Control Method, Device, Engineering Vehicle and Medium Based on Automatic Dead Zone Calibration

Abstract

The present application relates to a control method, device, engineering vehicle and storage medium based on automatic dead zone calibration, and relates to the technical field of construction machinery. The control method based on automatic dead zone calibration includes obtaining an action signal; calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to the action signal, wherein the preset solenoid valve is arranged on the preset component; and controlling the preset component to act according to the action signal and the actual dead zone values. The control method, device, engineering vehicle and medium based on automatic dead zone calibration can calibrate and obtain the actual dead zone values when controlling the actions of the engineering vehicle, which can accurately represent the actual dead zone values of the preset solenoid valve and the preset component under the current state, with high accuracy. Based on the actual dead zone values, controlling the preset component to act can effectively improve the problems of pressure buildup and jerks that occur during the operation of the engineering vehicle, and effectively improve the operation performance of the engineering vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of construction machinery, and particularly relates to a control method, device, engineering vehicle and storage medium based on automatic dead zone calibration. Background Art

[0002] Currently, in engineering vehicles, when the control current changes within the dead zone range, the pressures of the main valve and the main pump do not change. However, after the control current exceeds the dead zone range, the pressures of the main valve and the main pump change according to the change of the control current. Generally, the maximum value in the dead zone range is taken as the dead zone value. That is, when the control current is less than the dead zone value, the pressures of the main valve and the main pump do not change following the change of the control current. When the control current is greater than the dead zone value, the pressures of the main valve and the main pump change according to the change of the control current. In the prior art, according to the models and types of components such as the main valve, the main pump, and the solenoid valve in the electronic control system, the dead zone value between the solenoid valve and the main valve and the dead zone value between the solenoid valve and the main pump are determined. There will be a problem that the dead zone value after the actual product is manufactured is different from the preset dead zone value. That is to say, the preset dead zone value is not accurate. Operating the engineering vehicle based on the preset dead zone value will reduce the operating performance of the engineering vehicle, making it easy for the engineering vehicle to have problems such as pressure build-up and jerks during operation. Summary of the Invention

[0003] To solve the above technical problems, embodiments of the present application provide a control method, device, engineering vehicle and storage medium based on automatic dead zone calibration. When controlling the actions of the engineering vehicle, it can calibrate and obtain the actual dead zone value, which can accurately represent the actual dead zone value of the preset solenoid valve and the preset components under the current state, with high accuracy. Based on this actual dead zone value, controlling the actions of the preset components can effectively improve the problems of pressure build-up and jerks that occur during the operation of the engineering vehicle, and effectively improve the operating performance of the engineering vehicle.

[0004] According to one aspect of the present application, a control method based on automatic dead zone calibration is provided, including:

[0005] Obtaining an action signal;

[0006] According to the action signal, calibrating and obtaining the actual dead zone value of a preset solenoid valve and a preset component; wherein, the preset solenoid valve is arranged on the preset component; and

[0007] Controlling the action of the preset component according to the action signal and the actual dead zone value.

[0008] The control method based on automatic dead zone calibration provided by the embodiment of the present application obtains an action signal, then calibrates and obtains the actual dead zone values of a preset solenoid valve and a preset component according to the action signal, and then controls the preset component to act according to the action signal and the actual dead zone values. Since the actual dead zone values of the preset solenoid valve and the preset component can be calibrated and obtained in real time according to the action signal, the actual dead zone values can reflect the current installation and cooperation state of the preset solenoid valve and the preset component in real time. In this way, controlling the preset component to work according to the action signal and the calibrated actual dead zone values can enable the preset component to accurately work in the effective working range, effectively improve the problems of pressure buildup and jerks that occur during the operation of engineering vehicles, and effectively improve the operating performance of engineering vehicles.

[0009] According to one aspect of the present application, the step of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal includes:

[0010] Sending a control signal to the preset solenoid valve according to the action signal;

[0011] Obtaining the data detected by a preset sensor; wherein, the preset sensor detects the state parameters of the preset component;

[0012] If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, record the control current value represented by the control signal at this time; and

[0013] Obtain the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and preset parameters.

[0014] In this way, in the state where the preset component and the preset solenoid valve are installed, the actual dead zone values of the preset component and the preset solenoid valve can be calibrated in real time according to their actual operating states, and relatively accurate actual dead zone values can be obtained, avoiding the problem of large errors in the preset dead zone values, and effectively improving the operating performance of engineering vehicles. Moreover, in practical applications, if the control signal sent to the preset solenoid valve changes and the data detected by the preset sensor changes correspondingly, after performing this dead zone calibration method, the actual dead zone values of the preset solenoid valve and the preset component can be automatically updated correspondingly.

[0015] According to one aspect of the present application, the preset solenoid valve includes a first solenoid valve, the preset component includes a main pump, and the preset sensor includes a first pressure sensor; wherein, the first solenoid valve is arranged on the main pump, and the first pressure sensor is configured to detect the pressure value of the main pump;

[0016] Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the action signal further includes:

[0017] Controlling the unloading valve to close; wherein, the unloading valve is configured to unload the main pump;

[0018] Sending a control signal to the preset solenoid valve according to the action signal includes:

[0019] Sending a first ramp control signal to the first solenoid valve according to the action signal;

[0020] Obtaining the data detected by the preset sensor includes:

[0021] Obtaining the pressure value detected by the first pressure sensor;

[0022] If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes:

[0023] If the change amplitude of the pressure value detected by the first pressure sensor exceeds the first threshold, recording the first control current value represented by the first ramp control signal at this time;

[0024] Obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the control current value and the preset parameters includes:

[0025] Obtaining the actual dead zone values of the first solenoid valve and the main pump according to the first control current value and the preset parameters.

[0026] In this way, the state of the main pump is determined through the pressure value detected by the first pressure sensor. When the change amplitude of the pressure value detected by the first pressure sensor exceeds the first threshold, the first control current value represented by the first ramp control signal is recorded. Then, through the relationship between the first control current value and the preset parameters, the actual dead zone values of the first solenoid valve and the main pump are calculated. In this way, the actual dead zone values of the first solenoid valve and the main pump can be calibrated in real time, and relatively accurate actual dead zone values can be obtained, effectively improving the operating performance of the engineering vehicle.

[0027] According to one aspect of the present application, the preset solenoid valve includes a second solenoid valve, the preset components include a main pump and an unloading valve, the unloading valve is configured to unload the main pump, and the preset sensor includes a second pressure sensor; wherein, the second solenoid valve is arranged on the unloading valve; the second pressure sensor is configured to detect the pressure value of the main pump;

[0028] Before sending a control signal to the preset solenoid valve according to the motion signal, the step of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the motion signal further includes:

[0029] Sending a first fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump;

[0030] The step of sending a control signal to the preset solenoid valve according to the motion signal includes:

[0031] Sending a second ramp control signal to the second solenoid valve according to the motion signal;

[0032] The step of obtaining the data detected by the preset sensor includes:

[0033] Obtaining the pressure value detected by the second pressure sensor;

[0034] The step of recording the control current value represented by the control signal at this time if the change range of the data detected by the preset sensor exceeds a preset threshold includes:

[0035] If the change range of the pressure value detected by the second pressure sensor exceeds a second threshold, recording the second control current value represented by the second ramp control signal at this time;

[0036] The step of obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and the preset parameters includes:

[0037] Obtaining the actual dead zone values of the second solenoid valve and the unloading valve according to the second control current value and the preset parameters.

[0038] In this way, the state of the main pump is determined by the pressure value detected by the second pressure sensor. When the change range of the pressure value detected by the second pressure sensor exceeds the second threshold, the second control current value represented by the second ramp control signal is recorded. Then, through the relationship between the second control current value and the preset parameters, the actual dead zone values of the second solenoid valve and the unloading valve are calculated. In this way, the actual dead zone values of the second solenoid valve and the unloading valve can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0039] According to one aspect of the present application, the preset solenoid valve includes a third solenoid valve, the preset component includes a main pump and a main valve, and the preset sensor includes a third pressure sensor; wherein, the third solenoid valve is provided on the main valve, and the third pressure sensor is configured to detect the pressure value of the main pump;

[0040] Before sending a control signal to the preset solenoid valve according to the action signal, the step of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the action signal further includes:

[0041] Controlling the unloading valve to close; wherein, the unloading valve is configured to unload the main pump;

[0042] Sending a second fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump;

[0043] The step of sending a control signal to the preset solenoid valve according to the action signal includes:

[0044] Sending a third ramp control signal to the third solenoid valve according to the action signal;

[0045] The step of obtaining the data detected by the preset sensor includes:

[0046] Obtaining the pressure value detected by the third pressure sensor;

[0047] The step of recording the control current value represented by the control signal at this time if the change amplitude of the data detected by the preset sensor exceeds a preset threshold includes:

[0048] If the change amplitude of the pressure value detected by the third pressure sensor exceeds the third threshold, record the third control current value represented by the third ramp control signal;

[0049] The step of obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the control current value and the preset parameters includes:

[0050] Obtaining the actual dead zone values of the third solenoid valve and the main valve according to the third control current value and the preset parameters.

[0051] In this way, the state of the main pump is determined by the pressure value detected by the third pressure sensor. When the change amplitude of the pressure value detected by the third pressure sensor exceeds the third threshold, record the third control current value represented by the third ramp control signal, and then calculate the actual dead zone values of the third solenoid valve and the main valve through the relationship between the third control current value and the preset parameters. In this way, the actual dead zone values of the third solenoid valve and the main valve can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0052] According to one aspect of the present application, the preset solenoid valve includes a fourth solenoid valve, the preset components include a main valve and an oil cylinder, and the preset sensor includes a displacement sensor; wherein, the fourth solenoid valve is arranged on the main valve, and the displacement sensor is configured to detect the displacement value of the piston of the oil cylinder;

[0053] Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the action signal further includes:

[0054] Controlling the unloading valve to close; wherein, the unloading valve is configured to unload the main pump;

[0055] Sending a third fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump;

[0056] Sending a control signal to the preset solenoid valve according to the action signal includes:

[0057] Sending a fourth ramp control signal to the fourth solenoid valve according to the action signal;

[0058] Obtaining the data detected by the preset sensor includes:

[0059] Obtaining the displacement value detected by the displacement sensor;

[0060] If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes:

[0061] If the change amplitude of the displacement value detected by the displacement sensor exceeds a fourth threshold, recording the fourth control current value represented by the fourth ramp control signal at this time;

[0062] Obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the control current value and the preset parameters includes:

[0063] Obtaining the actual dead zone values of the fourth solenoid valve and the main valve according to the fourth control current value and the preset parameters.

[0064] In this way, the state of the oil cylinder is determined through the displacement value detected by the displacement sensor. When the change amplitude of the displacement value detected by the displacement sensor exceeds the fourth threshold, the fourth control current value represented by the fourth ramp control signal is recorded. Then, through the relationship between the fourth control current value and the preset parameters, the actual dead zone values of the fourth solenoid valve and the main valve are calculated. In this way, the actual dead zone values of the fourth solenoid valve and the main valve can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0065] According to one aspect of the present application, if the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes:

[0066] If the change range of the data detected by the preset sensor exceeds the preset threshold, record the actual detection data of the preset sensor at this time; and

[0067] Obtain and record the control current value according to the actual detection data;

[0068] The obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and the preset parameters includes:

[0069] Obtain the actual dead zone values of the preset solenoid valve and the preset component according to the actual detection data, the control current value, and the preset parameters.

[0070] In this way, if the change range of the data detected by the preset sensor exceeds the preset threshold, the control current value can be obtained according to the actual detection data of the preset sensor at this time and the corresponding relationship, which can obtain the control current value more quickly and simply and improve work efficiency.

[0071] According to one aspect of the present application, the preset parameters include the target initial pressure value of the preset component and the pressure gain value of the preset component per unit current;

[0072] Before sending the control signal to the preset solenoid valve according to the action signal, the calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal further includes:

[0073] Obtain the target initial pressure value of the preset component; and

[0074] Obtain the pressure gain value of the preset component per unit current;

[0075] The obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the actual detection data, the control current value, and the preset parameters includes:

[0076] Obtain the pressure threshold according to the actual detection data and the target initial pressure value;

[0077] Obtain the actual dead zone values of the preset solenoid valve and the preset component according to the pressure threshold, the pressure gain value, and the control current value.

[0078] In this way, since the pressure gain value can be determined according to the characteristics such as the type and model of the preset component, after obtaining the control current value and the pressure threshold, the accurate actual dead zone values of the preset solenoid valve and the preset component can be calculated according to the calculation formula.

[0079] According to one aspect of the present application, the obtaining the target initial pressure value of the preset component includes:

[0080] Obtain the real-time initial pressure values of the preset component at different times; and

[0081] Obtain the target initial pressure value according to the multiple real-time initial pressure values.

[0082] In this way, by performing an average calculation on multiple real-time initial pressure values, a more accurate target initial pressure value can be obtained, eliminating the influence of fluctuations in the real-time initial pressure values of the preset component at different times.

[0083] According to one aspect of the present application, after obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal, the control method based on automatic dead zone calibration further includes:

[0084] Store the actual dead zone value in the power-off protection area of the controller.

[0085] In this way, by storing the actual dead zone value in the power-off protection area of the controller, when the same action signal is received subsequently, the actual dead zone values of the preset solenoid valve and the preset component can be directly called from the power-off protection area, effectively improving the efficiency of operating the engineering vehicle.

[0086] According to another aspect of the present application, there is also provided a control device based on automatic dead zone calibration, including:

[0087] An action signal acquisition module configured to acquire an action signal;

[0088] A dead zone value acquisition module configured to calibrate and acquire the actual dead zone values of the preset solenoid valve and the preset component according to the action signal; wherein, the preset solenoid valve is provided on the preset component; and

[0089] An action control module configured to control the action of the preset component according to the action signal and the actual dead zone value.

[0090] The control device based on automatic dead zone calibration provided by the embodiments of the present application acquires an action signal, then calibrates and acquires the actual dead zone values of the preset solenoid valve and the preset component according to the action signal, and then controls the action of the preset component according to the action signal and the actual dead zone value; since the actual dead zone values of the preset solenoid valve and the preset component can be calibrated and acquired in real time according to the action signal, therefore, the actual dead zone value can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. In this way, by controlling the preset component to work according to the action signal and the calibrated actual dead zone value, the preset component can accurately work in the effective working range, effectively improving the problems of pressure build-up and jerks that occur during the operation of the engineering vehicle, and effectively improving the operating performance of the engineering vehicle.

[0091] According to another aspect of the present application, there is also provided a construction vehicle, including:

[0092] a body; and

[0093] the control device based on automatic dead zone calibration as described above, and the control device based on automatic dead zone calibration is provided on the body.

[0094] The construction vehicle provided by the embodiment of the present application has all the functions of the control device based on automatic dead zone calibration. By acquiring an action signal, then calibrating and obtaining the actual dead zone values of a preset solenoid valve and preset components according to the action signal, and then controlling the preset components to act according to the action signal and the actual dead zone values; since the actual dead zone values of the preset solenoid valve and preset components can be calibrated and obtained in real time according to the action signal, therefore, the actual dead zone values can reflect the current installation and mating state of the preset solenoid valve and preset components in real time. In this way, by controlling the preset components to work according to the action signal and the calibrated actual dead zone values, the preset components can accurately work in the effective working range, effectively improving the problems of pressure buildup and jerks that occur during the operation of the construction vehicle, and effectively enhancing the operation performance of the construction vehicle.

[0095] According to another aspect of the present application, there is also provided a construction vehicle, including:

[0096] a body; and

[0097] an electronic device provided on the body, and the electronic device is configured to execute the control method based on automatic dead zone calibration as described above.

[0098] The construction vehicle provided by the embodiment of the present application acquires an action signal, then calibrates and obtains the actual dead zone values of a preset solenoid valve and preset components according to the action signal, and then controls the preset components to act according to the action signal and the actual dead zone values; since the actual dead zone values of the preset solenoid valve and preset components can be calibrated and obtained in real time according to the action signal, therefore, the actual dead zone values can reflect the current installation and mating state of the preset solenoid valve and preset components in real time. In this way, by controlling the preset components to work according to the action signal and the calibrated actual dead zone values, the preset components can accurately work in the effective working range, effectively improving the problems of pressure buildup and jerks that occur during the operation of the construction vehicle, and effectively enhancing the operation performance of the construction vehicle.

[0099] According to another aspect of the present application, there is also provided a storage medium, and the storage medium stores a computer program, and the computer program is configured to execute the control method based on automatic dead zone calibration as described above.

[0100] The storage medium provided by the embodiment of the present application obtains an action signal, then calibrates and obtains the actual dead zone values of a preset solenoid valve and a preset component according to the action signal, and then controls the action of the preset component according to the action signal and the actual dead zone values. Since the actual dead zone values of the preset solenoid valve and the preset component can be calibrated and obtained in real time according to the action signal, the actual dead zone values can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. In this way, controlling the preset component to work according to the action signal and the calibrated actual dead zone values can enable it to work accurately in the effective working range, effectively improve the problems of pressure buildup and jerks that occur during the operation of engineering vehicles, and effectively improve the operating performance of engineering vehicles. Description of the Drawings

[0101] By describing the embodiments of the present application in more detail in combination with the drawings, the above and other objects, features, and advantages of the present application will become more obvious. The 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 embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings, the same reference numerals generally represent the same components or steps.

[0102] Figure 1 It is a schematic flow chart of a control method based on automatic dead zone calibration provided by an exemplary embodiment of the present application.

[0103] Figure 2 It is a schematic flow chart of calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided by an exemplary embodiment of the present application.

[0104] Figure 3 It is a schematic flow chart of calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided by another exemplary embodiment of the present application.

[0105] Figure 4 It is a schematic flow chart of calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided by another exemplary embodiment of the present application.

[0106] Figure 5 It is a schematic flow chart of calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided by another exemplary embodiment of the present application.

[0107] Figure 6 It is a schematic flow chart of calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided by another exemplary embodiment of the present application.

[0108] Figure 7A schematic flow chart for calibrating and obtaining the actual dead zone values of a preset solenoid valve and preset components according to an action signal provided by another exemplary embodiment of the present application.

[0109] Figure 8 A schematic flow chart for calibrating and obtaining the actual dead zone values of a preset solenoid valve and preset components according to an action signal provided by another exemplary embodiment of the present application.

[0110] Figure 9 A corresponding relationship diagram of control current and pressure values provided by an exemplary embodiment of the present application.

[0111] Figure 10 A schematic flow chart for obtaining a pressure threshold according to actual detection data and a target initial pressure value provided by an exemplary embodiment of the present application.

[0112] Figure 11 A schematic flow chart of a control method based on automatic dead zone calibration provided by another exemplary embodiment of the present application.

[0113] Figure 12 A structural block diagram of a control device based on automatic dead zone calibration provided by an exemplary embodiment of the present application.

[0114] Figure 13 A structural block diagram of a control device based on automatic dead zone calibration provided by another exemplary embodiment of the present application.

[0115] Figure 14 A structural block diagram of an engineering vehicle provided by an exemplary embodiment of the present application.

[0116] Figure 15 A structural block diagram of an engineering vehicle provided by another exemplary embodiment of the present application.

[0117] Figure 16 A structural block diagram of an electronic device provided by an exemplary embodiment of the present application. Detailed implementation manners

[0118] Next, exemplary embodiments of the present application will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. It should be understood that the present application is not limited by the exemplary embodiments described herein.

[0119] In an engineering vehicle, when the control current changes within the dead zone range, the pressures of the main valve and the main pump do not change correspondingly. However, after the control current exceeds the dead zone range, the pressures of the main valve and the main pump change according to the change of the control current. Generally, the maximum value in the dead zone range is taken as the dead zone value. That is, when the control current is less than the dead zone value, the pressures of the main valve and the main pump do not change following the change of the control current. When the control current is greater than the dead zone value, the pressures of the main valve and the main pump change according to the change of the control current.

[0120] During the process of manufacturing an engineering vehicle, after the models and types of components such as the main valve, the main pump, and the solenoid valve in the electronic control system are determined, the dead zone value between the solenoid valve and the main valve and the dead zone value between the solenoid valve and the main pump can be determined. However, due to the installation consistency and manufacturing consistency errors during the production and installation of the main valve, the main pump, and the solenoid valve, there is an error between the dead zone value of the actual product after production and the pre-set dead zone value. That is to say, the pre-set dead zone value is not accurate. Operating the engineering vehicle based on the pre-set dead zone value will reduce the operating performance of the engineering vehicle, making it prone to problems such as pressure build-up and jerks during operation.

[0121] Therefore, the embodiments of the present application provide a control method, device, engineering vehicle, and storage medium based on automatic dead zone calibration. When controlling the actions of the engineering vehicle, it can calibrate and obtain the actual dead zone value, which can accurately represent the actual dead zone value of the preset solenoid valve and preset components in the current state, with high accuracy. Based on this actual dead zone value, controlling the actions of the preset components can effectively improve the problems of pressure build-up and jerks that occur during the operation of the engineering vehicle, and effectively improve the operating performance of the engineering vehicle. The following will introduce the control method, device, engineering vehicle, and storage medium based on automatic dead zone calibration in detail.

[0122] Figure 1 It is a schematic flowchart of a control method based on automatic dead zone calibration provided by an exemplary embodiment of the present application.

[0123] As Figure 1 shown, the control method based on automatic dead zone calibration provided by the embodiments of the present application may include:

[0124] S110: Obtain an action signal.

[0125] Specifically, the action signal can be sent by operating different handles or by pressing different function buttons. For example, when the control method based on automatic dead zone calibration is applied to an excavator, if it is necessary to control the boom, the boom handle can be operated to send a corresponding action signal; if it is necessary to control the stick, the stick handle can be operated to send a corresponding action signal.

[0126] In one embodiment, the control method based on automatic dead zone calibration can also be applied to construction machinery such as cranes and concrete pumps.

[0127] S120: According to the action signal, calibrate and obtain the actual dead zone values of the preset solenoid valve and the preset component.

[0128] Specifically, the preset solenoid valve is arranged on the preset component. The valve of the preset solenoid valve opens in different states according to the type of the action signal. The opening area of the valve port of the preset solenoid valve is different, and the state parameters of the preset component are also different.

[0129] It should be noted that regarding the actual dead zone values of the preset solenoid valve and the preset component, it can be understood that if the actual current value is less than the actual dead zone values of the preset solenoid valve and the preset component, then the state parameters of the preset component will not change following the change of the actual current value. If the actual current value is greater than the actual dead zone values of the preset solenoid valve and the preset component, then the state parameters of the preset component will change following the change of the actual current value.

[0130] In one embodiment, the calculated actual dead zone values of the preset solenoid valve and the preset component can be stored in the power-off protection area of the controller for automatic call by subsequent control programs, effectively improving the efficiency of operating construction vehicles.

[0131] In one embodiment, after calculating the actual dead zone value Ic of the preset component and the preset solenoid valve, the relevant manual can be queried according to the model and type of the preset solenoid valve to determine the effective working range ΔI of the preset solenoid valve. According to the calculated actual dead zone value Ic and the effective working range ΔI, the effective working range A of the preset solenoid valve is obtained as A ∈ (Ic, Ic + ΔI), which is conducive to achieving an accurate match between the preset solenoid valve and the preset component and improving the operating performance of construction vehicles.

[0132] It should be understood that when obtaining the actual dead zone values of the preset solenoid valve and the preset component after automatic calibration according to the action signal, compared with directly applying the pre-set dead zone values, the actual dead zone values can more accurately represent the actual dead zone values of the preset solenoid valve and the preset component in the current state, and the accuracy of the actual dead zone values is higher.

[0133] S130: Control the preset component to act according to the action signal and the actual dead zone value.

[0134] Specifically, since the actual dead zone value can reflect the dead zone value of the preset solenoid valve and the preset component in the current state, therefore, controlling the preset component to act according to the action signal and the actual dead zone value can enable the preset component to accurately work within the effective working range, effectively improving the problems of pressure buildup and jerks that occur during the operation of construction vehicles and effectively improving the operating performance of construction vehicles.

[0135] It should be understood that the control method based on dead zone automatic calibration provided in the embodiments of the present application integrates the automatic calibration algorithm involved in step S120 and the control program involved in step S130, and can realize the function of one-key automatic calibration and control, effectively simplifying manual operations and improving work efficiency.

[0136] In one embodiment, the control method based on dead zone automatic calibration can be started with one key manually or automatically triggered when the automatic trigger conditions are met. The automatic trigger conditions can include the working time of the engineering vehicle, the current state parameters of the engineering vehicle reaching the preset automatic trigger parameters, etc.

[0137] The control method based on dead zone automatic calibration provided in the embodiments of the present application obtains an action signal, then calibrates and obtains the actual dead zone values of a preset solenoid valve and a preset component according to the action signal, and then controls the preset component to act according to the action signal and the actual dead zone values. Since the actual dead zone values of the preset solenoid valve and the preset component can be calibrated and obtained in real time according to the action signal, the actual dead zone values can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. In this way, controlling the preset component to work according to the action signal and the calibrated actual dead zone values can enable the preset component to work accurately in the effective working range, effectively improving the problems of pressure build-up and jerks that occur during the operation of the engineering vehicle, and effectively enhancing the operating performance of the engineering vehicle.

[0138] Figure 2 It is a schematic flowchart for calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided for an exemplary embodiment of the present application. As Figure 2 shown, step S120 may include:

[0139] S210: Send a control signal to the preset solenoid valve according to the action signal.

[0140] Specifically, after sending the control signal to the preset solenoid valve, the valve of the preset solenoid valve can be opened in different states according to the type of the control signal, and the opening area of the valve port of the preset solenoid valve is different, and the corresponding state parameters of the preset component are also different.

[0141] In one embodiment, if the control signal is a fixed signal, then the valve port of the preset solenoid valve will be opened to a fixed area, and the state parameters of the preset component will change accordingly.

[0142] In one embodiment, if the control signal is a ramp signal, then the opening area of the valve port of the preset solenoid valve will change with time according to the change trend of the ramp signal, and the state parameters of the preset component will also change accordingly.

[0143] In one embodiment, the preset components may include valves, pumps, oil cylinders, etc. Correspondingly, the state parameters of the preset components may include the pressure value of the valve, the pressure value of the pump, the displacement value of the oil cylinder piston, etc.

[0144] In one embodiment, when the control method based on dead zone automatic calibration is applied to an engineering vehicle, the preset components may include the main valve in the engineering vehicle, the main pump in the engineering vehicle, the oil cylinder in the engineering vehicle, etc. Correspondingly, the state parameters of the preset components may include the pressure value of the main valve, the pressure value of the main pump, the displacement value of the oil cylinder piston, etc.

[0145] S220: Obtain the data detected by the preset sensor.

[0146] Specifically, after step S210 is executed, the state parameters of the preset components will change. In practical applications, the state parameters of the preset components can be detected by the preset sensor to understand the change situation of the state parameters of the preset components.

[0147] In one embodiment, the preset sensor may include a pressure sensor, a displacement sensor, etc. The pressure sensor can be used to detect the pressure value of the main pump or the main valve, and the displacement sensor can be used to detect the displacement value of the oil cylinder piston.

[0148] S230: If the change amplitude of the data detected by the preset sensor exceeds the preset threshold, record the control current value represented by the control signal at this time.

[0149] S240: Obtain the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and the preset parameters.

[0150] It should be noted that in construction vehicles, since the state parameters of preset components still fluctuate even when they are in an inoperative state, that is, in actual applications, even when the actual current value is within the dead zone range, the state parameters of the preset components still fluctuate, and it is difficult to determine the critical point between the operation and non-operation of the preset components. Therefore, it is impossible to directly determine the actual dead zone value based on the actual current value corresponding to the critical point between the operation and non-operation of the preset components. For this reason, in the embodiments of the present application, the control current value corresponding to the preset component in a specific working state (when the change range of the data detected by the preset sensor exceeds the preset threshold) is first determined, and then the actual dead zone values of the preset solenoid valve and the preset component are calculated through the corresponding relationship between the control current value and the preset parameters in the system (the specific calculation process will be introduced later). That is, if the change range of the data detected by the preset sensor exceeds the preset threshold, the control current value represented by the control signal at this time can be recorded, and then the actual dead zone values of the preset solenoid valve and the preset component are calculated through the relationship between the control current value and the preset parameters. In this way, the actual dead zone value can be updated and calibrated in real time according to the installation and operation states of the preset component and the preset solenoid valve, and a more accurate actual dead zone value can be obtained, ensuring that the calibrated actual dead zone value matches the preset component and the preset solenoid valve in the current state, so that the preset component of the construction vehicle can work more accurately within the effective working range, effectively improving the operating performance of the construction vehicle.

[0151] It should be understood that in actual applications, if the action signal changes, then the control signal sent to the preset solenoid valve changes, and the data detected by the preset sensor changes accordingly. After executing the control method based on dead zone automatic calibration, the actual dead zone values of the preset solenoid valve and the preset component can be automatically updated correspondingly.

[0152] In one embodiment, the preset threshold can be set according to the actual situation, and the embodiments of the present application do not make specific limitations on the preset threshold.

[0153] It should be understood that by sending a control signal to a preset solenoid valve, then acquiring the data detected by a preset sensor, determining the change in the state parameters of a preset component, and then recording the control current value represented by the control signal when the change amplitude of the data detected by the preset sensor exceeds a preset threshold, and then obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the control current value and the preset parameters. In this way, in the state where the preset component and the preset solenoid valve are installed, the actual dead zone value of the preset component and the preset solenoid valve can be calibrated in real time according to their actual operating states, obtaining a relatively accurate actual dead zone value, avoiding the problem of a large error in the pre-set dead zone value, and effectively improving the operating performance of the engineering vehicle. Moreover, in practical applications, if the control signal sent to the preset solenoid valve changes and the data detected by the preset sensor changes accordingly, after executing the control method based on automatic dead zone calibration, the actual dead zone value of the preset solenoid valve and the preset component can be automatically updated correspondingly.

[0154] In addition, the control method based on automatic dead zone calibration provided by the embodiments of the present application automatically acquires data through a preset sensor, then calculates to obtain an accurate actual dead zone value, optimizes the matching performance among the main pump, the main valve, and the preset solenoid valve of the engineering vehicle, and moreover, does not require manual testing, reducing the workload of manual repeated calibration and verification, and improving work efficiency.

[0155] Figure 3 The flowchart shows the process of calibrating and obtaining the actual dead zone value of a preset solenoid valve and a preset component according to an action signal provided by another exemplary embodiment of the present application. As Figure 3 shown, before step S210, step S120 includes:

[0156] S250: Control the unloading valve to close.

[0157] Specifically, the aforementioned preset component may include a main pump, and the unloading valve can be used to unload the main pump. After executing step S250, the main pump can be prevented from discharging pressure due to the unloading valve.

[0158] Correspondingly, step S210 may include:

[0159] S211: According to the action signal, send a first ramp control signal to the first solenoid valve.

[0160] Specifically, the aforementioned preset solenoid valve may include a first solenoid valve, which may be disposed on the main pump. If the valve port area of the first solenoid valve changes, the pressure of the main pump will also change. It should be noted that according to the action signal, after sending a first ramp control signal to the first solenoid valve, the control current represented by the first ramp control signal changes continuously with time, the valve port area of the first solenoid valve also changes continuously with time, and the pressure of the main pump will correspondingly change.

[0161] Correspondingly, step S220 may include:

[0162] S221: Obtain the pressure value detected by the first pressure sensor.

[0163] Specifically, the aforementioned preset sensor may include a first pressure sensor, which may be used to detect the pressure value of the main pump and determine the change situation of the pressure value of the main pump.

[0164] Correspondingly, step S230 may include:

[0165] S231: If the change amplitude of the pressure value detected by the first pressure sensor exceeds the first threshold, record the first control current value represented by the first ramp control signal at this time.

[0166] Correspondingly, step S240 may include:

[0167] Step S241: Obtain the actual dead zone values of the first solenoid valve and the main pump according to the first control current value and the preset parameters.

[0168] Specifically, if the change amplitude of the pressure value detected by the first pressure sensor exceeds the first threshold, it can be considered that the state of the main pump has reached the specific working state that needs to be achieved in advance. At this time, record the first control current value represented by the first ramp control signal, and then calculate the actual dead zone values of the first solenoid valve and the main pump through the relationship between the first control current value and the preset parameters. In this way, the actual dead zone values of the first solenoid valve and the main pump can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0169] In one embodiment, the first threshold can be set according to the actual situation, and the present application does not make specific limitations on the first threshold.

[0170] Figure 4 For the process schematic diagram of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset components according to the action signal provided by another exemplary embodiment of the present application. As Figure 4 shown, before step S210, step S120 includes:

[0171] S260: Send a first fixed signal to the main pump solenoid valve.

[0172] Specifically, the preset components may include a main pump and a unloading valve. The unloading valve is used to unload the main pump. The main pump solenoid valve in step S260 can be used to adjust the flow rate of the main pump. After sending a first fixed signal to the main pump solenoid valve, the valve port area of the main pump solenoid valve is fixed, and the main pump can have a certain flow rate and pressure.

[0173] Correspondingly, step S210 may include:

[0174] S212: According to the action signal, send a second ramp control signal to the second solenoid valve.

[0175] Specifically, the aforementioned preset solenoid valve may include a second solenoid valve. The second solenoid valve is arranged on the unloading valve. If the valve port area of the second solenoid valve changes, the valve port area of the unloading valve will also change correspondingly. Then, the pressure relief amount of the unloading valve for the main pump will also change, and the pressure of the main pump will also change accordingly. Therefore, according to the action signal, after sending a second ramp control signal to the second solenoid valve, the control current represented by the second ramp control signal changes continuously with time, the valve port area of the second solenoid valve also changes continuously with time, the valve port area of the unloading valve changes correspondingly continuously with time, and the pressure of the main pump will also change with time.

[0176] In one embodiment, the second solenoid valve and the unloading valve may be integrated into one body; or, the second solenoid valve and the unloading valve may be two separate bodies connected to each other.

[0177] Correspondingly, step S220 may include:

[0178] S222: Obtain the pressure value detected by the second pressure sensor.

[0179] Specifically, the aforementioned preset sensor may include a second pressure sensor. The second pressure sensor can be used to detect the pressure value of the main pump and determine the change situation of the pressure value of the main pump.

[0180] Correspondingly, step S230 may include:

[0181] S232: If the change amplitude of the pressure value detected by the second pressure sensor exceeds the second threshold, record the second control current value represented by the second ramp control signal at this time.

[0182] Correspondingly, step S240 may include:

[0183] S242: According to the second control current value and the preset parameters, obtain the actual dead zone value of the second solenoid valve and the unloading valve.

[0184] Specifically, if the change range of the pressure value detected by the second pressure sensor exceeds the second threshold, it can be considered that the state of the main pump has reached a specific working state that needs to be achieved in advance. At this time, the second control current value represented by the second ramp control signal can be recorded, and then the actual dead zone values of the second solenoid valve and the unloading valve can be calculated through the relationship between the second control current value and the preset parameters. In this way, the actual dead zone values of the second solenoid valve and the unloading valve can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0185] In one embodiment, the second threshold can be set according to the actual situation, and the embodiments of the present application do not specifically limit the second threshold.

[0186] Figure 5 It is a schematic flow chart for calibrating and obtaining the actual dead zone values of a preset solenoid valve and a preset component according to an action signal provided in another exemplary embodiment of the present application. As Figure 5 shown, before step S210, step S120 may include:

[0187] S270: Control the unloading valve to close.

[0188] Specifically, the aforementioned preset component may include a main pump, and the unloading valve can be used to unload the main pump. After performing step S270, the main pump will not have pressure relief due to the unloading valve.

[0189] S280: Send a second fixed signal to the main pump solenoid valve.

[0190] Specifically, the main pump solenoid valve can be used to adjust the flow rate of the main pump. After sending the second fixed signal to the main pump solenoid valve, the valve port area of the main pump solenoid valve is fixed, and the main pump can have a certain flow rate and pressure.

[0191] Correspondingly, step S210 may include:

[0192] S213: Send a third ramp control signal to the third solenoid valve according to the action signal.

[0193] Specifically, the aforementioned preset solenoid valve may include a third solenoid valve, and the third solenoid valve is provided on the main valve. If the valve port area of the third solenoid valve changes, the valve port area of the main valve will also change correspondingly. Correspondingly, the size of the valve port area of the main valve will affect the pressure of the main pump. Therefore, according to the action signal, after sending the third ramp control signal to the third solenoid valve, the control current represented by the third ramp control signal changes continuously with time, the valve port area of the third solenoid valve changes continuously with time, the valve port area of the main valve changes continuously with time correspondingly, and the pressure of the main pump also changes with time.

[0194] Correspondingly, step S220 may include:

[0195] S223: Obtain the pressure value detected by the third pressure sensor.

[0196] Specifically, the aforementioned preset sensor may include a third pressure sensor. The third pressure sensor can detect the pressure value of the main pump, determine the change situation of the pressure value of the main pump, and by determining the change situation of the pressure value of the main pump, it is convenient to subsequently determine the state of the main pump.

[0197] Correspondingly, step S230 may include:

[0198] S233: If the change amplitude of the pressure value detected by the third pressure sensor exceeds the third threshold, record the third control current value represented by the third ramp control signal at this time.

[0199] Correspondingly, step S240 may include:

[0200] S243: Obtain the actual dead zone values of the third solenoid valve and the main valve according to the third control current value and the preset parameters.

[0201] Specifically, if the change amplitude of the pressure value detected by the third pressure sensor exceeds the third threshold, it can be considered that the state of the main pump has reached the specific working state that needs to be achieved in advance. At this time, the third control current value represented by the third ramp control signal can be recorded, and then the actual dead zone values of the third solenoid valve and the main valve can be calculated through the relationship between the third control current value and the preset parameters. In this way, the actual dead zone values of the third solenoid valve and the main valve can be calibrated in real time to obtain more accurate actual dead zone values, effectively improving the operating performance of the engineering vehicle.

[0202] In one embodiment, the third threshold can be set according to the actual situation, and the embodiments of the present application do not make specific limitations on the third threshold.

[0203] Figure 6 It is a schematic flow chart for calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal provided by another exemplary embodiment of the present application. As Figure 6 shown, before step S210, step 120 may include:

[0204] S290: Control the unloading valve to close.

[0205] Specifically, the unloading valve can be used to unload the main pump. After executing step S270, the main pump will not have pressure relief due to the unloading valve.

[0206] S300: Send a third fixed signal to the main pump solenoid valve.

[0207] Specifically, the main pump solenoid valve can be used to adjust the flow rate of the main pump. After sending a third fixed signal to the main pump solenoid valve, the valve port area of the main pump solenoid valve is fixed, and the main pump can have a certain flow rate and pressure.

[0208] Correspondingly, step S210 may include:

[0209] S214: According to the action signal, send a fourth ramp control signal to the fourth solenoid valve.

[0210] Specifically, the aforementioned preset solenoid valve may include a fourth solenoid valve, and the aforementioned preset components may include a main valve and an oil cylinder. The fourth solenoid valve is provided on the main valve. If the valve port area of the fourth solenoid valve changes, the valve port area of the main valve will also change correspondingly, and the flow rate through the main valve changes, causing the piston displacement value of the oil cylinder to also change correspondingly. Therefore, according to the action signal, after sending a fourth ramp control signal to the fourth solenoid valve, the control current represented by the fourth ramp control signal changes continuously with time, the valve port area of the fourth solenoid valve changes continuously with time, the valve port area of the main valve changes correspondingly continuously with time, and the piston displacement value of the oil cylinder also changes with time.

[0211] Correspondingly, step S220 may include:

[0212] S224: Obtain the displacement value detected by the displacement sensor.

[0213] Specifically, the aforementioned preset sensor may include a displacement sensor, and the displacement sensor can be used to detect the displacement value of the oil cylinder piston and determine the change situation of the displacement value of the oil cylinder piston, so as to facilitate determining the state of the main valve.

[0214] Correspondingly, step S230 may include:

[0215] S234: If the change amplitude of the displacement value detected by the displacement sensor exceeds the fourth threshold, record the fourth control current value represented by the fourth ramp control signal at this time.

[0216] Correspondingly, step S240 may include:

[0217] S244: According to the fourth control current value and the preset parameters, obtain the actual dead zone values of the fourth solenoid valve and the main valve.

[0218] Specifically, if the variation amplitude of the displacement value detected by the displacement sensor exceeds the fourth threshold, it can be considered that the state of the oil cylinder has reached the specific working state that needs to be achieved in advance. At this time, the fourth control current value represented by the fourth ramp control signal can be recorded, and then the actual dead zone values of the fourth solenoid valve and the main valve can be calculated through the relationship between the fourth control current value and the preset parameters. In this way, the actual dead zone values of the fourth solenoid valve and the main valve can be calibrated in real time, and relatively accurate actual dead zone values can be obtained, effectively improving the operating performance of the engineering vehicle.

[0219] In one embodiment, the fourth threshold can be set according to the actual situation, and the embodiments of the present application do not make specific limitations on the fourth threshold.

[0220] Figure 7 The flowchart is provided for calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal in another exemplary embodiment of the present application. As Figure 7 shown, step S230 may include:

[0221] S235: If the variation amplitude of the data detected by the preset sensor exceeds the preset threshold, record the actual detection data of the preset sensor at this time.

[0222] S236: Obtain and record the control current value according to the actual detection data.

[0223] Specifically, in practical applications, the state parameters of the preset component correspond to the control current value. If the variation amplitude of the data detected by the preset sensor exceeds the preset threshold, the control current value can be obtained according to the actual detection data of the preset sensor at this time and the corresponding relationship. In this way, the control current value can be obtained more quickly and simply, improving the work efficiency.

[0224] In one embodiment, the moment when the variation amplitude of the data detected by the preset sensor exceeds the preset threshold can also be recorded, and then the control current value at this time can be determined according to the change curve of the control signal.

[0225] Correspondingly, step S240 may include:

[0226] S245: Obtain the actual dead zone values of the preset solenoid valve and the preset component according to the actual detection data, the control current value, and the preset parameters.

[0227] Specifically, after obtaining the actual detection data of the preset sensor, the accurate actual dead zone values of the preset solenoid valve and the preset component can be obtained by using the corresponding relationship among the actual detection data, the control current value, and the preset parameters, ensuring that the calibrated actual dead zone values match the preset component and the preset solenoid valve in the current state, and effectively improving the operating performance of the engineering vehicle.

[0228] Figure 8 Schematic diagram of the process for calibrating and obtaining the actual dead zone values of a preset solenoid valve and preset components according to an action signal provided for another exemplary embodiment of the present application. As Figure 8 shown, the following takes the state parameter of the preset component as the pressure value to introduce the process of obtaining the actual dead zone values of the preset solenoid valve and preset components.

[0229] Before step S210, step S120 may further include:

[0230] S310: Obtain the target initial pressure value of the preset component.

[0231] S320: Obtain the pressure gain value of the preset component under a unit current.

[0232] Specifically, the preset parameters may include the target initial pressure value of the preset component and the pressure gain value of the preset component under a unit current. Among them, the target initial pressure value can be understood as the pressure value when the preset component is not working; the pressure gain value of the preset component under a unit current can be understood as the change amount of the pressure value of the preset component when the control current changes by one unit.

[0233] Correspondingly, step S245 may include:

[0234] S2451: Obtain a pressure threshold according to the actual detection data and the target initial pressure value.

[0235] Specifically, the actual detection data Ps can be subtracted from the target initial pressure value Pc, and the obtained difference can be understood as the pressure threshold ΔP, that is, ΔP = Ps - Pc.

[0236] S2452: Obtain the actual dead zone values of the preset solenoid valve and preset components according to the pressure threshold, the pressure gain value, and the control current value.

[0237] Figure 9 Correspondence diagram of the control current and the pressure value provided for an exemplary embodiment of the present application. In Figure 9 it, the control signal is a ramp signal, the control current changes linearly, and according to the pressure threshold ΔP, the pressure gain value Kp, and the control current value Is, the actual dead zone value Ic of the preset solenoid valve and preset components is obtained. Specifically, Ic = Is - ΔP / Kp, where the pressure gain value Kp can be determined according to the types, models, and other characteristics of the preset components. As Figure 8 shown, after executing step S236, the control current value Is can be obtained, and after executing step S2451, the pressure threshold ΔP can be obtained. In this way, the accurate actual dead zone value Ic can be calculated according to the calculation formula.

[0238] In one embodiment, the actual dead zone values of the foregoing first solenoid valve and the main pump, the actual dead zone values of the second solenoid valve and the unloading valve, and the actual dead zone values of the third solenoid valve and the main valve can be calculated with reference to the foregoing calculation method. Additionally, in the case where the state parameter of the preset component is the displacement value of the oil cylinder piston, with reference to the foregoing calculation method, the pressure value can be replaced with the displacement value to calculate the actual dead zone value of the fourth solenoid valve and the main valve.

[0239] Figure 10 This is a schematic flowchart of a process for obtaining a pressure threshold based on actual detection data and a target initial pressure value provided by an exemplary embodiment of the present application. As Figure 10 shown, step S2451 may include:

[0240] S24511: Obtain the real-time initial pressure values of the preset component at different times.

[0241] S24512: Obtain the target initial pressure value based on multiple real-time initial pressure values.

[0242] Specifically, since the real-time initial pressure value of the preset component fluctuates when the preset component is in a non-operating state, generally, in order to obtain a more accurate target initial pressure value, the real-time initial pressure values of the preset component at different times can be obtained, and then the average value of the multiple real-time initial pressure values is calculated to obtain the target initial pressure value, which can improve the accuracy of the target initial pressure value. Taking the example of obtaining the real-time initial pressure values at three different times, the target initial pressure value can be obtained by calculating the average value of the three real-time pressure values, that is, Pc = (P1 + P2 + P3) / 3, where P1, P2, and P3 respectively represent the real-time initial pressure values at three different times, and Pc represents the target initial pressure value.

[0243] Figure 11 This is a schematic flowchart of a control method based on automatic dead zone calibration provided by another exemplary embodiment of the present application. As Figure 11 shown, after step S120, the control method based on automatic dead zone calibration may further include:

[0244] S140: Store the actual dead zone value in the power-off protection area of the controller.

[0245] Specifically, after executing step S120, the actual dead zone value is stored in the power-off protection area of the controller. After receiving the same action signal subsequently, the actual dead zone values of the preset solenoid valve and the preset component can be directly called from the power-off protection area to realize the process of automatic call of the control program, effectively improving the efficiency of operating the engineering vehicle.

[0246] Figure 12The structural block diagram of the control device based on automatic dead zone calibration provided by an exemplary embodiment of the present application. As Figure 12 shown, the control device 400 based on automatic dead zone calibration provided by the embodiment of the present application may include an action signal acquisition module 410 configured to acquire an action signal; a dead zone value acquisition module 420 configured to calibrate and acquire the actual dead zone value of a preset solenoid valve and a preset component according to the action signal, wherein the preset solenoid valve is arranged on the preset component; and an action control module 430 configured to control the action of the preset component according to the action signal and the actual dead zone value.

[0247] The control device based on automatic dead zone calibration provided by the embodiment of the present application acquires an action signal, then calibrates and acquires the actual dead zone value of a preset solenoid valve and a preset component according to the action signal, and then controls the action of the preset component according to the action signal and the actual dead zone value. Since the actual dead zone value of the preset solenoid valve and the preset component can be calibrated and acquired in real time according to the action signal, the actual dead zone value can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. Thus, controlling the preset component to work according to the action signal and the calibrated actual dead zone value can enable the preset component to accurately work in the effective working range, effectively improve the problems of pressure build-up and jerks that occur during the operation of the engineering vehicle, and effectively improve the operation performance of the engineering vehicle.

[0248] Figure 13 The structural block diagram of the control device based on automatic dead zone calibration provided by another exemplary embodiment of the present application. As Figure 13 shown, in one embodiment, the dead zone value acquisition module 420 may include a first sending module 510 configured to send a control signal to the preset solenoid valve according to the action signal, wherein the preset solenoid valve is arranged on the preset component; a first acquisition module 520 configured to acquire the data detected by the preset sensor, wherein the preset sensor is configured to detect the state parameters of the preset component; a first recording module 530 configured to record the control current value represented by the control signal at this time if the change amplitude of the data detected by the preset sensor exceeds a preset threshold; and a first calculation module 540 configured to obtain the actual dead zone value of the preset solenoid valve and the preset component according to the control current value and the preset parameters.

[0249] As Figure 13As shown, in one embodiment, the dead zone value acquisition module 420 may further include a first control module 550 configured to control the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; correspondingly, the first sending module 510 may include a second sending module 511 configured to send a first ramp control signal to the first solenoid valve according to the action signal; correspondingly, the first acquisition module 520 may include a second acquisition module 521 configured to acquire the pressure value detected by the first pressure sensor; correspondingly, the first recording module 530 may include a second recording module 531 configured to record the first control current value represented by the first ramp control signal at this time if the change amplitude of the pressure value detected by the first pressure sensor exceeds the first threshold; correspondingly, the first calculation module 540 may include a second calculation module 541 configured to obtain the actual dead zone value of the first solenoid valve and the main pump according to the first control current value and the preset parameters.

[0250] As Figure 13 As shown, in one embodiment, the dead zone value acquisition module 420 may further include a third sending module 560 configured to send a first fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; correspondingly, the first sending module 510 may include a fourth sending module 512 configured to send a second ramp control signal to the second solenoid valve according to the action signal; correspondingly, the first acquisition module 520 may include a third acquisition module 522 configured to acquire the pressure value detected by the second pressure sensor; correspondingly, the first recording module 530 may include a third recording module 532 configured to record the second control current value represented by the second ramp control signal at this time if the change amplitude of the pressure value detected by the second pressure sensor exceeds the second threshold; correspondingly, the first calculation module 540 may include a third calculation module 542 configured to obtain the actual dead zone value of the second solenoid valve and the unloading valve according to the second control current value and the preset parameters.

[0251] As Figure 13As shown, in one embodiment, the dead zone value acquisition module 420 may further include a second control module 570 configured to control the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; a fifth sending module 580 configured to send a second fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; correspondingly, the first sending module 510 may include a sixth sending module 513 configured to send a third ramp control signal to the third solenoid valve according to the action signal; correspondingly, the first acquisition module 520 may include a fourth acquisition module 523 configured to acquire the pressure value detected by the third pressure sensor; correspondingly, the first recording module 530 may include a fourth recording module 533 configured to record the third control current value represented by the third ramp control signal at this time if the change amplitude of the pressure value detected by the third pressure sensor exceeds a third threshold; correspondingly, the first calculation module 540 may include a fourth calculation module 543 configured to obtain the actual dead zone values of the third solenoid valve and the main valve according to the third control current value and preset parameters.

[0252] As Figure 13 As shown, in one embodiment, the dead zone value acquisition module 420 may further include a third control module 590 configured to control the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; a seventh sending module 600 configured to send a third fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; correspondingly, the first sending module 510 may include an eighth sending module 514 configured to send a fourth ramp control signal to the fourth solenoid valve according to the action signal; correspondingly, the first acquisition module 520 may include a fifth acquisition module 524 configured to acquire the displacement value detected by the displacement sensor; correspondingly, the first recording module 530 may include a fifth recording module 534 configured to record the fourth control current value represented by the fourth ramp control signal at this time if the change amplitude of the displacement value detected by the displacement sensor exceeds a fourth threshold; correspondingly, the first calculation module 540 may include a fifth calculation module 544 configured to obtain the actual dead zone values of the fourth solenoid valve and the main valve according to the fourth control current value and preset parameters.

[0253] As Figure 13 As shown, in one embodiment, the first recording module 530 may include a sixth recording module 535 configured to record the actual detection data of the preset sensor at this time if the change amplitude of the data detected by the preset sensor exceeds a preset threshold; a seventh recording module 536 configured to obtain and record the control current value according to the actual detection data; correspondingly, the first calculation module 540 may include a sixth calculation module 545 configured to obtain the actual dead zone values of the preset solenoid valve and the preset component according to the actual detection data, the control current value, and preset parameters.

[0254] AsFigure 13 As shown, in one embodiment, the dead zone value acquisition module 420 may further include a sixth acquisition module 610 configured to acquire the target initial pressure value of a preset component; a seventh acquisition module 620 configured to acquire the pressure gain value of the preset component under a unit current; correspondingly, the sixth calculation module 545 may include a seventh calculation module 5451 configured to obtain a pressure threshold according to the actual detection data and the target initial pressure value; an eighth calculation module 5452 configured to obtain the actual dead zone value of the preset solenoid valve and the preset component according to the pressure threshold, the pressure gain value, and the control current value.

[0255] As Figure 13 shown, in one embodiment, the seventh calculation module 5451 may include an eighth acquisition module 54511 configured to acquire the real-time initial pressure value of the preset component at different times; a ninth calculation module 54512 configured to obtain the target initial pressure value according to a plurality of real-time initial pressure values.

[0256] As Figure 13 shown, in one embodiment, the control device 400 based on dead zone automatic calibration may include a storage module 440 configured to store the actual dead zone value in the power-off protection area of the controller.

[0257] Figure 14 is a structural block diagram of an engineering vehicle provided by an exemplary embodiment of the present application. As Figure 14 shown, the engineering vehicle 700 may include: a body 710; and the control device 400 based on dead zone automatic calibration as described above, and the control device 400 based on dead zone automatic calibration is provided on the body 710.

[0258] In one embodiment, the engineering vehicle 700 may include an excavator, a crane, a pump truck, etc.

[0259] The engineering vehicle 700 provided by the embodiment of the present application has all the functions of the control device 400 based on dead zone automatic calibration. It acquires an action signal, then calibrates and acquires the actual dead zone value of the preset solenoid valve and the preset component according to the action signal, and then controls the preset component to act according to the action signal and the actual dead zone value; since the actual dead zone value of the preset solenoid valve and the preset component can be calibrated and acquired in real time according to the action signal, the actual dead zone value can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. In this way, controlling the preset component to work according to the action signal and the calibrated actual dead zone value can enable the preset component to work accurately in the effective working range, effectively improve the problems of pressure buildup and jerks that occur during the operation of the engineering vehicle, and effectively improve the operating performance of the engineering vehicle.

[0260] Figure 15The structural block diagram of a construction vehicle provided for another exemplary embodiment of the present application. As Figure 15 shown, the construction vehicle 800 may include a body 810; and an electronic device 820 disposed on the body 810, and the electronic device 820 is configured to execute the control method based on dead zone automatic calibration as described above.

[0261] In one embodiment, the construction vehicle 800 may include an excavator, a crane, a concrete pump truck, etc.

[0262] The construction vehicle 800 provided by the embodiment of the present application obtains an action signal, then calibrates and obtains the actual dead zone values of a preset solenoid valve and a preset component according to the action signal, and then controls the preset component to act according to the action signal and the actual dead zone values; since the actual dead zone values of the preset solenoid valve and the preset component can be calibrated and obtained in real time according to the action signal, the actual dead zone values can reflect the current installation and matching state of the preset solenoid valve and the preset component in real time. In this way, controlling the preset component to work according to the action signal and the calibrated actual dead zone values can enable the work to be accurately carried out in the effective working range, effectively improve the problems of pressure build-up and jerks that occur during the operation of the construction vehicle, and effectively improve the operation performance of the construction vehicle.

[0263] Figure 16 The structural block diagram of an electronic device provided for an exemplary embodiment of the present application. The electronic device 820 may be any one or both of a first device and a second device, or a stand-alone device independent of them, and the stand-alone device can communicate with the first device and the second device to receive the input signals collected from them.

[0264] As Figure 16 shown, the electronic device 820 includes one or more processors 821 and a memory 822.

[0265] The processor 821 may be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 820 to execute desired functions.

[0266] The memory 822 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 821 may run the program instructions to implement the control methods of the various embodiments of the present application described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage media.

[0267] In one example, the electronic device 820 may further include: an input device 823 and an output device 824, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown).

[0268] When the controller is a stand-alone device, the input device 823 may be a communication network connector for receiving the collected input signals from the first device and the second device.

[0269] In addition, the input device 823 may further include, for example, a keyboard, a mouse, etc.

[0270] The output device 824 may output various information to the outside, including the determined distance information, direction information, etc. The output device 824 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0271] Of course, for simplicity, Figure 16 only some of the components related to the present application in the electronic device 820 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 820 may further include any other appropriate components.

[0272] The computer program products may be written in any combination of one or more programming languages for the program code to execute the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0273] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0274] The basic principles of the present application have been described above in conjunction with specific embodiments. However, it should be noted that the advantages, benefits, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, benefits, effects, etc. are essential for each embodiment of the present application. In addition, the above-disclosed specific details are only for illustrative and easy-to-understand purposes, rather than limitations, and the above details do not limit the present application to necessarily adopt the above specific details to implement.

[0275] The block diagrams of the devices, apparatuses, equipment, and systems involved in the present application are only illustrative examples and do not intend to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As those skilled in the art will recognize, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open-ended words, meaning "including but not limited to", and can be used interchangeably with each other. The word "or" and "and" used herein refer to the word "and / or", and can be used interchangeably with each other, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to", and can be used interchangeably with each other.

[0276] It should also be noted that in the devices, equipment, and methods of the present application, each component or each step can be decomposed and / or recombined. These decompositions and / or recombinations should be regarded as equivalent solutions of the present application.

[0277] The above description of the disclosed aspects enables any person skilled in the art to make or use the present application. Various modifications to these aspects are very obvious to those skilled in the art, and the general principles defined herein can be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the broadest scope consistent with the principles and novel features disclosed herein.

[0278] The foregoing description has been presented for purposes of illustration and description. In addition, this description is not intended to limit embodiments of the present application to the forms disclosed herein. Although several example aspects and embodiments have been discussed above, those skilled in the art will recognize some of their variations, modifications, alterations, additions, and subcombinations.

Claims

1. A control method based on automatic dead zone calibration, characterized in that Including: Obtain an action signal; According to the action signal, calibrate and obtain the actual dead zone values of a preset solenoid valve and a preset component; wherein, the preset solenoid valve is arranged on the preset component; and According to the action signal and the actual dead zone values, control the preset component to act; Wherein, the step of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal includes: According to the action signal, send a control signal to the preset solenoid valve; Obtain the data detected by a preset sensor; wherein, the preset sensor detects the state parameters of the preset component; If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, record the control current value represented by the control signal at this time; and According to the control current value and preset parameters, obtain the actual dead zone values of the preset solenoid valve and the preset component; Wherein, the step of if the change amplitude of the data detected by the preset sensor exceeds a preset threshold, record the control current value represented by the control signal at this time includes: If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, record the actual detection data of the preset sensor at this time, and According to the actual detection data, obtain and record the control current value; The step of obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and preset parameters includes: According to the actual detection data, the control current value and the preset parameters, obtain the actual dead zone values of the preset solenoid valve and the preset component.

2. The control method based on automatic dead zone calibration according to claim 1, wherein The preset solenoid valve includes a first solenoid valve, the preset component includes a main pump, and the preset sensor includes a first pressure sensor; wherein, the first solenoid valve is arranged on the main pump, and the first pressure sensor is configured to detect the pressure value of the main pump; Before the step of sending a control signal to the preset solenoid valve according to the action signal, the step of calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal further includes: Control the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; The step of sending a control signal to the preset solenoid valve according to the action signal includes: According to the action signal, send a first ramp control signal to the first solenoid valve; The step of obtaining the data detected by the preset sensor includes: Obtain the pressure value detected by the first pressure sensor; The step of if the change amplitude of the data detected by the preset sensor exceeds a preset threshold, record the control current value represented by the control signal at this time includes: If the change amplitude of the pressure value detected by the first pressure sensor exceeds a first threshold, record the first control current value represented by the first ramp control signal at this time; The step of obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and preset parameters includes: According to the first control current value and the preset parameters, obtain the actual dead zone values of the first solenoid valve and the main pump.

3. The control method based on dead zone automatic calibration according to claim 1, characterized in that The preset solenoid valve includes a second solenoid valve, the preset component includes a main pump and a unloading valve, the unloading valve is configured to unload the main pump, and the preset sensor includes a second pressure sensor; wherein, the second solenoid valve is arranged on the unloading valve; the second pressure sensor is configured to detect the pressure value of the main pump; Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal further includes: Sending a first fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; Sending a control signal to the preset solenoid valve according to the action signal includes: Sending a second ramp control signal to the second solenoid valve according to the action signal; Obtaining the data detected by the preset sensor includes: Obtaining the pressure value detected by the second pressure sensor; If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes: If the change amplitude of the pressure value detected by the second pressure sensor exceeds a second threshold, recording the second control current value represented by the second ramp control signal at this time; Obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and preset parameters includes: Obtaining the actual dead zone values of the second solenoid valve and the unloading valve according to the second control current value and the preset parameters.

4. The control method based on dead zone automatic calibration according to claim 1, characterized in that The preset solenoid valve includes a third solenoid valve, the preset component includes a main pump and a main valve, and the preset sensor includes a third pressure sensor; wherein, the third solenoid valve is arranged on the main valve, and the third pressure sensor is configured to detect the pressure value of the main pump; Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the action signal further includes: Controlling the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; Sending a second fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; Sending a control signal to the preset solenoid valve according to the action signal includes: Sending a third ramp control signal to the third solenoid valve according to the action signal; Obtaining the data detected by the preset sensor includes: Obtaining the pressure value detected by the third pressure sensor; If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes: If the change amplitude of the pressure value detected by the third pressure sensor exceeds a third threshold, recording the third control current value represented by the third ramp control signal at this time; Obtaining the actual dead zone values of the preset solenoid valve and the preset component according to the control current value and preset parameters includes: Obtaining the actual dead zone values of the third solenoid valve and the main valve according to the third control current value and the preset parameters.

5. The control method based on dead zone automatic calibration according to claim 1, wherein The preset solenoid valve includes a fourth solenoid valve, the preset component includes a main valve and an oil cylinder, and the preset sensor includes a displacement sensor; wherein, the fourth solenoid valve is arranged on the main valve, and the displacement sensor is configured to detect the displacement value of the piston of the oil cylinder; Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the action signal further includes: Controlling the unloading valve to close; wherein, the unloading valve is configured to unload the main pump; Sending a third fixed signal to the main pump solenoid valve; wherein, the main pump solenoid valve is configured to adjust the flow rate of the main pump; Sending a control signal to the preset solenoid valve according to the action signal includes: Sending a fourth ramp control signal to the fourth solenoid valve according to the action signal; Obtaining the data detected by the preset sensor includes: Obtaining the displacement value detected by the displacement sensor; If the change amplitude of the data detected by the preset sensor exceeds a preset threshold, recording the control current value represented by the control signal at this time includes: If the change amplitude of the displacement value detected by the displacement sensor exceeds a fourth threshold, recording the fourth control current value represented by the fourth ramp control signal at this time; Obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the control current value and the preset parameters includes: Obtaining the actual dead zone values of the fourth solenoid valve and the main valve according to the fourth control current value and the preset parameters.

6. The control method based on automatic dead zone calibration according to claim 1, wherein, The preset parameters include the target initial pressure value of the preset component and the pressure gain value of the preset component under unit current; Before sending a control signal to the preset solenoid valve according to the action signal, calibrating and obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the action signal further includes: Obtaining the target initial pressure value of the preset component, and Obtaining the pressure gain value of the preset component under unit current; Obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the actual detection data, the control current value and the preset parameters includes: Obtaining a pressure threshold according to the actual detection data and the target initial pressure value, Obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the pressure threshold, the pressure gain value and the control current value.

7. The control method based on automatic dead zone calibration according to claim 6, wherein Obtaining the target initial pressure value of the preset component includes: Obtaining the real-time initial pressure values of the preset component at different times, and Obtaining the target initial pressure value according to a plurality of the real-time initial pressure values.

8. The control method based on automatic dead zone calibration according to claim 1, wherein After obtaining the actual dead zone value of the preset solenoid valve and the preset component according to the action signal, the control method based on automatic dead zone calibration further includes: Storing the actual dead zone value into the power-off protection area of the controller.

9. A control device based on automatic dead zone calibration, which is applied to the control method based on automatic dead zone calibration as described in any one of claims 1 to 8, characterized in that, The control device based on automatic dead zone calibration includes: An action signal acquisition module configured to acquire an action signal; A dead zone value acquisition module, configured to calibrate and acquire the actual dead zone values of a preset solenoid valve and a preset component according to the action signal; wherein the preset solenoid valve is arranged on the preset component; and An action control module, configured to control the action of the preset component according to the action signal and the actual dead zone value.

10. An engineering vehicle, characterized in that, Comprising: A body; And The control device based on automatic dead zone calibration as claimed in claim 9, the control device based on automatic dead zone calibration is arranged on the body.

11. An engineering vehicle, characterized in that, Comprising: A body; And An electronic device, arranged on the body, the electronic device is configured to execute the control method based on automatic dead zone calibration as claimed in any one of claims 1 to 8.

12. A storage medium, characterized in that, The storage medium stores a computer program, the computer program is configured to execute the control method based on automatic dead zone calibration as claimed in any one of claims 1 to 8.

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