A solenoid valve control method and apparatus

Abstract

The application provides an electromagnetic valve control method and device, which are applied to the technical field of electrical control, and after a current reference current and a current oil temperature of an electromagnetic valve are acquired, the target dither period and the target dither amplitude of a dither current are determined according to the current reference current and the current oil temperature, the target parameter group is determined in a plurality of preset dither current parameter groups based on the target dither period and the target dither amplitude, then the actual dither current is generated according to the target parameter group and the current reference current, and the electromagnetic valve is controlled to work according to the actual dither current. In the method, the generation of the dither current is realized based on the current reference current, the current oil temperature and the preset dither current parameter group, the obtained actual dither current is more matched with the actual operation condition of the electromagnetic valve, and the control precision and the response speed of the electromagnetic valve are further improved.

Description

Technical Field

[0001] This invention belongs to the field of electrical control technology, and particularly relates to a solenoid valve control method and device. Background Technology

[0002] A solenoid valve consists of two main components: a valve core and a valve sleeve. When the solenoid valve is operating, the valve core reciprocates within the valve sleeve. In practical applications, to improve the control accuracy and response speed of the solenoid valve, it is desirable to minimize the friction between the valve core and the valve sleeve.

[0003] To achieve the above objectives, existing technologies superimpose a low-amplitude, high-frequency alternating current onto the solenoid valve's reference current to form a dither current. This dither current is then used as the final operating current applied to the solenoid valve. Because the dither current undergoes periodic alternation, it allows the valve core to maintain continuous small-amplitude movement within the valve sleeve, preserving the oil film thickness between the valve core and the valve sleeve, thereby reducing frictional resistance.

[0004] However, the inventors discovered that the dither current in the existing technology is set based on the ideal operating conditions of the solenoid valve, without taking into account the deviation between the actual operating conditions and the theoretical operating conditions of the solenoid valve, which limits the further improvement of the control accuracy and response speed of the solenoid valve. Summary of the Invention

[0005] In view of this, the purpose of this invention is to provide a solenoid valve control method and apparatus, which determines the dither current based on the current reference current of the solenoid valve, the current oil temperature, and a preset dither current parameter set, thus better matching the actual operating conditions of the solenoid valve and helping to further improve the control accuracy and response speed of the solenoid valve. The specific solution is as follows:

[0006] In a first aspect, the present invention provides a method for controlling a solenoid valve, comprising:

[0007] Obtain the current reference current and current oil temperature of the solenoid valve;

[0008] Based on the current reference current and the current oil temperature, determine the target dither period and target dither amplitude of the dither current;

[0009] Based on the target dither period and the target dither amplitude, a target parameter set is determined from multiple preset dither current parameter sets;

[0010] The preset dither current parameter set is used to calculate the dither period and dither amplitude of the dither current;

[0011] The actual dither current is generated based on the target parameter set and the current reference current;

[0012] The solenoid valve is controlled according to the actual dither current.

[0013] Optionally, determining the target parameter set from multiple preset dither current parameter sets based on the target dither period and the target dither amplitude includes:

[0014] For each preset dither current parameter group, the evaluation score of the preset dither current parameter group is calculated based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group.

[0015] The preset dither current parameter group with the smallest evaluation score among all the preset dither current parameter groups is taken as the target parameter group.

[0016] Optionally, the parameters of the preset dither current parameter group include: dithering steps, amplitude step size, and period step size;

[0017] The step of calculating the evaluation score of the preset dither current parameter group based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group includes:

[0018] Calculate the reference dither amplitude of the preset dither current parameter group based on the flutter step number and amplitude step size of the preset dither current parameter group;

[0019] Calculate the reference dither period of the preset dither current parameter group based on the chatter step number and period step size of the preset dither current parameter group;

[0020] The target dither period, the target dither amplitude, the reference dither amplitude corresponding to the preset dither current parameter group, the reference dither period, and the number of chatter steps are input into the following formula to obtain the evaluation score of the preset dither current parameter group:

[0021] E val =a×(T) M -T C ) 2 +b×(I M -I C ) 2 +c / N step 2 ;

[0022] Among them, E val This represents the evaluation score of the preset dither current parameter group;

[0023] T M Indicates the target dither period;

[0024] T C This represents the reference dither period of the preset dither current parameter group;

[0025] I M This represents the target dither amplitude;

[0026] I C This represents the reference dither amplitude of the preset dither current parameter group;

[0027] N step This indicates the number of chatter steps in the preset dither current parameter group;

[0028] a, b, and c represent the corresponding preset weight coefficients.

[0029] Optionally, calculating the reference dither amplitude of the preset dither current parameter group based on the chatter step number and amplitude step size of the preset dither current parameter group includes:

[0030] The reference dither amplitude of the preset dither current parameter set is calculated using the following formula:

[0031] I C =2×N step ×I step ;

[0032] Among them, I step This indicates the amplitude step size of the preset dither current parameter group.

[0033] Optionally, calculating the reference dither period of the preset dither current parameter group based on the chatter step number and period step size of the preset dither current parameter group includes:

[0034] The reference dither period of the preset dither current parameter set is calculated using the following formula:

[0035] T C =4×N step ×T step ;

[0036] Among them, T step This indicates the period step size of the preset dither current parameter group.

[0037] Optionally, determining the target dither period and target dither amplitude of the dither current based on the current reference current and the current oil temperature includes:

[0038] Based on the first preset mapping relationship, determine the target dither cycle of the dither current corresponding to the current reference current and the current oil temperature;

[0039] The first preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither cycle.

[0040] Based on the second preset mapping relationship, determine the target dither amplitude of the dither current corresponding to the current reference current and the current oil temperature;

[0041] The second preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither amplitude.

[0042] In a second aspect, the present invention provides a solenoid valve control device, comprising:

[0043] The acquisition unit is used to acquire the current reference current and current oil temperature of the solenoid valve;

[0044] The first determining unit is used to determine the target dither period and target dither amplitude of the dither current based on the current reference current and the current oil temperature.

[0045] The second determining unit is used to determine a target parameter set from multiple preset dither current parameter sets based on the target dither period and the target dither amplitude.

[0046] The preset dither current parameter set is used to calculate the dither period and dither amplitude of the dither current;

[0047] The generation unit is used to generate the actual dither current based on the target parameter set and the current reference current;

[0048] The control unit is used to control the operation of the solenoid valve according to the actual dither current.

[0049] Optionally, the second determining unit is used to determine a target parameter set from multiple preset dither current parameter sets based on the target dither period and the target dither amplitude, including:

[0050] For each preset dither current parameter group, the evaluation score of the preset dither current parameter group is calculated based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group.

[0051] The preset dither current parameter group with the smallest evaluation score among all the preset dither current parameter groups is taken as the target parameter group.

[0052] Optionally, the parameters of the preset dither current parameter group include: dithering steps, amplitude step size, and period step size;

[0053] The second determining unit is configured to calculate an evaluation score for the preset dither current parameter group based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group, including:

[0054] Calculate the reference dither amplitude of the preset dither current parameter group based on the flutter step number and amplitude step size of the preset dither current parameter group;

[0055] Calculate the reference dither period of the preset dither current parameter group based on the chatter step number and period step size of the preset dither current parameter group;

[0056] The target dither period, the target dither amplitude, the reference dither amplitude corresponding to the preset dither current parameter group, the reference dither period, and the number of chatter steps are input into the following formula to obtain the evaluation score of the preset dither current parameter group:

[0057] E val =a×(T) M -T C ) 2 +b×(I M -I C ) 2 +c / N step 2 ;

[0058] Among them, E val This represents the evaluation score of the preset dither current parameter group;

[0059] T M Indicates the target dither period;

[0060] T C This represents the reference dither period of the preset dither current parameter group;

[0061] I M This represents the target dither amplitude;

[0062] I C This represents the reference dither amplitude of the preset dither current parameter group;

[0063] N step This indicates the number of chatter steps in the preset dither current parameter group;

[0064] a, b, and c represent the corresponding preset weight coefficients.

[0065] Optionally, the second determining unit is used to calculate the reference dither amplitude of the preset dither current parameter group based on the chatter step number and amplitude step size of the preset dither current parameter group, including:

[0066] The reference dither amplitude of the preset dither current parameter set is calculated using the following formula:

[0067] I C =2×N step ×I step ;

[0068] Among them, I step This indicates the amplitude step size of the preset dither current parameter group.

[0069] Based on the above technical solution, the solenoid valve control method provided by this invention, after acquiring the current reference current and current oil temperature of the solenoid valve, determines the target dither period and target dither amplitude of the dither current based on the current reference current and current oil temperature. Further, based on the target dither period and target dither amplitude, a target parameter set is determined from multiple preset dither current parameter sets. Then, the actual dither current is generated according to the target parameter set and the current reference current, and the solenoid valve is controlled to operate according to the actual dither current. As can be seen from the above-described process of generating the actual dither current, the generation of the dither current in the control method provided by this invention is based on the current reference current, current oil temperature, and preset dither current parameter sets of the solenoid valve. Since the current reference current and current oil temperature are directly related to the actual operating conditions of the solenoid valve, the obtained actual dither current is more closely matched to the actual operating conditions of the solenoid valve, which helps to further improve the control accuracy and response speed of the solenoid valve. Attached Figure Description

[0070] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0071] Figure 1 This is a flowchart of a solenoid valve control method provided in an embodiment of the present invention;

[0072] Figure 2 This is a waveform diagram of the dither current provided in an embodiment of the present invention;

[0073] Figure 3 This is a structural block diagram of a solenoid valve control device provided in an embodiment of the present invention. Detailed Implementation

[0074] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0075] See Figure 1 The flowchart of the solenoid valve control method provided in this embodiment of the invention can be applied to electronic controllers, such as controllers in hydraulic systems used to control the operating state of solenoid valves; see reference. Figure 1 The flow of the solenoid valve control method provided in this embodiment of the invention may include:

[0076] S100: Obtain the current reference current and current oil temperature of the solenoid valve.

[0077] As described above, during the operation of the solenoid valve, the oil film between the valve body and the valve sleeve reduces the friction between them. As the solenoid valve operates, the temperature of the lubricating oil inevitably changes. This temperature change affects the lubricating oil's properties, such as viscosity, and consequently, the operation of the solenoid valve. Therefore, this invention requires obtaining the current oil temperature of the solenoid valve. The reference current of the solenoid valve is calculated based on the actual control requirements of the system to which the solenoid valve belongs in the application scenario. It not only directly affects the solenoid valve's operation but also changes with the system's requirements. Therefore, this embodiment of the invention also requires obtaining the current reference current of the solenoid valve.

[0078] S110. Based on the current reference current and the current oil temperature, determine the target dither period and target dither amplitude of the dither current.

[0079] Optionally, since the reference current and oil temperature of the solenoid valve have a certain influence on the period and amplitude of the dither current, embodiments of the present invention provide a first preset mapping relationship and a second preset mapping relationship. The first preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither period, while the second preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither amplitude. It should be noted that the first and second preset mapping relationships can be obtained through extensive testing and calibration. Of course, other methods can also be used to obtain them. The present invention does not specifically limit the specific process for obtaining the first and second preset mapping relationships.

[0080] Based on the first preset mapping relationship, the target dither period of the dither current corresponding to the current reference current and the current oil temperature can be determined. Correspondingly, based on the second preset mapping relationship, the target dither amplitude of the dither current corresponding to the current reference current and the current oil temperature can be determined.

[0081] S120. Based on the target dither period and target dither amplitude, determine the target parameter set from multiple preset dither current parameter sets.

[0082] In practical applications, the dither period and dither amplitude of the dither current are determined by three parameters: the number of chatter steps, the amplitude step size, and the period step size. Furthermore, for a given dither period and dither amplitude, multiple sets of different chatter steps, amplitude step sizes, and period step sizes can be used. Based on this, this invention provides multiple sets of preset dither current parameter groups for calculating the dither period and dither amplitude of the dither current. It is understood that, in order to make the final dither current as consistent as possible with the target dither period and target dither amplitude, the more preset dither current parameter groups, the better. More preset dither current parameter groups mean a larger selection space for the synthesized reference dither period and reference dither amplitude. Of course, the specific number of preset dither current parameter groups should be reasonably selected based on the actual computing power of the controller using the electromagnetic valve control method provided in this invention embodiment and the specific control accuracy requirements. This invention does not limit the specific number of preset dither current parameter groups.

[0083] In this step, firstly, for each preset dither current parameter group, the evaluation score of each preset dither current parameter group is calculated based on the target dither period, target dither amplitude, and parameters included in the preset dither current parameter group obtained in the previous steps. After obtaining the evaluation score corresponding to each preset dither current parameter group, the preset dither current parameter group with the smallest evaluation score is taken as the target parameter group.

[0084] Optionally, the following section uses the calculation of any preset dither current parameter set as an example to introduce the calculation process of the evaluation score:

[0085] First, based on the chatter step number and amplitude step size of the preset dither current parameter group, calculate the reference dither amplitude of the preset dither current parameter group. Specifically, it can be calculated using the following formula:

[0086] I C =2×N step ×I step ;

[0087] Among them, I C This represents the reference dither amplitude of the preset dither current parameter group;

[0088] N step This indicates the number of chatter steps for the preset dither current parameter group;

[0089] I step This indicates the amplitude step size of the preset dither current parameter group.

[0090] Then, based on the chattering step number and period step size of the preset dither current parameter group, the reference dither period of the preset dither current parameter group is calculated. Specifically, the reference dither period of the preset dither current parameter group can be calculated according to the following formula:

[0091] T C =4×N step ×T step ;

[0092] Among them, T C Indicates the reference dither period of the preset dither current parameter group;

[0093] T step This indicates the period step size of the preset dither current parameter group.

[0094] The above calculation process can be combined with Figure 2 The waveform diagram of the dither current shown is for understanding purposes only. Figure 2 N in the illustrated embodiment step =3, I setpoint This represents the reference current.

[0095] After iterating through all the preset dither current parameter groups and obtaining the reference dither period and reference dither amplitude corresponding to each preset dither current parameter group, the evaluation score corresponding to each preset dither current parameter group can be calculated.

[0096] Specifically, for each preset dither current parameter group, the target dither period, target dither amplitude, reference dither amplitude, reference dither period, and chatter step number corresponding to the preset dither current parameter group are input into the following formula to obtain the evaluation score of the preset dither current parameter group:

[0097] E val =a×(T) M -T C ) 2 +b×(I M -I C ) 2 +c / N step 2 ;

[0098] Among them, E val This indicates the evaluation score for the preset dither current parameter group;

[0099] T M Indicates the target dither period;

[0100] I M Indicates the target dither amplitude;

[0101] a, b, and c represent the corresponding preset weight coefficients.

[0102] It should be noted that in practical applications, the preset weight coefficient a corresponding to the dither period, the preset weight coefficient b corresponding to the dither amplitude, and the preset weight coefficient c corresponding to the number of dither steps can be flexibly adjusted according to the degree of change and sensitivity of the three parameters of dither amplitude, dither period, and dither steps in the actual application scenario. This invention does not limit the specific values ​​of the three preset weight coefficients a, b, and c.

[0103] It is understandable that the number of chatter steps affects the smoothness of the dither current. The larger the value of the chatter step number, the better the smoothness of the dither current. The calculation process of the above evaluation score takes this into account.

[0104] Based on the above, it can be seen that the target parameter group determined according to the evaluation score has the closest corresponding dither current, target dither period, and target dither amplitude, and the smoothness is better.

[0105] S130. Generate the actual dither current based on the target parameter set and the current reference current.

[0106] based on Figure 2 As shown, after determining the number of chatter steps, amplitude step size, period step size, and current reference current, the actual dither current can be generated based on these parameters. The process of generating the actual dither current can be implemented using existing technology, and this invention does not limit it.

[0107] S140, Control the operation of the solenoid valve according to the actual dither current.

[0108] The specific process of controlling the operation of the solenoid valve according to the actual dither current can also be implemented with reference to existing technologies, and this invention does not limit it.

[0109] Based on the above-described actual dither current generation process, it can be seen that in the control method provided by the present invention, the generation of dither current is based on the current reference current of the solenoid valve, the current oil temperature, and the preset dither current parameter group. Since the current reference current and the current oil temperature are directly related to the actual operating conditions of the solenoid valve, the obtained actual dither current is more in line with the actual operating conditions of the solenoid valve, which helps to further improve the control accuracy and response speed of the solenoid valve.

[0110] The following describes the solenoid valve control device provided in the embodiments of the present invention. The solenoid valve control device described below can be considered as the functional module architecture that needs to be set in the central equipment to implement the solenoid valve control method provided in the embodiments of the present invention. The following description can be referred to in conjunction with the above.

[0111] Figure 3 This is a structural block diagram of a solenoid valve control device provided in an embodiment of the present invention, with reference to... Figure 3 The device may include:

[0112] The acquisition unit 10 is used to acquire the current reference current and current oil temperature of the solenoid valve;

[0113] The first determining unit 20 is used to determine the target dither period and target dither amplitude of the dither current based on the current reference current and the current oil temperature.

[0114] The second determining unit 30 is used to determine the target parameter set from multiple preset dither current parameter sets based on the target dither period and the target dither amplitude.

[0115] Among them, the preset dither current parameter set is used to calculate the dither period and dither amplitude of the dither current;

[0116] Generation unit 40 is used to generate the actual dither current based on the target parameter set and the current reference current;

[0117] Control unit 50 is used to control the operation of the solenoid valve according to the actual dither current.

[0118] Optionally, the second determining unit 30 is used to determine a target parameter set from multiple preset dither current parameter sets based on the target dither period and the target dither amplitude, including:

[0119] For each preset dither current parameter group, the evaluation score of the preset dither current parameter group is calculated based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group.

[0120] The preset dither current parameter group with the lowest evaluation score among all preset dither current parameter groups is taken as the target parameter group.

[0121] Optional parameters for the preset dither current parameter group include: chatter steps, amplitude step size, and period step size;

[0122] The second determining unit 30 is used to calculate the evaluation score of the preset dither current parameter group based on the target dither period, the target dither amplitude, and the parameters included in the preset dither current parameter group, including:

[0123] Calculate the reference dither amplitude of the preset dither current parameter group based on the chatter step number and amplitude step size of the preset dither current parameter group;

[0124] Calculate the reference dither period of the preset dither current parameter group based on the chatter step number and period step size of the preset dither current parameter group;

[0125] Input the target dither period, target dither amplitude, reference dither amplitude, reference dither period, and chatter step count corresponding to the preset dither current parameter set into the following formula to obtain the evaluation score of the preset dither current parameter set:

[0126] Eval =a×(T) M -T C ) 2 +b×(I M -I C ) 2 +c / N step 2 ;

[0127] Among them, E val This indicates the evaluation score for the preset dither current parameter group;

[0128] T M Indicates the target dither period;

[0129] T C Indicates the reference dither period of the preset dither current parameter group;

[0130] I M Indicates the target dither amplitude;

[0131] I C This represents the reference dither amplitude of the preset dither current parameter group;

[0132] N step This indicates the number of chatter steps for the preset dither current parameter group;

[0133] a, b, and c represent the corresponding preset weight coefficients.

[0134] Optionally, the second determining unit 30 is used to calculate the reference dither amplitude of the preset dither current parameter set based on the chatter step number and amplitude step size of the preset dither current parameter set, including:

[0135] Calculate the reference dither amplitude of the preset dither current parameter set using the following formula:

[0136] I C =2×N step ×I step ;

[0137] Among them, I step This indicates the amplitude step size of the preset dither current parameter group.

[0138] Optionally, the second determining unit 30 is used to calculate the reference dither period of the preset dither current parameter set based on the chatter step number and period step size of the preset dither current parameter set, including:

[0139] Calculate the reference dither period of the preset dither current parameter set using the following formula:

[0140] T C =4×N step ×T step ;

[0141] Among them, T step This indicates the period step size of the preset dither current parameter group.

[0142] Optionally, the first determining unit 20 is used to determine the target dither period and target dither amplitude of the dither current based on the current reference current and the current oil temperature, including:

[0143] Based on the first preset mapping relationship, determine the target dither cycle of the dither current corresponding to the current reference current and the current oil temperature;

[0144] The first preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither cycle.

[0145] Based on the second preset mapping relationship, determine the target dither amplitude of the dither current corresponding to the current reference current and the current oil temperature;

[0146] The second preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the dither amplitude.

[0147] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0148] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0149] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0150] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the core spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a solenoid valve, characterized in that, include: Obtain the current reference current and current oil temperature of the solenoid valve; the current reference current is a current value determined according to the control requirements of the system to which the solenoid valve belongs; Based on the current reference current and the current oil temperature, determine the target chatter period and target chatter amplitude of the chatter current; Based on the target flutter period and the target flutter amplitude, a target parameter set is determined from multiple preset flutter current parameter sets; The preset flutter current parameter set is used to calculate the flutter period and flutter amplitude of the flutter current. The actual flutter current is generated based on the target parameter set and the current reference current; The solenoid valve is controlled to operate according to the actual flutter current.

2. The solenoid valve control method according to claim 1, characterized in that, The step of determining a target parameter set from multiple preset flutter current parameter sets based on the target flutter period and the target flutter amplitude includes: For each preset flutter current parameter group, an evaluation score for the preset flutter current parameter group is calculated based on the target flutter period, the target flutter amplitude, and the parameters included in the preset flutter current parameter group. The preset flutter current parameter group with the smallest evaluation score among all the preset flutter current parameter groups is taken as the target parameter group.

3. The solenoid valve control method according to claim 2, characterized in that, The parameters of the preset chatter current parameter group include: chatter step number, amplitude step size, and period step size; The step of calculating the evaluation score of the preset flutter current parameter group based on the target flutter period, the target flutter amplitude, and the parameters included in the preset flutter current parameter group includes: Calculate the reference flutter amplitude of the preset flutter current parameter group based on the flutter step number and amplitude step size of the preset flutter current parameter group; Calculate the reference flutter period of the preset flutter current parameter group based on the flutter step number and period step size of the preset flutter current parameter group; By inputting the target flutter period, the target flutter amplitude, the reference flutter amplitude corresponding to the preset flutter current parameter group, the reference flutter period, and the number of flutter steps into the following formula, the evaluation score of the preset flutter current parameter group is obtained: E val = a x (T M − T C ) 2 + b x (I M − I C ) 2 + c / N step 2 ; Among them, E val This represents the evaluation score of the preset flutter current parameter group; T M Indicates the target flutter period; T C This represents the reference flutter period of the preset flutter current parameter group; I M This indicates the target flutter amplitude; I C This represents the reference flutter amplitude of the preset flutter current parameter group; N step This indicates the number of chatter steps in the preset chatter current parameter group; a, b, and c represent the corresponding preset weight coefficients.

4. The solenoid valve control method according to claim 3, characterized in that, The step of calculating the reference flutter amplitude of the preset flutter current parameter group based on the flutter step number and amplitude step size includes: The reference flutter amplitude of the preset flutter current parameter set is calculated using the following formula: I C =2×N step ×I step ; Among them, I step This indicates the amplitude step size of the preset flutter current parameter group.

5. The solenoid valve control method according to claim 3, characterized in that, The step of calculating the reference flutter period of the preset flutter current parameter set based on the flutter step number and period step size includes: The reference flutter period of the preset flutter current parameter set is calculated using the following formula: T C =4×N step ×T step ; Among them, T step This indicates the period step size of the preset flutter current parameter group.

6. The solenoid valve control method according to claim 1, characterized in that, The step of determining the target chatter period and target chatter amplitude of the chatter current based on the current reference current and the current oil temperature includes: Based on the first preset mapping relationship, determine the target chatter period of the chatter current corresponding to the current reference current and the current oil temperature; The first preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the chattering period. Based on the second preset mapping relationship, determine the target chatter amplitude of the chatter current corresponding to the current reference current and the current oil temperature; The second preset mapping relationship records the correspondence between the reference current and oil temperature of the solenoid valve and the chatter amplitude.

7. A solenoid valve control device, characterized in that, include: The acquisition unit is used to acquire the current reference current and current oil temperature of the solenoid valve; The first determining unit is used to determine the target flutter period and target flutter amplitude of the flutter current based on the current reference current and the current oil temperature. The second determining unit is used to determine a target parameter group from multiple preset flutter current parameter groups based on the target flutter period and the target flutter amplitude. The preset flutter current parameter set is used to calculate the flutter period and flutter amplitude of the flutter current. The generation unit is used to generate the actual chatter current based on the target parameter set and the current reference current; The control unit is used to control the operation of the solenoid valve according to the actual flutter current.

8. The solenoid valve control device according to claim 7, characterized in that, The second determining unit is configured to determine a target parameter set from multiple preset flutter current parameter sets based on the target flutter period and the target flutter amplitude, including: For each preset flutter current parameter group, an evaluation score for the preset flutter current parameter group is calculated based on the target flutter period, the target flutter amplitude, and the parameters included in the preset flutter current parameter group. The preset flutter current parameter group with the smallest evaluation score among all the preset flutter current parameter groups is taken as the target parameter group.

9. The solenoid valve control device according to claim 8, characterized in that, The parameters of the preset chatter current parameter group include: chatter step number, amplitude step size, and period step size; The second determining unit is configured to calculate an evaluation score for the preset flutter current parameter group based on the target flutter period, the target flutter amplitude, and the parameters included in the preset flutter current parameter group, including: Calculate the reference flutter amplitude of the preset flutter current parameter group based on the flutter step number and amplitude step size of the preset flutter current parameter group; Calculate the reference flutter period of the preset flutter current parameter group based on the flutter step number and period step size of the preset flutter current parameter group; By inputting the target flutter period, the target flutter amplitude, the reference flutter amplitude corresponding to the preset flutter current parameter group, the reference flutter period, and the number of flutter steps into the following formula, the evaluation score of the preset flutter current parameter group is obtained: E val =a×(T M −T C ) 2 +b×(I M −I C ) 2 +c / N step 2 ; Among them, E val This represents the evaluation score of the preset flutter current parameter group; T M Indicates the target flutter period; T C This represents the reference flutter period of the preset flutter current parameter group; I M This indicates the target flutter amplitude; I C This represents the reference flutter amplitude of the preset flutter current parameter group; N step This indicates the number of chatter steps in the preset chatter current parameter group; a, b, and c represent the corresponding preset weight coefficients.

10. The solenoid valve control device according to claim 9, characterized in that, The second determining unit is used to calculate the reference flutter amplitude of the preset flutter current parameter set based on the flutter step number and amplitude step size, including: The reference flutter amplitude of the preset flutter current parameter set is calculated using the following formula: I C =2×N step ×I step ; Among them, I step This indicates the amplitude step size of the preset flutter current parameter group.

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