Working machine control method, control device and working machine

Abstract

The present application discloses a control method, a control device, and a working machine. The method comprises: first obtaining operating condition data including the operating machine handle opening and the actual current of the travel pump; then determining the target current value of the travel pump based on the handle opening; under a first operating condition, gradually adjusting the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value until the deviation between the current of the travel pump and the target current value is within a preset range, wherein the current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle. In this way, under the first operating condition, for example, during starting, because the adjustment amplitude is small in the early stage of adjustment, a rough start can be effectively avoided; while the adjustment amplitude is large in the later stage, it ensures that the operating machine reaches the required operating speed as quickly as possible, greatly improving the smoothness of the operating machine and the driving experience of the driver.

Description

Technical Field

[0001] The present application relates to the technical field related to operating machinery, and specifically to an operating machinery control method, a control device and an operating machinery. Background Art

[0002] The operation of operating machinery, especially rollers, is generally to perform repeated compaction in a relatively short operating area. During the operation, the driver needs to control the roller to periodically complete starting, acceleration, speed stabilization, deceleration, line change and stop.

[0003] In the prior art, the driver generally controls the operation of the roller directly through an operating lever, but it is difficult to control the control force of the operating lever, and it is difficult to control the starting speed of the roller. Especially when controlling the starting of the roller, the roller is prone to a problem of a high speed when starting. Summary of the Invention

[0004] In view of this, the present invention is directed to providing a working machine control method, a control device, and a working machine.

[0005] In a first aspect, the present invention provides a method for controlling a working machine, comprising:

[0006] Acquiring operating condition data of the operating machine, wherein the operating condition data includes a handle opening and an actual current value of a travel pump;

[0007] determining a target current value of the travel pump based on the handle opening;

[0008] Under a first operating condition, based on the actual current value and the target current value, gradually adjusting the current of the travel pump through multiple adjustment cycles until a deviation between the current of the travel pump and the target current value is within a preset range, the first operating condition including when the actual current value is greater than or equal to a first constant;

[0009] The current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is a change in the current of the travel pump in any one of the adjustment cycles.

[0010] Optionally, it also includes:

[0011] Under the second working condition, the actual current value is adjusted to be equal to the first constant; wherein, the second working condition includes that the actual current value is less than the first constant, and the handle opening is not zero.

[0012] Optionally, determining the target current value of the travel pump based on the handle opening includes:

[0013] determining the target current value based on the handle opening, the first constant, and the second constant;

[0014] The first constant is a preset dead zone current value, and the second constant is determined based on the first constant and a preset maximum displacement current value, where the preset maximum displacement current value is the current value of the travel pump corresponding to the maximum displacement of the travel pump.

[0015] Optionally, determining the target current value based on the handle opening, the first constant, and the second constant includes:

[0016] taking the difference between the maximum displacement current value and the first constant as a second constant;

[0017] The target current value is obtained by adding the first constant to the product of the second constant and the handle opening.

[0018] Optionally, the step of gradually adjusting the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value includes:

[0019] Based on the actual current value and the target current value, the current of the travel pump is gradually adjusted within multiple adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm.

[0020] Optionally, the step of gradually adjusting the current of the travel pump within a plurality of adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm includes:

[0021] When the current regulation value in the previous regulation cycle is less than the preset maximum current regulation value, in the current regulation cycle, the current regulation value in the previous regulation cycle is increased to obtain the current regulation value of the current regulation cycle, and based on the current regulation value of the current regulation cycle, the current of the travel pump is adjusted, and the current regulation value of the current regulation cycle is less than or equal to the preset maximum current regulation value.

[0022] Optionally, in the current regulation cycle, increasing the current regulation value in the previous regulation cycle to obtain the current regulation value of the current regulation cycle, and regulating the current of the travel pump based on the current regulation value of the current regulation cycle, includes:

[0023] Based on the number of adjustments corresponding to the current adjustment cycle, the current adjustment value is increased on the basis of the current adjustment value in the previous adjustment cycle to obtain the current adjustment value of the current adjustment cycle;

[0024] The current adjustment value of the current adjustment cycle is added to the current value of the travel pump obtained after the previous adjustment cycle to obtain the current value of the travel pump adjusted during the current adjustment cycle.

[0025] Optionally, when the target current value is greater than the actual current value, the current adjustment value of the current adjustment cycle is positively correlated with the square of the adjustment number corresponding to the current adjustment cycle; the current value of the travel pump after adjustment in the current adjustment cycle is positively correlated with the higher power of the adjustment number corresponding to the current adjustment cycle.

[0026] In a second aspect, the present application further provides a working machine control device, comprising an acquisition module and a calculation control module;

[0027] The acquisition module is used to obtain the working condition data of the operating machine, wherein the working condition data includes the handle opening and the actual current value of the travel pump;

[0028] The calculation control module is used to determine the target current value of the travel pump based on the handle opening;

[0029] The calculation control module is further configured to, under a first operating condition, gradually adjust the current of the travel pump based on the actual current value and the target current value through multiple adjustment cycles until a deviation between the current of the travel pump and the target current value falls within a preset range, wherein the first operating condition includes the actual current value being greater than or equal to a first constant;

[0030] The current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is a change in the current of the travel pump in any one of the adjustment cycles.

[0031] In a third aspect, the present application also provides an operating machine, comprising the operating machine control device as mentioned above.

[0032] The present application provides a control method, control device, and working machine for a working machine. The method comprises: first, obtaining working machine operating condition data, including a handle opening and an actual current value of a travel pump; then, determining a target current value of the travel pump based on the handle opening; under a first operating condition, gradually adjusting the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value until the deviation between the travel pump current and the target current value falls within a preset range. The first operating condition includes when the actual current value is greater than or equal to a first constant; wherein the current adjustment value in each adjustment cycle is greater than or equal to the current adjustment value in the previous adjustment cycle, and the current adjustment value is the change in the travel pump current during any adjustment cycle. Thus, under the first operating condition, for example, during a start, a smaller adjustment range in the early stages of the adjustment can effectively avoid a jerky start; whereas a larger adjustment range in the later stages ensures that the working machine reaches the required operating speed as quickly as possible, significantly improving the smoothness of the working machine and the driver's driving experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The above and other purposes, features, and advantages of the present application will become more apparent through a more detailed description of the embodiments of the present application in conjunction with the accompanying drawings. The accompanying drawings are intended to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0034] Figure 1 A schematic flow chart of a method for controlling an operating machine provided in an embodiment of the present invention.

[0035] Figure 2 A schematic diagram of the flow of current regulation in the operating machine control method provided by an embodiment of the present invention.

[0036] Figure 3 It is a flow chart of a working machine control method provided in another embodiment of the present application.

[0037] Figure 4 It is a structural schematic diagram of the working machinery provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0039] Application Overview:

[0040] When operating machinery, especially rollers, they typically need to repeatedly move forward and backward on pavement, such as asphalt. During this process, the driver must control components such as the operating handle to repeatedly start, accelerate, reverse, decelerate, and stop the roller. As the quality requirements for pavement construction become increasingly stringent, especially for high-speed asphalt pavement construction, the requirements for roller performance, especially operational stability, are also becoming increasingly stringent.

[0041] In the prior art, a detection device is typically used to accurately identify the driver's handle or lever operation, thereby determining the driver's driving intention and controlling the roller. For example, in a fully hydraulic double-steel-wheel roller, the input current of the travel pump is controlled by detecting the opening of the operating lever or handle, thereby controlling the travel pump displacement and achieving control over the start and stop of the roller and the speed. This method places high demands on the driver's operating experience, especially when starting the roller. The driver cannot easily grasp the operating range and can easily operate too much, resulting in a rough start of the roller and even causing wrinkles in the working surface, affecting the compaction effect. The driver also has a poor driving experience.

[0042] Figure 1 The flowchart of the control method of the working machine provided by the embodiment of the present invention is shown in FIG. Figure 1 As shown, the working machine control method provided in the embodiment of the present application includes:

[0043] S101. Acquire operating condition data of the operating machine, where the operating condition data includes a handle opening and an actual current value of a travel pump.

[0044] Specifically, the working condition data for the roller include the handle opening of the roller and the actual current value of the travel pump. It should be noted that the handle opening of the roller is the opening size of the operating handle (or operating lever, etc.) under the operation of the driver. In order to facilitate the subsequent process, in actual application, the handle opening can be a percentage value, for example, the handle is opened to the maximum position and the handle is opened to the minimum position (back to the middle position) as the opening range. The above handle opening can be the ratio of the information of the corresponding handle position to the information of the entire opening range, such as the ratio of the distance between the handle position and the middle position of the handle to the distance between the maximum opening of the handle and the middle position of the handle.

[0045] The actual travel pump current is the current input to the travel pump, which can be controlled by a controller. The actual travel pump current can be obtained by detecting signals from the controller or various hardware sensors. The actual travel pump current directly determines the travel pump displacement, which in turn directly affects the roller's operating speed.

[0046] S102: Determine a target current value of the travel pump based on the handle opening.

[0047] Specifically, the handle opening can be the opening of a specific physical handle in the cab, that is, the driver wants to make the working machine have a different operating speed by turning the handle to a certain position. In the embodiment of the present application, by obtaining the handle opening and identifying the driver's driving intention based on the handle opening, the target current value of the travel pump corresponding to the handle opening is determined based on the handle opening, and the input current of the travel pump is changed, the driver is helped to achieve the purpose of changing the travel pump current through the handle and controlling the operating speed of the roller.

[0048] It should be noted that the information on the handle opening mentioned above can also be other information that can reflect the driver's driving awareness, such as touch screen instructions, and other operation instructions in intelligent driving, including voice or gestures corresponding to control instructions, etc., as long as it can be used to represent the driver's driving operation awareness.

[0049] S103 . Under the first working condition, based on the actual current value and the target current value, gradually adjust the current of the travel pump through multiple adjustment cycles until the deviation between the current of the travel pump and the target current value is within a preset range.

[0050] Among them, the first operating condition includes the actual current value being greater than or equal to the first constant; the current regulation value in each regulation cycle is greater than or equal to the current regulation value of the previous regulation cycle, and the current regulation value is the change value of the current of the travel pump in any regulation cycle.

[0051] The current adjustment value includes both positive and negative values. Specifically, the first operating condition includes the starting phase of the operating machine, and the current adjustment value is a positive value. In practical applications, to further ensure smooth starting, a certain dead zone voltage value can be set, namely the first constant mentioned above. In this case, the first operating condition includes the starting phase after the actual current is greater than or equal to the dead zone current. Of course, the dead zone current can also be omitted, that is, the value of the first constant is 0. In this case, the first operating condition includes the entire process of adjusting the actual current from 0 to the target current.

[0052] After obtaining the actual current value of the travel pump of the working machinery through detection and the target current value of the travel pump determined by the handle opening, and under the first working condition mentioned above, the amount by which the travel pump current needs to be adjusted is determined, that is, the difference between the target current value and the actual current value.

[0053] During actual adjustment, for the starting stage mentioned above, the current adjustment value is a positive value, and the current of the travel pump can be gradually increased through multiple adjustment cycles. It should be noted that the result of each adjustment cycle is to increase the current of the travel pump. After the current of the travel pump was increased in the previous cycle, the real-time current value of the travel pump has changed. When the next adjustment cycle begins, the adjustment result obtained in the previous adjustment cycle serves as the adjustment basis for the next adjustment cycle. That is, the next adjustment cycle is a further adjustment based on the adjustment result of the previous adjustment cycle, so that the current of the travel pump continues to increase until the current value of the travel pump deviates from the target current value determined based on the handle opening and is within a preset range. Among them, the preset range can be set to 0, that is, the current value of the travel pump is adjusted until the current value of the travel pump is equal to the target current value.

[0054] Specifically, when the target current value is greater than the actual current value, that is, when the working machine is starting or accelerating, the current adjustment value of the current adjustment cycle is positively correlated with the square of the adjustment number corresponding to the current adjustment cycle. The current value of the travel pump after adjustment in the current adjustment cycle is positively correlated with the higher power of the adjustment number corresponding to the current adjustment cycle, including the cubic and quartic powers. In this way, the current value of the travel pump after adjustment in the current adjustment cycle is increased by the current adjustment value of the current adjustment cycle and the current adjustment values ​​of the previous adjustment cycles based on the initial current adjustment value. In other words, the current value of the travel pump after adjustment in the current adjustment cycle increases in a step-by-step manner, with a smaller adjustment amplitude in the early stage of adjustment and a larger adjustment amplitude in the later stage. This ensures that the travel pump of the working machine reaches the target current value as quickly as possible.

[0055] For example, when the machine starts, the actual current value of the travel pump is 2A, and the target current value is 12A, so the travel pump current needs to be increased. The current adjustment amount in the first adjustment cycle is 1, so after the first adjustment cycle, the travel pump current value is 3A. In the second adjustment cycle, the current of 3A obtained after the first increase is further increased. In the second adjustment cycle, the current adjustment value is 2A, so the current is increased by 2A from 3A, and the final result is 5A. The current adjustment value in the third adjustment cycle is 3A, so after the third adjustment cycle, the travel pump current value is adjusted to 8A. The current adjustment value in the fourth adjustment cycle is 4A, so after the fourth adjustment cycle, the travel pump value increases to 12A.

[0056] It should be noted that the above example is only intended to illustrate the principles of current regulation. In actual applications, to ensure that the error between the final regulation result and the target current is small, the magnitude of the current regulation value can be made much smaller than the magnitude of the actual current value and the target current value, and an upper limit for the current regulation can be set. For example, if the current regulation value is at the 0.01A level, it will no longer increase after increasing to 0.1A. In subsequent regulation cycles, the current regulation will only be adjusted by 0.1A until the difference between the actual current value and the target current value remains within the preset range, at which point regulation will cease.

[0057] In addition, in the embodiment of the present application, the number of adjustment cycles in the above process (the total number of adjustment cycles) and the current adjustment value of each adjustment cycle can be changed according to the difference between the actual current value and the target current value. For example, the number of adjustment cycles is fixed. On this basis, when the difference between the actual current value and the target current value is larger than the difference in the above example, the current adjustment value in each cycle can be increased. For example, in the above embodiment, the current adjustment amount of the first adjustment cycle can be changed to 2A, the current adjustment amount of the second adjustment cycle to 4A, the current adjustment amount of the third adjustment cycle to 5A, etc.; or the current adjustment amount of each adjustment cycle is the same as in the above example, in which case the number of adjustment cycles will be increased accordingly.

[0058] Furthermore, the first operating condition may include not only the starting stage of the operating machinery, but also other speed adjustment stages after starting, including acceleration and deceleration (including braking). It can be understood that during acceleration, the current adjustment value is a positive value, and during deceleration (including braking), the current adjustment value is a negative value, thereby increasing or decreasing the travel pump current.

[0059] Specifically, during the deceleration process (including braking), the current regulation value is negative, and the current of the travel pump is gradually reduced over multiple regulation cycles by gradually increasing the current regulation value (the numerical value gradually increases but the absolute value gradually decreases). For example, the current regulation value in the first cycle is small, and the absolute value of the current value reduced by the travel pump is relatively large (for example, the current regulation value is -5). The current regulation value in the second cycle increases, and the absolute value of the current value reduced by the travel pump is relatively small (for example, the current regulation value is -3). In this process, the current regulation value of each regulation cycle is also greater than or equal to the current regulation value of the previous regulation cycle. In this way, during the deceleration process, especially during braking, the absolute value of the current value reduced by the travel pump is first large and then small, that is, the speed reduction of the working machine is first large and then small, which can achieve smooth braking, improve the smoothness of the working machine and the driving experience of the driver.

[0060] The present application provides a control method for a working machine. The method first obtains working condition data of the working machine, including a handle opening and an actual current value of a travel pump. A target current value of the travel pump is then determined based on the handle opening. Under a first working condition, the current of the travel pump is gradually adjusted through multiple adjustment cycles based on the actual and target current values ​​until the deviation between the travel pump current and the target current value falls within a preset range. The first working condition includes when the actual current value is greater than or equal to a first constant. The current adjustment value in each adjustment cycle is greater than or equal to the current adjustment value in the previous adjustment cycle. The current adjustment value is the change in the travel pump current during any adjustment cycle, and the current adjustment value can be positive or negative. In this way, under the first working condition, for example, during a start, a smaller adjustment range in the early stages of the adjustment can effectively avoid a jerky start. However, a larger adjustment range in the later stages ensures that the working machine reaches the required operating speed as quickly as possible, significantly improving the smoothness of the working machine and the driver's driving experience.

[0061] In some embodiments, as mentioned above, the operating machine control method provided in the present application may further include setting a dead-band current value, i.e., a first constant. In this case, when the actual current value of the travel pump is less than the dead-band current value, the operating machine, such as a roller, does not operate. The roller only operates when the actual current value of the travel pump is greater than or equal to the dead-band current value. In the present application, the control of the operating machine also includes controlling the operating machine in the second operating condition, i.e., during the starting acceleration phase (where the handle opening is not zero) and when the actual current value of the travel pump is less than the dead-band current value, by directly adjusting the actual current value of the travel pump to be equal to the dead-band current value, thereby enabling the roller to start or prepare for operation as quickly as possible and reducing waiting time.

[0062] In some embodiments, the process of determining the target current value based on the handle opening can be specifically determined based on a first constant and a second constant, wherein the first constant is a preset dead zone current value, and the second constant is determined based on the first constant and a preset maximum displacement current value, and the maximum displacement current value is greater than the dead zone current value. Specifically, the second constant is the difference between the maximum displacement current value and the first constant. The product of the second constant and the handle opening is added to the first constant to obtain the target current value. The determined target current value takes into account the handle opening, the first constant (the preset dead zone current value), and the preset maximum displacement current value. The value is more accurate, thereby making the start smoother. Specifically, it is as follows: Formula 1:

[0063] I 目标 =(I MAX -I 死区 )*K%+I 死区 ;

[0064] Among them, I 目标 is the target current value, I MAXis the preset maximum displacement current value, that is, the current value of the travel pump corresponding to the maximum displacement of the travel pump, I 死区 is the preset dead zone current value (first constant), and K% is the handle opening.

[0065] The preset deadband current value (first constant) is the minimum current required to open the travel pump swash plate. In practical applications, the preset deadband current value can be the maximum current value when the working machine is not moving. That is, when the current in the working machine's travel pump is less than this deadband current value, the working machine has no speed. The specific preset deadband current value can be pre-matched and stored in the controller or related memory before the working machine or related components are shipped from the factory or used in actual operations based on data such as the operating machine handle opening and the working machine speed of the working machine's travel pump (e.g., the minimum working machine speed). It is understood that during the aforementioned dynamic adjustment of the adjustment range, when the deadband current is set to a small value, the working machine's response is sluggish and the start-up time is long; when the deadband current is set to a large value, the working machine's start-up is jerky and prone to overshoot. Therefore, in the embodiments of the present application, different preset deadband current values ​​can be set for different models of rollers or different usage requirements.

[0066] The second constant is I in formula 1 MAX -I 死区 , where the preset maximum displacement current value is the travel pump current corresponding to the maximum displacement of the roller travel pump (a fixed value).

[0067] In some embodiments of the present application, a method of gradually adjusting the current value of the traveling pump through multiple adjustment cycles based on the actual current value and the target current value can be specifically implemented through algorithms such as dynamic adjustment of high-order curve control, thereby achieving real-time tracking of the actual current value and the target current value of the traveling pump.

[0068] Specifically, first obtain the actual current value of the operating machine, calculate the target current value based on the handle opening and the above formula 1, and determine the amount that needs to be adjusted based on the target current value and the actual current value of the operating machine's travel pump that is collected and detected. Then, by dynamically adjusting the high-order curve control algorithm, the current of the travel pump is adjusted through multiple adjustment cycles with increasing current adjustment values. It can be understood that the base value (adjusted amount) of each adjustment cycle is the adjustment result of the previous adjustment cycle. In this way, for the acceleration process, after adjusting the current value of the travel pump in the previous adjustment cycle, the adjustment amplitude is increased in the next adjustment cycle, and the current value of the travel pump is continued to be adjusted, thereby gradually increasing the adjustment amplitude to avoid a sudden increase in the current value of the travel pump in the initial adjustment period, which leads to unstable operation of the operating machine; for the deceleration process, the initial adjustment amplitude is larger and the later adjustment amplitude is smaller, ensuring smoother deceleration and braking.

[0069] Furthermore, in other embodiments of the present application, the maximum amplitude of current regulation can be limited by setting a maximum current regulation value. Specifically, a maximum regulation value is set, and when the current regulation value of the aforementioned regulation cycle is increased, an upper limit is set. When the current regulation value in a particular regulation cycle increases to equal the preset maximum current regulation value, the current regulation value will not increase further in subsequent regulation cycles. Instead, in subsequent regulation cycles, the current value of the travel pump is adjusted by a current regulation value equal to the maximum current regulation value until the deviation between the current of the travel pump and the target current value falls within a preset range. The maximum current regulation value can be obtained based on a current regulation difference and a preset proportional coefficient, where the current regulation difference is the difference between the target current value and the actual current value.

[0070] It should be noted that because the current regulation value is positive during the acceleration process and negative during the deceleration process, different maximum current regulation values ​​can be set for the above two regulation processes. For example, a positive value is set as the maximum current regulation value for the acceleration process, and a negative value is set as the maximum current regulation value for the deceleration process.

[0071] The following will introduce in detail the principle of current regulation in the operating machine control method provided by this application through a specific implementation process. The operating machine is still taken as an example of a road roller (of course, other operating machines can also be used). Figure 2 As shown:

[0072] S201: Obtain the handle opening of the roller and the actual current value of the travel pump.

[0073] S202: Determine a target current value of a travel pump based on the handle opening.

[0074] Specifically, the target current value can be directly calculated based on the handle opening and the preset dead zone current value, maximum displacement current value, etc. using Formula 1 in the above embodiment.

[0075] S203: Determine the total amount of current regulation.

[0076] Specifically, after the actual current value of the travel pump is obtained and the target current value is calculated, the difference between the two is the total current regulation amount.

[0077] S204: Determine a maximum current adjustment value based on a preset proportional coefficient.

[0078] Specifically, in order to limit the adjustment amplitude during the current adjustment process, a maximum current adjustment value can be determined by setting a proportional coefficient, so that in the adjustment cycle after the current adjustment value reaches the maximum current adjustment value, the current of the travel pump is only adjusted by the maximum current adjustment value, and the current adjustment value is no longer increased.

[0079] S205 : Adjust the current value of the travel pump based on the current adjustment amount of the current adjustment cycle.

[0080] Specifically, based on the current of the current driving pump, the current adjustment value of the current adjustment cycle is increased to obtain the current after the current cycle adjustment is completed, and the current adjustment cycle is ended, wherein the current adjustment value includes positive and negative numbers.

[0081] S206: Determine whether the current value of the travel pump is equal to the target current value.

[0082] After adjusting the travel pump current, it is determined whether the adjusted travel pump current is equal to the target current value, or whether the deviation between the two is within a preset range. If the two are equal or the deviation is within the preset range, the process proceeds to step S210. If they are not equal and the deviation is outside the preset range, the travel pump current needs to be further adjusted, specifically proceeding to step S207.

[0083] S207: Determine whether the current adjustment value of the previous adjustment cycle is greater than or equal to the maximum current adjustment value.

[0084] If the current adjustment value of the previous adjustment cycle is greater than or equal to the maximum current adjustment value, step S208 is executed; otherwise, step S209 is executed.

[0085] S208: Determine the maximum current adjustment value as a new current adjustment value, and return to step S205.

[0086] S209: If the current adjustment value of the previous adjustment cycle is less than the maximum current adjustment value, increase the value of the current adjustment value to obtain a new current adjustment value, and return to step S205.

[0087] Specifically, for example, when the driving pump current value needs to be increased, when the current adjustment value is less than the maximum current adjustment value, for example, the current adjustment value is changed from 1A to 3A, and then returns to step S205 to start the next adjustment cycle and continue to adjust the current value of the driving pump.

[0088] S210, end adjustment.

[0089] In some embodiments, during the acceleration process, the current adjustment value in each adjustment cycle may be changed based on the number of adjustments, i.e., the number of adjustments in the current adjustment cycle. The current adjustment value in the current adjustment cycle may be positively correlated with, or proportional to, the number of adjustments corresponding to the current adjustment cycle. For example, when it is necessary to increase the current of the travel pump, first determine a basic adjustment value X0 for determining the current adjustment value. In the first adjustment cycle, the current of the travel pump is increased by an amount X0 (in this adjustment cycle, the current adjustment amount is X0); in the second adjustment cycle, the current of the travel pump after the first adjustment is directly increased by an amount X0 (in this adjustment cycle, the current adjustment amount is 2X0); in the third adjustment cycle, the current of the travel pump after the second adjustment is further increased by an amount X0 (in this adjustment cycle, the current adjustment amount is 3X0), and so on, until the current adjustment amount in a certain adjustment cycle is greater than or equal to the preset maximum current adjustment amount, for example, 10A, and the current adjustment amount will no longer increase thereafter. In subsequent adjustment cycles, the current value of the travel pump is increased by 10A in each adjustment cycle until the deviation between the current of the travel pump and the target current value is within the preset range.

[0090] In other embodiments, for the acceleration process, the current adjustment value may also be changed by a quadratic function based on the number of adjustment cycles, as implemented by the following process:

[0091] When the current adjustment value X is less than the maximum current adjustment value, the change of the current adjustment value X with the number of adjustments can be expressed as:

[0092]

[0093] Among them, X represents the current adjustment value in any adjustment cycle, n represents the number of adjustments in the adjustment cycle, that is, it represents the number of adjustments in the current adjustment cycle, X0 is the basic adjustment value. It can be understood that the basic adjustment value X0 is also the current adjustment amount in the first adjustment cycle, and t0 is the order of the adjustment cycle in which the current adjustment value is greater than or equal to the maximum current adjustment value for the first time, which indicates the number of adjustments in the adjustment cycle.

[0094] When the current adjustment value X is greater than or equal to the maximum current adjustment value, the maximum current adjustment value is used to adjust the travel pump current in subsequent current adjustment cycles to avoid the subsequent current adjustment value being too large and affecting the safety of the operating machinery.

[0095] It is understandable that, because the current regulation process of the travel pump is performed continuously, based on the change of the current regulation value in the above embodiment, the change of the travel pump current Y with the number of adjustments can be expressed as:

[0096]

[0097] Where Y0 is the travel pump current value obtained before the travel current value is adjusted. Y1 is the travel pump current obtained during the previous adjustment cycle, when the current adjustment value first exceeds or equals the maximum current adjustment value. Because each subsequent adjustment cycle is based on the adjustment results of the previous adjustment cycle, Y1 is also the travel pump current obtained during all previous adjustment cycles, when the current adjustment value first exceeds or equals the maximum current adjustment value.

[0098] Furthermore, in the control method mentioned in the above embodiment for the acceleration process, after obtaining the handle opening, the current of the travel pump is adjusted in multiple adjustment cycles by continuously increasing the adjustment amplitude, so that in the entire process of current adjustment, the adjustment amplitude is smaller at the beginning and larger in the later stage. The driver does not need to precisely control the handle operating lever, avoiding problems such as the operating machine being jerky after the driver changes the handle opening, especially when the operating machine starts, which can greatly improve the stability.

[0099] In other embodiments of the present application, the first operating condition may also only include the acceleration process, and the deceleration process (including braking) can be implemented in different ways. For example, during the deceleration and braking process of an operating machine such as a road roller, a segmented control method is adopted to control the current drop of the travel pump, including, for example, the current travel pump current is 20A, and through multiple segments, each segment drops a fixed current value, thereby simply and quickly controlling the operating machine to stop.

[0100] In other embodiments, in order to avoid shaking of the operating machinery when it stops, based on the dead zone current value provided in the above embodiments, the above control method for the third working condition can also be used to control the current of the travel pump to decrease during the stopping process of the operating machinery, so as to achieve rapid and smooth parking, until the current value of the travel pump drops to a preset range below the dead zone current value, such as below the dead zone current value of -30mA, thereby avoiding premature stopping of current regulation and the residual current in the current causing shaking of the operating machinery.

[0101] In addition, the control method provided in this application includes different control strategies for different processes. Of course, in order to meet different actual needs, flexible changes can also be made, such as in Figure 3 The above-mentioned dynamic increase in adjustment amplitude (the current adjustment value of the current adjustment cycle is greater than or equal to the current of the previous adjustment cycle) is adopted in the starting stage, any of the above-mentioned control methods is adopted in the normal driving stage after the start is completed, and any of the above-mentioned two parking control methods is adopted in the braking stage to meet different needs.

[0102] In addition, because the driver is a human, there may be an inaccurate operation and then the handle opening may be changed within a short period of time, or the driver may dynamically change the handle opening according to the working environment. At this time, the target current value determined based on the original handle opening is not accurate. Therefore, in other embodiments of the present application, the handle opening can be detected periodically or in real time during the current adjustment process. If the handle opening changes, the handle opening can be updated in time, and the new target current value can be calculated to perform a new current adjustment process, thereby ensuring the accuracy of the operation.

[0103] The control method provided in this application dynamically changes the current regulation amplitude, i.e., by continuously increasing the regulation amplitude, at least during the starting phase of an operating machine, such as a road roller, to ensure smooth starting and stable speed regulation without overshoot. This improves the construction quality of the operating machine and addresses operational issues such as the difficulty of loading a flatbed truck onto a road roller during relocation. Furthermore, because the aforementioned control methods can all be implemented via software, they are relatively inexpensive. Different start-stop control modes can be selected to meet various needs. Furthermore, because the dead zone current value is set during the current regulation process, the operating machine is smoother and less jerky when starting and stopping, significantly improving the smoothness of the operating machine and enhancing the driver's driving experience.

[0104] Working machinery embodiment:

[0105] Based on the same inventive concept, an embodiment of the present application also provides an operating machine, including a control device for implementing the above-mentioned control method.

[0106] In some embodiments, as Figure 4 As shown, the control device includes an acquisition module 1 and a calculation control module 2;

[0107] Acquisition module 1, used to obtain the working condition data of the operating machine, wherein the working condition data includes the handle opening and the actual current value of the travel pump;

[0108] The calculation control module 2 is used to determine the target current value of the travel pump based on the handle opening; and the calculation control module 2 is also used to gradually adjust the current of the travel pump through multiple adjustment cycles based on the actual current value and the target current value under the first working condition, until the deviation between the current of the travel pump and the target current value is within a preset range. The first working condition includes the actual current value being greater than or equal to the first constant, wherein the current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is the change value of the current of the travel pump in any adjustment cycle.

[0109] The operating machine provided in the embodiment of the present application obtains the operating condition data of the operating machine through the acquisition module 1 of the control device; then, the target current value of the travel pump is determined based on the handle opening through the calculation control module 2; and the current of the travel pump is gradually adjusted through multiple adjustment cycles based on the actual current value and the target current value through the calculation control module until the deviation between the current of the travel pump and the target current value is within a preset range; and the current adjustment value in each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle. In this way, at least when the operating machine, such as a road roller, is started, the travel pump current adjustment is small to avoid a rough start; and then the adjustment amount is large to ensure that the operating machine reaches the required operating speed as quickly as possible and ensures the normal operation of the road roller, greatly improving the smoothness of the operating machine and the driving experience of the driver.

[0110] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be apparent to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling an operating machine, characterized in that: include: Acquiring operating condition data of the operating machine, wherein the operating condition data includes a handle opening and an actual current value of a travel pump; determining a target current value of the travel pump based on the handle opening; Under a first operating condition, based on the actual current value and the target current value, gradually adjusting the current of the travel pump through multiple adjustment cycles until a deviation between the current of the travel pump and the target current value is within a preset range, the first operating condition including when the actual current value is greater than or equal to a first constant; The current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is a change in the current of the travel pump in any one of the adjustment cycles; The determining of the target current value of the travel pump based on the handle opening includes: determining the target current value based on the handle opening, the first constant, and the second constant; The first constant is a preset dead zone current value, and the second constant is determined based on the first constant and a preset maximum displacement current value, wherein the preset maximum displacement current value is the current value of the travel pump corresponding to the maximum displacement of the travel pump; The determining the target current value based on the handle opening, the first constant, and the second constant includes: taking the difference between the maximum displacement current value and the first constant as a second constant; The target current value is obtained by adding the first constant to the product of the second constant and the handle opening.

2. The working machine control method according to claim 1, characterized in that: Also includes: Under the second working condition, the actual current value is adjusted to be equal to the first constant; wherein, the second working condition includes that the actual current value is less than the first constant, and the handle opening is not zero.

3. The working machine control method according to any one of claims 1 to 2, characterized in that: The step of gradually adjusting the current of the travel pump through a plurality of adjustment cycles based on the actual current value and the target current value includes: Based on the actual current value and the target current value, the current of the travel pump is gradually adjusted within multiple adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm.

4. The working machine control method according to claim 3, wherein: The step of gradually adjusting the current of the travel pump within a plurality of adjustment cycles according to a preset dynamic adjustment high-order curve control algorithm includes: When the current regulation value in the previous regulation cycle is less than the preset maximum current regulation value, in the current regulation cycle, the current regulation value in the previous regulation cycle is increased to obtain the current regulation value of the current regulation cycle, and based on the current regulation value of the current regulation cycle, the current of the travel pump is adjusted, and the current regulation value of the current regulation cycle is less than or equal to the preset maximum current regulation value.

5. The working machine control method according to claim 4, characterized in that: In the current regulation cycle, increasing the current regulation value in the previous regulation cycle to obtain the current regulation value of the current regulation cycle, and regulating the current of the travel pump based on the current regulation value of the current regulation cycle, including: Based on the number of adjustments corresponding to the current adjustment cycle, the current adjustment value is increased on the basis of the current adjustment value in the previous adjustment cycle to obtain the current adjustment value of the current adjustment cycle; The current adjustment value of the current adjustment cycle is added to the current value of the travel pump obtained after the previous adjustment cycle to obtain the current value of the travel pump adjusted during the current adjustment cycle.

6. The working machine control method according to claim 5, characterized in that: When the target current value is greater than the actual current value, the current adjustment value of the current adjustment cycle is positively correlated with the square of the adjustment number corresponding to the current adjustment cycle; the current value of the travel pump after adjustment in the current adjustment cycle is positively correlated with the higher power of the adjustment number corresponding to the current adjustment cycle.

7. A control device for an operating machine, characterized in that: Including acquisition module and calculation control module; The acquisition module is used to obtain the working condition data of the operating machine, wherein the working condition data includes the handle opening and the actual current value of the travel pump; The calculation control module is used to determine the target current value of the travel pump based on the handle opening; The calculation control module is further configured to, under a first operating condition, gradually adjust the current of the travel pump based on the actual current value and the target current value through multiple adjustment cycles until a deviation between the current of the travel pump and the target current value falls within a preset range, wherein the first operating condition includes the actual current value being greater than or equal to a first constant; Determining the target current value of the travel pump based on the handle opening includes: determining the target current value based on the handle opening, the first constant, and a second constant; wherein the first constant is a preset dead-band current value, and the second constant is determined based on the first constant and a preset maximum displacement current value, wherein the preset maximum displacement current value is the current value of the travel pump corresponding to the maximum displacement of the travel pump; determining the target current value based on the handle opening, the first constant, and the second constant includes: taking the difference between the maximum displacement current value and the first constant as the second constant; and adding the product of the second constant and the handle opening to the first constant to obtain the target current value; The current adjustment value of each adjustment cycle is greater than or equal to the current adjustment value of the previous adjustment cycle, and the current adjustment value is a change in the current of the travel pump in any one of the adjustment cycles.

8. A working machine, characterized in that: It includes the working machine control device according to claim 7.

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