A method, apparatus, and storage medium for controlling a moving part

Abstract

This invention provides a method, device, and storage medium for controlling moving parts. It controls the opening of a solenoid valve and thus the movement of the moving part by controlling the control current output to the solenoid valve. The method includes: S1, receiving the output voltage value of a control handle and determining the actual position X of the control handle in the current cycle based on the output voltage value; S2, comparing the actual position X of the control handle in the current cycle with the actual position X' of the control handle in the previous cycle, and calculating the difference ΔX = X - X' between the actual positions in the current cycle and the previous cycle; S3, when ΔX and the actual position X of the control handle in the current cycle meet a preset threshold condition for triggering the control handle to return to the neutral position, using a virtual control signal to control the solenoid valve to provide buffered control of the movement of the moving part. This technical solution reduces the impact caused by sudden stops of moving parts such as the boom or bucket of construction machinery during movement.

Description

Technical Field

[0001] This invention relates to the field of control technology for engineering machinery or automobiles, and in particular to a control method, device, and storage medium for moving parts. Background Technology

[0002] The boom or bucket of construction machinery is driven by hydraulic cylinders. Current drives are generally electronically controlled, with solenoid valves installed in the system's hydraulic circuit. Control signals for the boom and bucket are transmitted from the control handle to the vehicle's controller. The controller then outputs a corresponding control current based on the electrical signal from the control handle to control the opening of the solenoid valves, thereby controlling the hydraulic cylinders. If the boom or bucket of construction machinery suddenly stops during movement, it will cause a shock to the entire system. Existing technology includes control methods that use position sensors to buffer the movement of rotating parts as they approach the end of their stroke. However, this buffering control method cannot buffer the movement of the boom or bucket during operation and relies solely on sensor position detection. Summary of the Invention

[0003] The embodiments of the present invention provide a control method, device and storage medium for a boom and a loader of construction machinery to avoid the impact caused by a sudden stop during the movement of the boom or bucket of construction machinery.

[0004] To achieve the above objectives, a method for controlling a movable component is provided. The movable component is driven by a hydraulic cylinder, and a solenoid valve is installed in the hydraulic circuit of the cylinder. A controller receives a control signal output from a control handle and controls the opening of the solenoid valve by controlling the control current output to the solenoid valve, thereby controlling the movement of the movable component. The method includes the following steps performed by the controller:

[0005] S1, Receive the output voltage value of the control handle, and determine the actual position X of the control handle in the current cycle based on the output voltage value. When the control handle is in the middle position, the controller controls the moving part to stop. When the control handle continues to increase from the middle position, the controller controls the moving part to decrease. When the control handle continues to decrease from the middle position, the controller controls the moving part to rise.

[0006] S2, compare the actual position X of the control handle in the current cycle with the actual position X' of the control handle in the previous cycle, and calculate the difference ΔX = X - X' between the actual positions in the current cycle and the previous cycle;

[0007] S3, when ΔX and the actual position X of the current cycle control handle meet the preset threshold condition for triggering the control handle to return to the center position, a virtual control signal is used to control the solenoid valve to perform buffer control on the movement of the moving part. The preset threshold condition for triggering the control handle to return to the center position includes:

[0008] The movable component is in an elevated state, and X belongs to a preset first range; or

[0009] The movable part is in a lowered state, and X belongs to a preset second range.

[0010] Preferably, the control method, wherein using a virtual control signal to control the solenoid valve to provide buffered control of the movement of the moving part includes:

[0011] When ΔX is greater than a first threshold and X belongs to the first range, a virtual control signal is used to control the solenoid valve. The virtual control signal starts from the control current corresponding to the first position of X and slowly increases the control current output to the solenoid valve at a predetermined rate to the control current corresponding to the current value of X. The first threshold is a positive number and the first position is the minimum value of the first range.

[0012] When ΔX is less than the second threshold and X belongs to the second range, a virtual control signal is used. The virtual control signal starts from the control current corresponding to the second position and slowly reduces the control current output to the solenoid valve at a predetermined speed to the control current corresponding to the current value of X. The second threshold is a negative number, the second position is the maximum value of the second range, and the second position is greater than the first position.

[0013] Preferably, in step S1, the actual position X of the control handle in the current cycle is determined by the following formula:

[0014] X=(P-Pmin) / (Pmax-Pmin), in %

[0015] Where P is the current output voltage value of the control handle, Pmin is the minimum output voltage value of the control handle, and Pmax is the maximum output voltage value of the control handle; when X=50%, the control handle is in the neutral position.

[0016] Preferably, in the method, when X = 47%~53%, the control handle is currently in a virtual position, such that X = 50%.

[0017] Preferably, in the method, the first threshold is 2%, the first range is X=35%~53%, the second threshold is -2%, the second range is X=47%~65%, the first position is X=35%, and the second position is X=65%.

[0018] Preferably, in the method, during step S3, as the control current output by the virtual control signal to the solenoid valve slowly increases, the actual control handle signal is restored when one of the following occurs:

[0019] ΔX is less than -5%;

[0020] The X value corresponding to the virtual control signal is greater than the X value corresponding to the current actual control signal;

[0021] The X value corresponding to the virtual signal is greater than 47%;

[0022] The current actual control signal corresponds to an X value greater than 53%.

[0023] Preferably, in the method, during step S3, as the control current output by the virtual control signal to the solenoid valve slowly decreases, the actual control handle signal is restored when one of the following occurs:

[0024] ΔX is greater than 5%;

[0025] The X value corresponding to the virtual control signal is less than the X value corresponding to the current actual control signal;

[0026] The X value corresponding to the virtual signal is less than 53%;

[0027] The current actual control signal corresponds to an X value of less than 47%.

[0028] Preferably, in the method, when the moving part is in the process of accelerating, the control signal actually output by the control handle is used to control the control current output to the solenoid valve, so that the rising slope of the solenoid valve at a small opening is greater than a predetermined first slope threshold; when the boom or bucket is in the process of decelerating and stopping, a virtual control signal is used to control the control current output to the solenoid valve, so that the falling slope of the solenoid valve at a small opening is less than a predetermined second slope threshold.

[0029] On the other hand, a control device for a moving part is provided, comprising a memory and a processor, the memory storing at least one program, the at least one program being executed by the processor to implement any of the methods described above.

[0030] In another aspect, a computer-readable storage medium is provided, wherein the storage medium stores at least one program that is executed by a processor to implement any of the methods described above.

[0031] The above technical solution has the following technical effects:

[0032] The control method of this invention, by pre-setting a threshold condition for triggering the control handle to return to the center position, i.e., stopping the moving part, when the condition for the control handle to return to the center position is triggered by the current actual position of the control handle and the position difference between the current position and the previous cycle, a virtual control signal is used instead of the actual control signal corresponding to the actual position of the control handle at this time to buffer the control solenoid valve. This effectively reduces the impact caused by the sudden stop of moving parts such as the boom or bucket of construction machinery during movement, improves driving comfort, and extends the service life of the actuator. Attached Figure Description

[0033] Figure 1 This is a flowchart illustrating a control method for a moving component according to an embodiment of the present invention;

[0034] Figure 2 This is a graph showing the output voltage of the control handle in a control method according to an embodiment of the present invention.

[0035] Figure 3 This is a flowchart illustrating a control method for a moving component according to another embodiment of the present invention;

[0036] Figure 4 In a control method according to an embodiment of the present invention, the control current curve of the solenoid valve when the speed of the moving part increases;

[0037] Figure 5 In another embodiment of the control method of the present invention, the control current curve of the solenoid valve when the speed of the moving part decreases; a schematic diagram of the computer system structure;

[0038] Figure 6 This is a schematic diagram of the structure of a control device for a moving part according to an embodiment of the present invention. Detailed Implementation

[0039] To further illustrate the various embodiments, the present invention provides accompanying drawings. These drawings are part of the disclosure of the present invention, primarily used to illustrate the embodiments and to explain the operating principles of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these drawings, those skilled in the art should be able to understand other possible implementations and the advantages of the present invention. Components in the drawings are not drawn to scale, and similar component symbols are generally used to represent similar components.

[0040] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0041] Example 1:

[0042] Figure 1 This is a schematic flowchart of a control method for a moving part according to an embodiment of the present invention. The moving part is driven by a hydraulic cylinder, and a solenoid valve is installed in the hydraulic circuit of the hydraulic cylinder. The controller receives a control signal output from the control handle, controls the opening of the solenoid valve by controlling the control current output to the solenoid valve, and thus controls the movement of the moving part. For example, the moving part can be a boom or bucket of construction machinery. The method of this embodiment includes the following steps performed by the controller:

[0043] S1, receive the output voltage value of the control handle, and determine the actual position X of the control handle in the current cycle based on the output voltage value. When the control handle is in the middle position, the controller controls the moving part to stop. When the control handle continues to increase from the middle position, the controller controls the moving part to decrease. When the control handle continues to decrease from the middle position, the controller controls the moving part to rise.

[0044] S2, compare the actual position X of the control handle in the current cycle with the actual position X' of the control handle in the previous cycle, and calculate the difference ΔX = X - X' between the actual positions in the current cycle and the previous cycle;

[0045] S3, when ΔX and the actual position X of the current cycle control handle meet the preset threshold condition for triggering the control handle to return to the neutral position, a virtual control signal is used to control the solenoid valve to achieve buffered return to the neutral position. The preset threshold condition for triggering the control handle to return to the neutral position includes:

[0046] The moving part is in the raised position, and X belongs to the preset first range; or

[0047] The moving part is in a descending state, and X is within the preset second range.

[0048] In the embodiment of the present invention, the controller determines whether to use the actual control signal or the set virtual control signal based on the change in the control signal, which is the position change amount ΔX of the control handle, and in conjunction with the current movement state of the moving parts such as the boom or bucket (rising, falling, or stopping). The controller calculates and determines the final control signal, and the control current value of the solenoid valve is calculated based on the final control signal, thereby controlling the movement of the boom or bucket.

[0049] In this embodiment of the invention, the virtual control signal is a control signal calculated by the controller. To avoid excessive impact on the actuator from the stop control signal corresponding to the actual position of the operating handle, a virtual control signal is used for buffering.

[0050] The virtual control signal is set with a trigger range and conditions for switching to the actual control signal, and is used for rapid switching between the virtual control signal and the actual control signal.

[0051] Among these, using virtual control signals to control solenoid valves to provide buffered control of the movement of moving parts includes:

[0052] When ΔX is greater than the first threshold and X is within the first range, a virtual control signal is used to control the solenoid valve. The virtual control signal starts from the control current corresponding to the first position of X and slowly increases the control current output to the solenoid valve at a predetermined rate to the control current corresponding to the current value of X. Here, the first threshold is a positive number and the first position is the minimum value of the first range.

[0053] When ΔX is less than the second threshold and X belongs to the second range, a virtual control signal is used. The virtual control signal starts from the control current corresponding to the second position and slowly reduces the control current output to the solenoid valve at a predetermined speed to the control current corresponding to the current value of X. The second threshold is a negative number, the second position is the maximum value of the second range, and the second position is greater than the first position.

[0054] Specifically, step S1 determines the actual position X of the control handle in the current cycle using the following formula:

[0055] X = (P - Pmin) / (Pmax - Pmin), unit: % where P is the current output voltage value of the control handle, Pmin is the minimum output voltage value of the control handle, and Pmax is the maximum output voltage value of the control handle; when X = 50%, the control handle is in the middle position. The position of the control handle is related to its output voltage; see [link to relevant documentation] for details. Figure 2 The curve showing the relationship between the position of the handle and the handle output voltage. (Example:) Figure 2 When the handle is in the neutral position, its corresponding output voltage is 2.5V. As the handle position increases from the neutral position, the corresponding output voltage increases, and the controller sends a downward command to the moving part, controlling the moving part to descend; as the handle position decreases from the neutral position, the corresponding output voltage decreases, and the controller sends an upward command to the moving part, controlling the moving part to rise.

[0056] For the input signal of the control handle, such as the handle position, a virtual control range is set. When the input signal of the control handle is within this range, the controller considers the control handle to be in the zero position, which is used to prevent the bucket or boom from malfunctioning due to vibration during the operation of construction machinery. Preferably, when X=47%~53%, the controller determines that the control handle is currently in the virtual position. Let X=50%, that is, the controller considers the control handle to be in the neutral position.

[0057] Example 2:

[0058] Figure 3 This is a flowchart illustrating a control method for a moving part according to another embodiment of the present invention. Figure 3 The control method includes:

[0059] After the operator pushes the control handle, the controller receives the voltage signal emitted by the control handle;

[0060] The controller uses voltage signals in combination with Figure 2 Calculate the current position X of the control handle;

[0061] If X = 47%~53%, force X to 50%, that is, force the issuance of a control command corresponding to the control handle being in the middle position, i.e., stop;

[0062] After setting a preset threshold condition for triggering the control handle to return to the center position, the buffer only takes effect when returning to the center position. That is, the solution of this embodiment only considers the buffer during the stopping process of the moving part, that is, the buffer when a stop command is received. Preferably, the preset threshold for triggering the control handle to return to the center position is X = 35%~53% when returning to the center position from the rising state, and X = 47%~65% when returning to the center position from the falling state.

[0063] Calculate the difference ΔX between the positions of the control handle in the current cycle and the previous cycle.

[0064] When ΔX is greater than 2% and X = 35%~53%, a virtual control signal will be used, starting from 35% and slowly increasing to the current value of X; when ΔX is less than -2% and X = 47%~65%, a virtual control signal will be used, starting from 65% and slowly decreasing to the current value of X.

[0065] When the system is in a state of slowly increasing virtual control signal, the actual control handle signal shall be restored if any of the following conditions occur: ① ΔX is less than -5%; ② The virtual control signal is greater than the current actual control signal X; ③ The virtual signal is greater than 47%; ④ The current actual control signal X is greater than 53%.

[0066] When the system is in a state of slowly decreasing virtual control signal, the actual control handle signal shall be restored if any of the following conditions occur: ① ΔX is greater than 5%; ② The virtual control signal is less than the current actual control signal X; ③ The virtual signal is less than 53%; ④ The current actual control signal X is less than 47%.

[0067] Based on the final determined control signal and the solenoid valve control current output curve, the final solenoid valve control current is given; the solenoid valve control current is output to the solenoid valve to control the boom or bucket.

[0068] When using the actual output signal of the control handle, such as when moving parts like the boom or bucket are in an acceleration process, such as an acceleration process from static to dynamic, use... Figure 4 The current curve shown controls the solenoid valve. This curve has a large upward slope at small openings; if it exceeds a preset first slope threshold, the boom and bucket will have better response speeds. When the system uses a virtual control signal, the boom or bucket is in a deceleration and stop state. Figure 5 The current curve shown controls the solenoid valve. The curve has a small downward slope at small openings. If it is less than the preset second slope threshold, the boom and bucket can stop more smoothly, which plays a buffering role. Figure 4 , Figure 5 The horizontal axis represents the desired opening degree corresponding to the handle position; the y-axis represents the required output solenoid valve current. The control method of this invention uses an optimized quadratic curve as the control curve for the solenoid valve current, thereby effectively controlling the rate of change of the solenoid valve's control current, achieving rapid start-up and buffered stop.

[0069] By embedding the control method of this invention into the controller using a programming language, it is possible to suppress the impact caused by the sudden stop of moving parts such as booms or buckets during movement, without affecting the response rate when the action starts.

[0070] Example 3:

[0071] The present invention also provides a control device for a moving part, such as Figure 6 As shown, the device includes a processor 601, a memory 602, a bus 603, and a computer program stored in the memory 602 and executable on the processor 601. The processor 601 includes one or more processing cores. The memory 602 is connected to the processor 601 via the bus 603. The memory 602 is used to store program instructions. When the processor executes the computer program, it implements the steps in the above-described method embodiment of Embodiment 1 of the present invention.

[0072] Furthermore, as an executable solution, the control device for the active component can be a computer unit, which can be a desktop computer, laptop, handheld computer, or cloud server, etc. The computer unit may include, but is not limited to, a processor and memory. Those skilled in the art will understand that the above-described structure of the computer unit is merely an example and does not constitute a limitation on the computer unit. It may include more or fewer components, or combine certain components, or use different components. For example, the computer unit may also include input / output devices, network access devices, buses, etc., and this embodiment of the invention does not limit this.

[0073] Furthermore, as an executable solution, the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor, etc. The processor is the control center of the computer unit, connecting various parts of the entire computer unit via various interfaces and lines.

[0074] The memory can be used to store the computer programs and / or modules. The processor implements various functions of the computer unit by running or executing the computer programs and / or modules stored in the memory and by calling data stored in the memory. The memory may mainly include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a function; the data storage area may store data created based on the use of the mobile phone, etc. In addition, the memory may include high-speed random access memory and may also include non-volatile memory, such as hard disk, RAM, plug-in hard disk, smart media card (SMC), secure digital card (SD card), flash card, at least one disk storage device, flash memory device, or other volatile solid-state storage device.

[0075] Example 4:

[0076] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the method described in the embodiments of the present invention.

[0077] If the modules / units integrated in the computer unit are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of the present invention can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), and software distribution media, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of patent practice.

[0078] Although the invention has been specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes in form and detail may be made to the invention without departing from the spirit and scope of the invention as defined in the appended claims, all of which shall be within the scope of protection of the invention.

Claims

1. A method of controlling a movable member driven by a cylinder, an electromagnetic valve being provided in a driving oil passage of the cylinder, a controller receiving a control signal output from a control handle, and controlling the opening degree of the electromagnetic valve by controlling the control current output to the electromagnetic valve, and further controlling the movement of the movable member, characterized in that, The method comprises the following steps performed by a controller: ​ S1, receiving an output voltage value of a control handle, determining an actual position X of the control handle in a current period according to the output voltage value, wherein when the control handle is at a neutral position, the controller controls the movable component to stop, when the control handle continues to increase from the neutral position, the controller controls the movable component to descend, and when the control handle continues to decrease from the neutral position, the controller controls the movable component to ascend; S2, comparing the actual position X of the control handle in the current period with an actual position X' of the control handle in a previous period, and calculating a difference ΔX=X-X' between the actual positions in the current period and the previous period; S3, when the ΔX and the actual position X of the control handle in the current period satisfy a preset threshold condition for triggering the control handle to return to the neutral position, using a virtual control signal to control the electromagnetic valve to perform buffer control on the movement of the movable component, wherein the preset threshold condition for triggering the control handle to return to the neutral position comprises: the movable component is in an ascending state, and X belongs to a preset first range; or the movable component is in a descending state, and X belongs to a preset second range.

2. The control method according to claim 1, wherein Using the virtual control signal to control the electromagnetic valve to perform buffer control on the movement of the movable component comprises: when the ΔX is greater than a first threshold and the X belongs to the first range, using a virtual control signal to control the electromagnetic valve, the virtual control signal starts from a control current corresponding to a first position of X, and slowly increases the control current output to the electromagnetic valve to a control current corresponding to the current value of X at a predetermined speed, wherein the first threshold is a positive number, and the first position is the minimum value of the first range; when the ΔX is less than a second threshold and the X belongs to the second range, using a virtual control signal, the virtual control signal starts from a control current corresponding to a second position, and slowly decreases the control current output to the electromagnetic valve to a control current corresponding to the current value of X at a predetermined speed, wherein the second threshold is a negative number, the second position is the maximum value of the second range, and the second position is greater than the first position.

3. The method of claim 2, wherein, The actual position X of the control handle in the current period is determined by the following formula in the step S1: X=(P-Pmin) / (Pmax-Pmin), unit %; wherein P is the output voltage value of the current control handle, Pmin is the minimum output voltage value of the control handle, and Pmax is the maximum output value of the control handle; when X=50%, the control handle is at the neutral position.

4. The method of claim 3, wherein, When X=47%~53%, the control handle is currently at a virtual position, and X=50%.

5. The method of claim 3, wherein, The first threshold is 2%, the first range is X=35%~53%, the second threshold is -2%, the second range is X=47%~65%, the first position is X=35%, and the second position is X=65%.

6. The method of claim 3, wherein, In the step S3, when one of the following situations occurs during the slow increase of the control current output to the electromagnetic valve by the virtual control signal, the actual control handle control signal is used again: ΔX is less than -5%; the X value corresponding to the virtual control signal is greater than the X value corresponding to the current actual control signal; the X value corresponding to the virtual signal is greater than 47%; the X value corresponding to the current actual control signal is greater than 53%.

7. The method of claim 3, wherein, In the step S3, during the slow decrease of the control current output to the electromagnetic valve by the virtual control signal, when one of the following situations occurs, the actual control signal output by the control handle is used again: ΔX is greater than 5%; the X value corresponding to the virtual control signal is less than the X value corresponding to the current actual control signal; the X value corresponding to the virtual signal is less than 53%; the X value corresponding to the current actual control signal is less than 47%.

8. The method of claim 1, wherein, When the movable part is in the process of accelerating movement, the control signal output by the control handle is used to control the control current output to the electromagnetic valve, so that the rising slope of the electromagnetic valve at small opening degree is greater than a predetermined first slope threshold; when the boom or the bucket is in the process of decelerating and stopping, the virtual control signal is used to control the control current output to the electromagnetic valve, so that the falling slope of the electromagnetic valve at small opening degree is less than a predetermined second slope threshold.

9. A movable member control device characterized by comprising: The memory stores at least one program, and the processor executes the at least one program to implement the method of any one of claims 1 to 8.

10. A computer-readable storage medium, characterized in that, The memory stores at least one program, and the processor executes the at least one program to implement the method of any one of claims 1 to 8. The memory stores at least one program, and the processor executes the at least one program to implement the method of any one of claims 1 to 8.

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