Rack and pinion steering system

Abstract

The application discloses a kind of oil cylinder piston movement control method, device and electronic equipment, belong to hydraulic technology field, for solving the problem of poor control precision of current hydraulic transmission system.The control method comprises: oil cylinder piston starts movement with initial parameter value, the distance between actual position and target position of oil cylinder piston is acquired in real time;According to the distance and the target parameter value of preset model is determined;In response to the target parameter value is greater than the initial parameter value, control the oil cylinder piston moves with the initial parameter value;In response to the target parameter value is less than or equal to the initial parameter value, control the oil cylinder piston moves with the target parameter value;Wherein, the target parameter value decreases with the distance decreases.

Description

Technical Field

[0001] This application belongs to the field of hydraulic technology, specifically relating to a method, device, and electronic equipment for controlling the movement of a hydraulic cylinder piston. Background Technology

[0002] With the development of modern industry, higher requirements have been placed on the control precision of hydraulic transmission systems.

[0003] Current control methods typically involve gradually reducing the piston speed after it reaches the target position to bring it to a stop.

[0004] In the above control method, after the cylinder piston reaches the target position, it will continue to move for a certain distance before stopping. This makes it impossible for the cylinder piston to stop accurately at the target position, which can easily cause large position overshoot, resulting in poor control accuracy of the hydraulic transmission system. Summary of the Invention

[0005] This application provides a method, device, and electronic device for controlling the movement of a hydraulic cylinder piston, which can solve the problem of poor control accuracy in hydraulic transmission systems in related technologies.

[0006] In a first aspect, embodiments of this application provide a method for controlling the motion of a hydraulic cylinder piston, wherein the hydraulic cylinder piston begins to move with initial parameter values, and the control method includes:

[0007] Real-time acquisition of the distance between the actual position of the hydraulic cylinder piston and the target position;

[0008] The target parameter values ​​are determined based on the distance and the preset model;

[0009] In response to the target parameter value being greater than the initial parameter value, the cylinder piston is controlled to move at the initial parameter value; in response to the target parameter value being less than or equal to the initial parameter value, the cylinder piston is controlled to move at the target parameter value.

[0010] The target parameter value decreases as the distance decreases.

[0011] Secondly, embodiments of this application provide a hydraulic cylinder piston motion control device, the device comprising:

[0012] The acquisition module is used to acquire the distance between the actual position of the hydraulic cylinder piston and the target position in real time.

[0013] The determination module is used to determine the target parameter value based on the distance and the preset model;

[0014] The control module is configured to control the cylinder piston to move at the initial parameter value in response to the target parameter value being greater than the initial parameter value; and to control the cylinder piston to move at the target parameter value in response to the target parameter value being less than or equal to the initial parameter value.

[0015] The cylinder piston begins to move with the initial parameter value, and the target parameter value decreases as the distance decreases.

[0016] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and running on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the first aspect.

[0017] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect.

[0018] In this embodiment, the hydraulic cylinder piston starts moving with an initial parameter value. The distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time. A target parameter value is determined based on the distance and a preset model. In response to the target parameter value being greater than the initial parameter value, the hydraulic cylinder piston is controlled to move with the initial parameter value. In response to the target parameter value being less than or equal to the initial parameter value, the hydraulic cylinder piston is controlled to move with the target parameter value. The target parameter value decreases as the distance decreases. This creates a first position before the target position. After reaching this first position, the hydraulic cylinder piston begins to decelerate until it reaches the target position. In other words, the control method provided in this embodiment allows the hydraulic cylinder piston to decelerate in advance before reaching the target position and continue to decelerate until it reaches the target position, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of an injection molding machine control system provided in an embodiment of this application;

[0020] Figure 2 This is a schematic flowchart of a hydraulic cylinder piston motion control method provided in an embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the control principle of a hydraulic transmission system provided in an embodiment of this application;

[0022] Figure 4 This is a schematic diagram of the human-computer interaction settings interface in the existing technology;

[0023] Figure 5 This is a schematic diagram of a human-computer interaction settings interface provided in an embodiment of this application;

[0024] Figure 6 This is a schematic flowchart of another hydraulic cylinder piston motion control method provided in the embodiments of this application;

[0025] Figure 7 This is a schematic diagram of the structure of a hydraulic cylinder piston motion control device provided in an embodiment of this application;

[0026] Figure 8 This is a schematic diagram of the hardware structure of an electronic device that implements the various embodiments of this application. Detailed Implementation

[0027] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0028] As described in the background section of this application, current hydraulic transmission systems typically stop after the cylinder piston reaches the target position by gradually reducing its speed. In this control method, because the cylinder piston continues to move for a certain distance after reaching the target position, it cannot stop accurately at the target position, easily causing significant overshoot and resulting in poor control accuracy of the hydraulic transmission system.

[0029] To address this issue, this application provides a method for controlling the movement of a hydraulic cylinder piston, which can solve the technical problem of poor control accuracy in current hydraulic transmission systems. The hydraulic cylinder piston movement control method provided in this application can be applied to any hydraulic transmission system containing a hydraulic cylinder, and thus to any equipment containing such a hydraulic transmission system. For ease of description, the following explanation will use an injection molding machine containing a hydraulic transmission system as an example.

[0030] Meanwhile, the cylinder piston motion control method provided in this application embodiment can be executed by an electronic device. In other words, the control method can be executed by software or hardware installed on an electronic device, such as the main controller in an injection molding machine's electronic control system. Figure 1As shown, the injection molding machine control system may include an electrical control system and various hydraulic servo systems, as well as corresponding actuators for each hydraulic servo system (such as mold opening / closing, injection mechanism, and material storage mechanism). The electrical control system includes a human-machine interface and a main controller. Each hydraulic servo system may include a servo driver, a servo motor, and a pump. The main controller issues commands, and through the coordination of the various mechanisms within the hydraulic servo systems, the movement of the hydraulic cylinder piston can be controlled, thereby controlling the movement of the actuators.

[0031] like Figure 2 As shown, the hydraulic cylinder piston motion control method provided in this application embodiment may include the following steps:

[0032] Step 101: The hydraulic cylinder piston starts moving with the initial parameter values, and the distance between the actual position of the hydraulic cylinder piston and the target position is obtained in real time.

[0033] The initial parameter values ​​may include the initial voltage. The initial parameter values ​​of the hydraulic cylinder piston can be calculated based on the initial setting parameters input by the user for the actuator corresponding to the hydraulic cylinder. Since the movement of the hydraulic cylinder piston drives the movement of its corresponding actuator, the strokes of the two are related. Based on this relationship, the various parameters of the hydraulic cylinder piston can be calculated from the various parameters of the actuator.

[0034] For example, when the initial parameter value is an initial voltage, this initial voltage can be obtained based on the initial speed setting input by the user for the actuator corresponding to the hydraulic cylinder in the injection molding machine's human-machine interface. There is a correlation between movement speed and voltage; generally, the higher the movement speed, the higher the voltage. Therefore, based on this correlation, the voltage corresponding to the actuator and the initial speed setting can be obtained, and thus the initial voltage of the hydraulic cylinder piston can be obtained.

[0035] When the initial parameter value is the initial voltage, the cylinder piston begins to move at the initial parameter value, which can be the initial voltage. If the initial voltage is large, the cylinder piston begins to move at a large speed; if the initial voltage is small, the cylinder piston begins to move at a small speed.

[0036] In this embodiment, the actual position of the cylinder piston can be obtained based on a displacement sensor and a position gauge installed in the hydraulic transmission system, such as... Figure 3 As shown.

[0037] The target position of the hydraulic cylinder piston can be obtained based on the target setting position input by the user for the corresponding actuator of the hydraulic cylinder in the injection molding machine's human-machine interface. For example, if the user inputs a target setting position of 400mm for the mold opening and closing stroke, the target position of the hydraulic cylinder piston can be obtained based on the correspondence between the mold opening and closing stroke and the hydraulic cylinder piston stroke.

[0038] In this embodiment, the real-time acquisition of the distance between the actual position and the target position of the hydraulic cylinder piston can be achieved by acquiring the actual position of the hydraulic cylinder piston in real time during its movement when the piston starts moving with an initial voltage, and calculating the distance between the actual position and the target position. For example, if the hydraulic cylinder piston moves at a constant speed of N millimeters / second, the actual position of the hydraulic cylinder piston is acquired in real time during this movement, and the distance between the actual position and the target position is calculated.

[0039] Step 102: Determine the target parameter value based on the distance and the preset model. The target parameter value decreases as the distance decreases.

[0040] Wherein, if the initial parameter value is the initial voltage, the corresponding target parameter value can be the target voltage. Furthermore, the target parameter value decreases as the distance decreases, which can be understood as the target voltage determined based on the preset model decreasing as the cylinder piston gets closer to the target position.

[0041] The hydraulic cylinder piston starts moving with a constant initial voltage. As the hydraulic cylinder piston moves, there is a first position during the piston's stroke from the initial position to the target position. Before this first position, the initial voltage of the hydraulic cylinder piston is greater than the target voltage, and after this first position, the initial voltage of the hydraulic cylinder piston is less than the target voltage.

[0042] Furthermore, to ensure that the first position exists during the piston's stroke from the initial position to the target position, more specifically, the target parameter value decreases as the distance decreases. Specifically, the target parameter value decreases as the distance decreases, and when the distance is zero, the target parameter value is zero. For example, the target voltage decreases as the distance decreases, and at the target position, the target voltage decreases to zero.

[0043] Step 103: In response to the target parameter value being greater than the initial parameter value, control the cylinder piston to move at the initial parameter value; in response to the target parameter value being less than or equal to the initial parameter value, control the cylinder piston to move at the target parameter value.

[0044] Taking the initial parameter value as the initial voltage and the target parameter value as the target voltage as an example, the control process in step 103 can be regarded as follows: when the target voltage is greater than the initial voltage, the control cylinder piston continues to move at a constant initial voltage; when the target voltage is less than the initial voltage, the control cylinder piston moves at the target voltage.

[0045] Therefore, the movement process of the hydraulic cylinder piston is as follows: before the first position, the hydraulic cylinder piston moves at the speed corresponding to the initial voltage; after the first position, the hydraulic cylinder piston moves at the speed corresponding to the target voltage. Furthermore, after the first position, as the hydraulic cylinder piston gets closer to the target position, the piston speed decreases. That is, after the first position, the hydraulic cylinder piston decelerates until it reaches the target position.

[0046] In particular, when the target voltage decreases as the distance decreases, and reaches zero at the target position, the piston movement after the first position is as follows: it decelerates until it reaches the target position, and then its speed decreases to zero at the target position. This further reduces position overshoot, allowing the piston to accurately stop at the target position.

[0047] It is understood that, using the hydraulic cylinder piston motion control method provided in this application embodiment, the hydraulic cylinder piston starts moving with an initial parameter value, and the distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time; a target parameter value is determined based on the distance and a preset model; in response to the target parameter value being greater than the initial parameter value, the hydraulic cylinder piston is controlled to move with the initial parameter value; in response to the target parameter value being less than or equal to the initial parameter value, the hydraulic cylinder piston is controlled to move with the target parameter value; wherein, the target parameter value decreases as the distance decreases. Thus, a first position exists before the target position, and after the hydraulic cylinder piston reaches this first position, it begins to decelerate until it reaches the target position. In other words, the control method provided in this application embodiment allows the hydraulic cylinder piston to decelerate in advance before reaching the target position and continue to decelerate until reaching the target position, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system.

[0048] On the other hand, in current hydraulic transmission system control methods, the piston continues to move for a certain distance after reaching the target position before stopping, resulting in significant position overshoot. To mitigate this overshoot, those skilled in the art typically increase the deceleration to bring the piston to a stop. That is, after reaching the target position, the piston decelerates at a large rate, thereby reducing the distance it continues to travel after reaching the target position. However, this method of increasing deceleration causes the piston to stop abruptly, which can easily lead to vibration of the corresponding actuator, abnormal noise, and in severe cases, even damage to the mechanical structure. In other words, current hydraulic transmission system control methods struggle to balance accuracy and stability. The piston motion control method provided in this application, however, ensures that the piston's motion is as follows: before the first position, the piston moves at a constant speed; after the first position, the piston decelerates from this constant speed until reaching the target position. This results in a smoother and more stable piston motion, achieving a more stable performance.

[0049] Furthermore, in current hydraulic transmission system control methods, the stroke of the cylinder piston is often divided into multiple segments. Technicians need to adjust each segment separately, such as setting parameters like speed and pressure. The setting interface is as follows: Figure 4 As shown. Furthermore, when the stroke set for the actuator corresponding to the hydraulic cylinder changes, the segment positions need to be reset, and each segment needs to be adjusted separately. For example, when mold opening and closing actions are required, the injection molding machine user needs to adjust the pressure, flow rate, and position settings for mold opening and closing after each mold change to ensure the effectiveness of the action. Therefore, the current hydraulic transmission system control method is cumbersome and time-consuming, leading to reduced production efficiency of the injection molding machine. Moreover, the current hydraulic transmission system control method relies on manual adjustment, the accuracy of which cannot be guaranteed, thus compromising the accuracy of the action and potentially reducing equipment lifespan and product quality. However, with the hydraulic cylinder piston motion control method provided in this application embodiment, technicians can input the set speed and target position to achieve accurate and smooth control of the hydraulic cylinder piston motion. The setting interface is shown below. Figure 5 As shown, no segmented debugging is required, and no readjustment is needed when the stroke set for the actuator corresponding to the hydraulic cylinder changes. This simplifies the control process, ensures control accuracy, and thus greatly improves equipment production efficiency, as well as guaranteeing equipment lifespan and product quality.

[0050] To enable the preset model to obtain the changing trend of the target parameter values ​​based on the change in distance, such as the target voltage decreasing as the distance decreases, and the target voltage decreasing to zero at the target location, in one embodiment, the model can be obtained based on the following process:

[0051] The first step is to calculate the distance between the actual position of the hydraulic cylinder piston and the target position.

[0052] P = |P1 - P0| (1)

[0053] Wherein, P1 is the actual position of the cylinder piston, in mm; P0 is the target position of the cylinder piston, in mm; and P is the distance, in mm.

[0054] The second step is to calculate the displacement of the hydraulic cylinder.

[0055] Q = Vm * CC / 1000 (2)

[0056] Where Vm is the maximum speed of the motor, in r / min; CC is the pump displacement, in ml / r; and Q is the cylinder displacement, in L / min.

[0057] The third step is to calculate the area difference.

[0058]

[0059] Where S1 is the cylinder area, in mm. 2 S2 is the piston area, in mm. 2 S3 represents the difference in area between the two, in mm. 2 D is the outer diameter of the hydraulic cylinder, in mm; d is the inner diameter of the hydraulic cylinder, in mm.

[0060] The fourth step is to calculate the maximum theoretical speed and the actual operating speed of the hydraulic cylinder piston.

[0061]

[0062]

[0063] Where V1 is the maximum theoretical speed of the hydraulic cylinder piston, in mm / s; V X V represents the actual operating speed of the hydraulic cylinder piston, in mm / s. r This represents the actual speed of the motor, in r / min.

[0064] Fifth step: Determine the correspondence between the actual operating speed of the hydraulic cylinder piston and the electronic control output command. The relationship between the electronic control output voltage and the motor speed is as follows:

[0065] Where Voltage is the electronically controlled output voltage, in volts (V); U m This is the maximum output voltage of the electronic control unit, expressed in volts (V). When the target parameter value is the target voltage, this output voltage is the target voltage.

[0066] The relationship between the electronic control output command and the electronic control output voltage is calculated based on the numerical signal output by the AD converter at full scale. For example, a 12-bit AD converter outputs a digital signal of 0-4095 from an analog signal in the range of 0V to 10V. That is, when the digital signal is 4095, the electronic control output voltage is 10V. Therefore, we can obtain:

[0067]

[0068] Among them, A m For analog signals of the AD converter in the range of 0 to U m The maximum digital signal that can be output. E represents the electronic control output command. When this command is used to control the movement of the hydraulic cylinder piston, the hydraulic cylinder piston can be controlled to move according to the electronic control output voltage corresponding to the command.

[0069] Furthermore, based on formulas (6) and (7), we can obtain:

[0070]

[0071] Based on formulas (5) and (8), we can obtain:

[0072]

[0073] Formula (9) is the correspondence between the actual running speed of the cylinder piston and the output command of the electronic control.

[0074] Step 6: Determine the preset model

[0075] The reaction force when the piston in the hydraulic cylinder stops moving is constant, i.e., the frictional force is constant, meaning the deceleration is constant. Therefore:

[0076]

[0077] Where 'a' represents the deceleration, in mm / t. 2 .

[0078] 2aP=(V x ) 2 -(V0) 2 (11)

[0079] Wherein, V0 is the velocity of the hydraulic cylinder piston when it moves to the target position, in mm / s. In the model establishment process of this application embodiment, this velocity can be set to zero; so that when the hydraulic cylinder piston is controlled by the electronic control output command, the velocity of the hydraulic cylinder piston when it moves to the target position can be zero.

[0080] Therefore, we get:

[0081]

[0082] Based on formulas (9) and (12), we can obtain:

[0083]

[0084] Therefore, based on formula (13), we can obtain:

[0085]

[0086] Formula (14) is the preset model. In specific implementation, the above preset model can be established by collecting data from the cylinder, motor, and pump through the main controller in the electronic control system.

[0087] As can be seen from the preset model, the preset model includes the correspondence between the electronic control output command E and the distance P. Therefore, step 102, which determines the target parameter value based on the distance and the preset model, includes: determining the electronic control output command corresponding to the distance based on the preset model, and obtaining the target parameter value based on the electronic control output command.

[0088] Taking the target parameter value as the target voltage as an example, after determining the electronic control output command corresponding to the distance, the corresponding electronic control output voltage, i.e. the target voltage, can be obtained based on the correspondence formula (7) between the electronic control output command and the electronic control output voltage.

[0089] Furthermore, if, after comparing the target voltage with the initial voltage, it is determined that the cylinder piston movement is controlled based on the target voltage, the actual cylinder piston speed corresponding to the target voltage can be determined according to the formula (13) relating the electronic control output command to the actual cylinder piston speed, and the cylinder piston can be controlled to move at that speed. In this case, the actual speed can also be regarded as the target speed.

[0090] It is evident from the aforementioned preset model that the value of the electronic control output command decreases as the distance decreases. The electronic control output command, the electronic control output voltage, and the target speed of the hydraulic cylinder piston are all directly proportional; therefore, as the distance decreases, the target voltage and target speed also gradually decrease. Furthermore, at the target position, the target voltage and target speed can decrease to zero. Thus, controlling the movement of the hydraulic cylinder piston based on the aforementioned preset model allows for the existence of a first position before the target position. After reaching this first position, the hydraulic cylinder piston begins to decelerate until it reaches the target position, where the deceleration reaches zero.

[0091] Furthermore, the movement of the hydraulic cylinder piston is a reciprocating motion. After the piston decelerates to reach the target position, it returns. During the stroke control process of the piston's return, the target position can be reset, setting the return endpoint as the target position. This creates a second position before the target position. After reaching this second position, the piston begins to decelerate until it reaches the target position. In other words, the control method provided in this application allows the piston to decelerate in advance before reaching the target position and continue decelerating until it does, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system.

[0092] In practical applications, in order to establish a more accurate preset model, in one embodiment, before establishing the preset model, the cylinder piston motion control method provided in this application further includes: initializing the hydraulic transmission system where the cylinder is located.

[0093] In practice, when the end user begins operating the equipment, the hydraulic transmission system is first initialized via the electronic control system to ensure that the initial position of each action is zero. This ensures that the actual position of the cylinder piston obtained subsequently is accurate compared to the target position.

[0094] To further enable the establishment of a more accurate preset model, the equipment can be factory-tested before initializing the hydraulic transmission system in which the cylinder is located, in order to obtain accurate inherent parameters such as deceleration a, cylinder area, piston area, etc.

[0095] Therefore, in one embodiment, the cylinder piston motion control method provided in this application can be as follows: Figure 6 As shown.

[0096] It should be noted that the hydraulic cylinder piston motion control method provided in this application embodiment can be executed by a hydraulic cylinder piston motion control device, or a control module within the hydraulic cylinder piston motion control device for executing the hydraulic cylinder piston motion control method. This application embodiment uses the hydraulic cylinder piston motion control device executing the hydraulic cylinder piston motion control method as an example to illustrate the hydraulic cylinder piston motion control device provided in this application embodiment.

[0097] This application embodiment also provides a hydraulic cylinder piston motion control device 70, such as Figure 7 As shown, the hydraulic cylinder piston motion control device 70 includes:

[0098] The acquisition module 701 is used to acquire the distance between the actual position of the hydraulic cylinder piston and the target position in real time.

[0099] The initial parameter values ​​may include the initial voltage. The initial parameter values ​​of the hydraulic cylinder piston can be calculated based on the initial setting parameters input by the user for the actuator corresponding to the hydraulic cylinder.

[0100] When the initial parameter value is the initial voltage, the cylinder piston begins to move at the initial parameter value, which can be the initial voltage. If the initial voltage is large, the cylinder piston begins to move at a large speed; if the initial voltage is small, the cylinder piston begins to move at a small speed.

[0101] The determining module 702 is used to determine the target parameter value based on the distance and the preset model, wherein the target parameter value decreases as the distance decreases.

[0102] Wherein, if the initial parameter value is the initial voltage, the corresponding target parameter value can be the target voltage.

[0103] The hydraulic cylinder piston starts moving with a constant initial voltage. As the hydraulic cylinder piston moves, there is a first position during the piston's stroke from the initial position to the target position. Before this first position, the initial voltage of the hydraulic cylinder piston is greater than the target voltage, and after this first position, the initial voltage of the hydraulic cylinder piston is less than the target voltage.

[0104] The control module 703 is configured to control the hydraulic cylinder piston to move at the initial parameter value in response to the target parameter value being greater than the initial parameter value; and to control the hydraulic cylinder piston to move at the target parameter value in response to the target parameter value being less than or equal to the initial parameter value; wherein the hydraulic cylinder piston starts moving at the initial parameter value.

[0105] After being controlled by the control module, the movement of the hydraulic cylinder piston is as follows: before the first position, the hydraulic cylinder piston moves at the speed corresponding to the initial voltage; after the first position, the hydraulic cylinder piston moves at the speed corresponding to the target voltage. Furthermore, after the first position, as the hydraulic cylinder piston approaches the target position, the piston's speed decreases. That is, after the first position, the hydraulic cylinder piston decelerates until it reaches the target position.

[0106] The hydraulic cylinder piston motion control device provided in this application embodiment starts the movement of the hydraulic cylinder piston with an initial parameter value. The distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time. A target parameter value is determined based on the distance and a preset model. In response to the target parameter value being greater than the initial parameter value, the hydraulic cylinder piston is controlled to move with the initial parameter value. In response to the target parameter value being less than or equal to the initial parameter value, the hydraulic cylinder piston is controlled to move with the target parameter value. The target parameter value decreases as the distance decreases. This results in a first position before the target position. After reaching this first position, the hydraulic cylinder piston begins to decelerate until it reaches the target position. In other words, the control method provided in this application embodiment allows the hydraulic cylinder piston to decelerate in advance before reaching the target position and continue to decelerate until the target position is reached, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system.

[0107] In one implementation, when the distance is zero, the target parameter value is zero.

[0108] In one embodiment, the preset model includes a correspondence between electronic control output commands and the distance, and the determining module is used to determine the electronic control output command corresponding to the distance according to the preset model, and to obtain the target parameter value according to the electronic control output command.

[0109] In one embodiment, the target parameter value includes a target voltage, and the control module is used to determine the target speed of the hydraulic cylinder piston based on the correspondence between the electronic control output command and the actual movement speed of the hydraulic cylinder piston; and control the hydraulic cylinder piston to move at the target speed.

[0110] In one embodiment, the correspondence between the electronic control output command and the distance is as follows:

[0111]

[0112] Where E is the electronic control output command, a is the deceleration, P is the distance between the actual position and the target position of the cylinder piston, D is the outer diameter of the cylinder, d is the inner diameter of the cylinder, and A is the outer diameter of the cylinder. m Vm is the maximum digital signal that the analog signal of the AD converter can output, CC is the maximum speed of the motor, and CC is the pump displacement.

[0113] The correspondence between the electronic control output command and the actual movement speed of the hydraulic cylinder piston is as follows:

[0114]

[0115] Among them, V X This represents the actual operating speed of the cylinder piston.

[0116] In one embodiment, the control module is further configured to initialize the hydraulic transmission system in which the cylinder is located before establishing the preset model.

[0117] The hydraulic cylinder piston motion control device in this application embodiment can be a device, or it can be a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device.

[0118] The hydraulic cylinder piston motion control device provided in this application embodiment can achieve... Figures 1 to 3 ,as well as Figures 5 to 6 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0119] The hydraulic cylinder piston motion control device provided in this application embodiment starts the movement of the hydraulic cylinder piston with an initial parameter value. The distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time. A target parameter value is determined based on the distance and a preset model. In response to the target parameter value being greater than the initial parameter value, the hydraulic cylinder piston is controlled to move with the initial parameter value. In response to the target parameter value being less than or equal to the initial parameter value, the hydraulic cylinder piston is controlled to move with the target parameter value. The target parameter value decreases as the distance decreases. This creates a first position before the target position. After reaching this first position, the hydraulic cylinder piston begins to decelerate until it reaches the target position. In other words, the control method provided in this application embodiment allows the hydraulic cylinder piston to decelerate in advance before reaching the target position and continue to decelerate until the target position is reached, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system.

[0120] Optionally, such as Figure 8 As shown, this application embodiment also provides an electronic device 80, including a processor 801, a memory 802, and a program or instructions stored in the memory 802 and executable on the processor 801. When the program or instructions are executed by the processor 801, they implement the various processes of the above-described hydraulic cylinder piston motion control method embodiment and achieve the same technical effect.

[0121] In this embodiment of the application, the electronic device 80 may be the main controller in an electronic control system.

[0122] Those skilled in the art will understand that Figure 8 The electronic device structure shown does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0123] The processor 801 is configured to acquire the distance between the actual position of the hydraulic cylinder piston and the target position in real time; determine a target parameter value based on the distance and a preset model; control the hydraulic cylinder piston to move at the initial parameter value in response to the target parameter value being greater than the initial parameter value; and control the hydraulic cylinder piston to move at the target parameter value in response to the target parameter value being less than or equal to the initial parameter value; wherein the target parameter value decreases as the distance decreases.

[0124] The electronic device provided in this application embodiment has a hydraulic cylinder piston that starts moving with an initial parameter value. The distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time. A target parameter value is determined based on the distance and a preset model. In response to the target parameter value being greater than the initial parameter value, the hydraulic cylinder piston is controlled to move with the initial parameter value. In response to the target parameter value being less than or equal to the initial parameter value, the hydraulic cylinder piston is controlled to move with the target parameter value. The target parameter value decreases as the distance decreases. This creates a first position before the target position. After reaching this first position, the hydraulic cylinder piston begins to decelerate until it reaches the target position. In other words, the control method provided in this application embodiment allows the hydraulic cylinder piston to decelerate in advance before reaching the target position and continue to decelerate until the target position is reached, thereby reducing position overshoot and improving the control accuracy of the hydraulic transmission system.

[0125] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described hydraulic cylinder piston motion control method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0126] The processor is the processor in the electronic device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk.

[0127] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described hydraulic cylinder piston motion control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0128] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0129] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0130] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0131] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for controlling the motion of a hydraulic cylinder piston, characterized in that, The control method includes: The hydraulic cylinder piston begins to move with initial parameter values, and the distance between the actual position of the hydraulic cylinder piston and the target position is acquired in real time; the initial parameter value is the initial voltage. The target parameter value is determined based on the distance and the preset model; the target parameter value is the target voltage. In response to the target parameter value being greater than the initial parameter value, the cylinder piston is controlled to move at the speed corresponding to the initial parameter value; in response to the target parameter value being less than or equal to the initial parameter value, the cylinder piston is controlled to move at the speed corresponding to the target parameter value. The movement speed of the cylinder piston is related to the voltage; the higher the voltage, the higher the movement speed. The target parameter value decreases as the distance decreases.

2. The method for controlling the movement of a hydraulic cylinder piston according to claim 1, characterized in that, When the distance is zero, the target parameter value is zero.

3. The method for controlling the movement of a hydraulic cylinder piston according to claim 1, characterized in that, The preset model includes the correspondence between electronic control output commands and the distance. Determining the target parameter value based on the distance and the preset model includes: The electronic control output command corresponding to the distance is determined according to the preset model, and the target parameter value is obtained according to the electronic control output command.

4. The method for controlling the movement of a hydraulic cylinder piston according to claim 3, characterized in that, The step of controlling the hydraulic cylinder piston to move at the speed corresponding to the target parameter value in response to the target parameter value being less than or equal to the initial parameter value includes: Based on the correspondence between the electronic control output command and the actual movement speed of the hydraulic cylinder piston, the target speed of the hydraulic cylinder piston is determined. Control the piston of the hydraulic cylinder to move at the target speed.

5. The method for controlling the movement of a hydraulic cylinder piston according to claim 4, characterized in that, The correspondence between the electronic control output command and the distance is as follows: Where E is the electronic control output command, a is the deceleration, P is the distance between the actual position and the target position of the cylinder piston, D is the outer diameter of the cylinder, d is the inner diameter of the cylinder, and A is the outer diameter of the cylinder. m Vm is the maximum digital signal that the analog signal of the AD converter can output, CC is the maximum speed of the motor, and CC is the pump displacement. The correspondence between the electronic control output command and the actual movement speed of the hydraulic cylinder piston is as follows: Among them, V X This represents the actual operating speed of the cylinder piston.

6. The method for controlling the movement of a hydraulic cylinder piston according to claim 1, characterized in that, Before establishing the preset model, the control method further includes initializing the hydraulic transmission system where the cylinder is located.

7. A hydraulic cylinder piston motion control device, characterized in that, The device includes: The acquisition module is used to acquire the distance between the actual position of the hydraulic cylinder piston and the target position in real time. The determination module is used to determine the target parameter value based on the distance and the preset model; The control module is configured to control the hydraulic cylinder piston to move at a speed corresponding to the initial parameter value in response to the target parameter value being greater than the initial parameter value; and to control the hydraulic cylinder piston to move at a speed corresponding to the target parameter value in response to the target parameter value being less than or equal to the initial parameter value. The hydraulic cylinder piston begins to move with the initial parameter value, which is the initial voltage; the target parameter value is the target voltage; there is a corresponding relationship between the movement speed of the hydraulic cylinder piston and the voltage, the higher the voltage, the higher the movement speed; the target parameter value decreases as the distance decreases.

8. The hydraulic cylinder piston motion control device according to claim 7, characterized in that, When the distance is zero, the target parameter value is zero.

9. An electronic device, characterized in that, It includes a processor, a memory, and a program or instructions stored in the memory and running on the processor, wherein when the program or instructions are executed by the processor, they implement the steps of the hydraulic cylinder piston motion control method as described in any one of claims 1-6.

10. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the hydraulic cylinder piston motion control method as described in any one of claims 1-6.

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