determining that the current working condition of the engineering vehicle is uphill; when the difference is less than the preset difference, determining that the current working condition of the engineering vehicle is downhill; when the difference is equal to the preset difference, determining that the current working condition of the engineering vehicle is moving on horizontal ground; Wherein, determining the target output pressure of the electric proportional relief valve comprises: acquiring a first vehicle parameter of the engineering vehicle; determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current; Wherein, determining the target output flow of the electric proportional flow valve includes: acquiring a second vehicle parameter of the engineering vehicle; and determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current.

2. The control method for turntable rotation according to claim 1, characterized in that: The engineering vehicle further includes a tilt sensor, and determining the current tilt angle of the vehicle body includes: Determine, by means of the inclination sensor, a first inclination angle of the vehicle body relative to the direction of the front and rear of the vehicle and a second inclination angle perpendicular to the direction of the front and rear of the vehicle; A current tilt angle of the vehicle body is determined according to the first tilt angle and the second tilt angle.

3. The control method for turntable rotation according to claim 2, characterized in that: The engineering vehicle further includes a boom and a slew angle sensor, wherein the slew angle sensor is used to determine the slew angle of the boom, and a coordinate system is established with the slew center of the engineering vehicle where the tilt sensor is located as the origin, the longitudinal direction of the engineering vehicle body as the X-axis, and the transverse direction as the Y-axis, and the front direction of the vehicle is the -X direction, the rear direction of the vehicle is the +X direction, -Y is located in the left direction of the front direction of the vehicle, and +Y is located in the right direction of the front direction of the vehicle; Wherein, when the rotation angle is greater than or equal to the first angle and less than the second angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the -X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the +Y direction; When the rotation angle is greater than or equal to the second angle and less than the third angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the +X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the +Y direction; When the rotation angle is greater than or equal to the third angle and less than the fourth angle, the first tilt angle refers to the tilt angle of the vehicle body relative to the +X direction, and the second tilt angle refers to the tilt angle of the vehicle body relative to the -Y direction; When the rotation angle is greater than or equal to the fourth angle and less than the fifth angle, the first inclination angle refers to the inclination angle of the vehicle body relative to the -X direction, and the second inclination angle refers to the inclination angle of the vehicle body relative to the -Y direction.

4. The control method for turntable rotation according to claim 2 or 3, characterized in that: The current tilt angle is determined according to formula (1): γ=arccos(cosα*cosβ) (1); Wherein, γ is the current tilt angle of the vehicle body, α is the first tilt angle, and β is the second tilt angle.

5. The control method for turntable rotation according to claim 1, characterized in that: The vehicle parameters include a reference pressure P K , pressure adjustment coefficient K0, load torque percentage K1 of the engineering vehicle, inclination coefficient K2, handle output current I, maximum output current I of the control handle max and the output pressure P0 of the electric proportional relief valve when the current is zero; Determining the target output pressure of the electric proportional relief valve according to the first vehicle parameter, the current tilt angle and the handle output current includes: determining the target output pressure P according to formula (2): Wherein, tgθ is the current inclination.

6. The control method for turntable rotation according to claim 5, characterized in that: The reference pressure P K The value range of is 6MPa~12MPa, the value range of the pressure adjustment coefficient K0 is 0.2~0.6, and the value range of the load torque percentage K1 is 0~100%.

7. The control method for turntable rotation according to claim 5, characterized in that: The engineering vehicle is a crane, which includes a truck crane and a crawler crane. The value range of the inclination coefficient K2 is 0-0.8*10 6 ; When the engineering vehicle is the truck crane, the value range of tgθ is -1% to 1%; When the engineering vehicle is the crawler crane, the value range of the inclination tgθ is -1.5% to 1.5%.

8. The control method for turntable rotation according to claim 1, characterized in that: The second vehicle parameter includes the rated output flow Q of the electric proportional flow valve. h , the oil pump input speed n of the engineering vehicle f , the maximum input speed n of the engineering vehicle oil pump max , the load torque percentage K1 of the engineering vehicle, the output flow Q0 of the electric proportional flow valve when the current is zero, the handle output current I, the maximum output current I of the control handle max ; Determining the target output flow of the electric proportional flow valve according to the second vehicle parameter and the handle output current includes: determining the target output flow Q according to formula (3):

9. The control method for turntable rotation according to claim 5 or 8, characterized in that: The control method further comprises: Obtaining a control value of the control handle, and determining a target rotation direction of the boom according to the control value; The load torque percentage K1 is determined according to the target rotation direction and the current working condition, where K1∈[0,100%].

10. The control method for turntable rotation according to claim 1, characterized in that: The engineering vehicle further includes a hydraulic pump. When the hydraulic pump is a variable displacement piston pump, the control method further includes: With respect to the current working condition, the variable piston pump is controlled to output an amount of hydraulic oil corresponding to the current working condition.

11. A processor, characterized in that: The method is configured to execute the control method for rotating a turntable according to any one of claims 1 to 10.

12. A control device for rotating a turntable, characterized in that: Comprising a processor according to claim 11.

13. An engineering vehicle, characterized in that: include: Turntable; A control handle, used to trigger a rotation control operation on the turntable; A rotary motor, used for pulling the turntable to rotate; an electro-proportional relief valve for controlling the input pressure to the swing motor; an electric proportional flow valve for controlling an input flow to the rotary motor; as well as A control device for rotating a turntable according to claim 12.

14. The engineering vehicle according to claim 13, characterized in that: The engineering vehicle further comprises a hydraulic pump, which is a fixed displacement pump or a variable displacement piston pump.

15. The engineering vehicle according to claim 13 or 14, characterized in that: The engineering vehicle is a crane, and the crane includes a truck crane and a crawler crane.

16. A machine-readable storage medium having instructions stored thereon, characterized in that: When the instruction is executed by a processor, the processor is configured to execute the control method for rotating a turntable according to any one of claims 1 to 10.

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