Method and device for controlling the output flow of a quantitative hydraulic pump

Abstract

The application provides a constant flow hydraulic pump output flow control method and device, comprising: obtaining a target flow parameter for controlling the output of a constant flow hydraulic pump; determining a first control parameter based on at least a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship represents the relationship between at least two parameters related to the constant flow hydraulic pump; and controlling a driving module to operate based on at least the first control parameter, so that the driving module outputs a driving parameter used for controlling the constant flow hydraulic pump to output a target flow matching the target flow parameter.

Description

Technical Field

[0001] This application relates to the field of hydraulic systems, and more specifically, to a method and apparatus for controlling the output flow of a fixed-displacement hydraulic pump. Background Technology

[0002] In hydraulic pump applications, the combination of variable speed driven fixed displacement hydraulic pump, which uses a power source such as a servo motor with variable output speed, is often used in flow control applications. The change in the input speed of the hydraulic pump ultimately controls the change in the output speed of the actuator.

[0003] A fixed displacement hydraulic pump is a commonly used hydraulic component. Its input speed determines the output flow rate, which in turn affects the output speed of the actuator. Its output pressure is determined by the load, and its input torque is determined by its output pressure. A fixed displacement hydraulic pump is a hydraulic pump with a fixed displacement, which is determined by the geometry of the hydraulic pump.

[0004] Therefore, in the control process of variable speed driven fixed displacement hydraulic pump, the displacement (i.e. volumetric efficiency) of the hydraulic pump is a key gain quantity, especially for open-loop speed control. If the volumetric efficiency of the hydraulic pump changes, its output flow at a specific speed will also change, which will directly affect the final speed control accuracy.

[0005] However, there is currently no solution in the technology that combines the volumetric efficiency of a fixed-displacement hydraulic pump with the accuracy of flow control. Summary of the Invention

[0006] In view of this, this application provides a method and apparatus for controlling the output flow of a fixed-displacement hydraulic pump, as follows:

[0007] A method for controlling the output flow of a fixed-displacement hydraulic pump includes:

[0008] Obtain the target flow parameters for controlling the output of the fixed-displacement hydraulic pump;

[0009] A first control parameter is determined based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed displacement hydraulic pump;

[0010] The drive module is controlled to operate based at least on the first control parameter, so that the drive module outputs drive parameters, which are used to control the quantitative hydraulic pump to output a target flow rate, and the target flow rate matches the target flow rate parameter.

[0011] Optionally, in the above method, controlling the operation of the drive module based at least on the first control parameter includes:

[0012] Based on the target flow parameters and historical flow parameters, the second control parameter is determined;

[0013] Target control parameters are generated based on the first and second control parameters.

[0014] The drive module is controlled to operate based on the target control parameters.

[0015] Optionally, the above method, before obtaining the target flow parameter for controlling the output of the fixed displacement hydraulic pump, further includes:

[0016] Determine at least two parameters corresponding to the preset parameter relationship, the at least two parameters including the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter and the input speed, the input speed corresponding to the drive parameters output by the drive module;

[0017] Of the at least two parameters, one parameter other than the output flow rate is determined as a variable, and the remaining parameters are fixed.

[0018] According to the set gradient value, control the change of the variable value, and record the variable value and output flow value in sequence;

[0019] Based on the variable values ​​and the output flow rate values, a preset parameter relationship expressing the relationship between the at least two parameters is obtained.

[0020] Optionally, in the above method, determining the first control parameter based at least on a preset parameter relationship and the target flow parameter includes:

[0021] Obtain the operating parameters of the fixed displacement hydraulic pump, wherein the operating parameters include at least temperature and pressure values;

[0022] Based on the operating parameters of the fixed-displacement hydraulic pump, the target flow rate parameter, and the preset parameter relationship, a first driving parameter is determined. The preset relationship parameter characterizes the relationship between the operating parameters of the fixed-displacement hydraulic pump, the output flow rate parameter, and the driving parameters output by the driving module.

[0023] The first control parameter is determined based on the first driving parameter and the first preset gain value.

[0024] Optionally, the above methods also include:

[0025] Obtain the first identification information of the driver module;

[0026] Among at least two preset gain values, the first value corresponding to the first identification information is determined as the first preset gain value.

[0027] Optionally, in the above method, determining the second control parameter based on the target flow parameter and historical flow parameters includes:

[0028] Obtain at least two historical flow parameters adjacent to the target flow parameter;

[0029] The rate of change of the control flow parameter is determined based on the target flow parameter and the at least two historical flow parameters.

[0030] The second control parameter is determined based on the rate of change of the control flow parameter and the second preset gain value.

[0031] Optionally, the above method, before obtaining the target flow parameter for controlling the output of the fixed displacement hydraulic pump, further includes:

[0032] Obtain the target debugging flow parameters;

[0033] Based on the target adjustment flow parameters, the quantitative hydraulic pump is controlled to obtain the output flow parameters of the quantitative hydraulic pump;

[0034] Based on the deviation between the target debugging flow parameters and the output flow parameters, the value of the second preset gain parameter is adjusted.

[0035] When the deviation reaches a preset deviation range, the value of the corresponding second preset gain parameter is taken as the second preset gain value.

[0036] A fixed displacement hydraulic pump output flow control device, comprising:

[0037] The module is used to obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0038] The determination module is used to determine a first control parameter based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed displacement hydraulic pump;

[0039] A control module is configured to control the operation of a drive module based at least on the first control parameters, such that the drive module outputs drive parameters, which are used to control the quantitative hydraulic pump to output a target flow rate, and the target flow rate is matched with the target flow rate parameters.

[0040] Optionally, in the above method, the determining module includes:

[0041] The determining unit is used to determine the second control parameter based on the target flow parameter and the historical flow parameter;

[0042] A generation unit is used to generate target control parameters based on the first control parameters and the second control parameters;

[0043] The control unit is used to control the operation of the drive module based on the target control parameters.

[0044] Optionally, the above method further includes: a preset module;

[0045] The preset module is used to determine at least two parameters corresponding to the preset parameter relationship. The at least two parameters include the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter, and the input speed, wherein the input speed corresponds to the drive parameters output by the drive module. From the at least two parameters, any one parameter except the output flow rate is sequentially determined as a variable, and the remaining parameters are fixed displacements. The variable values ​​are controlled to change according to a set gradient value, and the variable values ​​and output flow rate values ​​are recorded sequentially. Based on the variable values ​​and output flow rate values, a preset parameter relationship expressing the relationship between the at least two parameters is obtained.

[0046] As described above, the present application provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: obtaining a target flow parameter for controlling the output of the fixed-displacement hydraulic pump; determining a first control parameter based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed-displacement hydraulic pump; and controlling a drive module to operate based at least on the first control parameter, such that the drive module outputs a drive parameter, wherein the drive parameter is used to control the output of the fixed-displacement hydraulic pump to a target flow, and the target flow matches the target flow parameter. In this solution, the first control parameter is determined based on the preset parameter relationship and the target flow parameter for controlling the output of the fixed-displacement hydraulic pump. The drive module is then controlled to operate based at least on the first control parameter, such that the drive module outputs a drive parameter to control the output of the fixed-displacement hydraulic pump to a target flow that matches the target flow parameter. The preset parameter relationship represents the relationship between various parameters affecting the volumetric efficiency of the fixed-displacement hydraulic pump. Therefore, by considering the influence of the volumetric efficiency of the fixed-displacement hydraulic pump on the first control parameter determined in conjunction with the preset parameter relationship, compensation is made for the volumetric efficiency's impact on the hydraulic pump's input speed, thereby improving the control accuracy of the fixed-displacement hydraulic pump's output flow. Attached Figure Description

[0047] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0048] Figure 1 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0049] Figure 2 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0050] Figure 3This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0051] Figure 4 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0052] Figure 5 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0053] Figure 6 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0054] Figure 7 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0055] Figure 8 This is a flowchart of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application;

[0056] Figure 9 This is a schematic diagram of an embodiment of a quantitative hydraulic pump output flow control device provided in this application;

[0057] Figure 10 This is a schematic diagram of a scenario for a quantitative hydraulic pump output flow control method provided in this application;

[0058] Figure 11 This is the hydraulic pump output flow curve in the initial state of a scenario provided in this application for a quantitative hydraulic pump output flow control method.

[0059] Figure 12 This application provides a quantitative hydraulic pump output flow control method scenario where only the rotational speed is used to solve for the hydraulic pump output flow curve.

[0060] Figure 13 This is the hydraulic pump output flow curve when using a speed calculation module and a feedforward compensation module in a scenario of a quantitative hydraulic pump output flow control method provided in this application. Detailed Implementation

[0061] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0062] like Figure 1The flowchart shown is a sample of Embodiment 1 of a quantitative hydraulic pump output flow control method provided in this application. The method is applied to an electronic device, which serves as a control device for controlling the hydraulic pump and drive module. The method includes the following steps:

[0063] Step S101: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0064] The electronic device is a control device located between the host computer and the hydraulic pump and drive module. It parses and processes the flow instructions from the host computer, generates control parameters to control the operation of the drive module, and the drive parameters output by the drive module control the output flow of the hydraulic pump.

[0065] The host computer generates a target flow command, which includes a target flow parameter, which is the target output flow value of the fixed displacement hydraulic pump.

[0066] In this application, the electronic device analyzes and obtains the target flow parameters after receiving the target flow instruction.

[0067] Step S102: Determine the first control parameter based at least on the preset parameter relationship and the target flow parameter;

[0068] The preset parameter relationship describes the relationship between at least two parameters related to the fixed displacement hydraulic pump.

[0069] The electronic device has a preset parameter relationship for the fixed displacement hydraulic pump. This preset parameter relationship represents the relationship between multiple parameters related to the operation of the fixed displacement hydraulic pump, such as the relationship between input parameters and output parameters.

[0070] The process of generating the preset parameter relationship and determining the first control parameter will be described in detail in subsequent embodiments, but will not be described in detail in this embodiment.

[0071] Step S103: Control the operation of the drive module based at least on the first control parameter, so that the drive module outputs drive parameters, the drive parameters are used to control the output target flow rate of the quantitative hydraulic pump, and the target flow rate matches the target flow rate parameter.

[0072] The first control parameter is used to control the operation of the drive module, and may specifically be the voltage input to the drive module.

[0073] Specifically, the drive module operates based on the input voltage and outputs drive parameters, specifically the rotational speed, so that the quantitative hydraulic pump outputs liquid using this rotational speed as input.

[0074] The target flow rate and the target flow rate parameter matching mean that the flow rate value output by the fixed-displacement hydraulic pump meets the accuracy requirements of the target flow rate parameter value.

[0075] In this embodiment, the indicator used to measure the deviation between the target output flow of the hydraulic pump and the actual flow is the control accuracy. The smaller the deviation, the higher the control accuracy, and the more suitable it is for high-precision control applications.

[0076] It should be noted that since the preset parameter relationship is the relationship between various parameters that affect the volumetric efficiency of the fixed displacement hydraulic pump, the target flow rate parameter combined with the first control parameter determined by the preset parameter relationship of the fixed displacement hydraulic pump can take into account the influence of the volumetric efficiency of the fixed displacement hydraulic pump. The volumetric efficiency is combined with the compensation of the hydraulic pump input speed, so that the target flow rate output by the fixed displacement hydraulic pump based on the drive parameter matches the target flow rate parameter, achieving a high degree of accuracy.

[0077] It should be noted that the drive module in this application is a device for driving the hydraulic pump. The drive module adopts variable speed drive, specifically using a power source with variable output speed, such as a servo motor, to drive the hydraulic pump.

[0078] Correspondingly, the output flow rate of a hydraulic pump is the volume of hydraulic oil output by the hydraulic pump per unit time. It is calculated as the product of the displacement (cc / r, milliliters per revolution) and the input speed of the hydraulic pump (r / min, revolutions per minute), and the unit is generally L / min (liters per minute).

[0079] In practice, the drive module can consist of a driver and a servo motor.

[0080] like Figure 2 The diagram shows a system schematic, including a host computer 201, a control device 202, a drive module 203, and a hydraulic system 204. The hydraulic system includes a hydraulic pump 2041, a sensor 2042 for collecting relevant operating parameters, and an actuator 2043. The host computer sends a flow command. The control device determines a first control parameter based on the target flow parameter in the flow command and a preset parameter relationship, and outputs the first control parameter. The drive module generates a drive parameter speed n based on the input control parameter. This speed n serves as the input speed of the hydraulic pump in the hydraulic system. The hydraulic pump operates based on this speed n, outputting a flow rate Qp to the actuator. The sensor 2042 collects relevant parameters during the operation of the hydraulic pump. These relevant parameters, along with the target flow parameter, are combined with a preset parameter relationship to determine the first control parameter.

[0081] In this diagram, a single sensor is used as an example. However, in actual implementation, the number and type of sensors are not limited to this; they can be any number and any type of sensor.

[0082] In summary, this embodiment provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: obtaining a target flow parameter for controlling the output of the fixed-displacement hydraulic pump; determining a first control parameter based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed-displacement hydraulic pump; and controlling a drive module to operate based at least on the first control parameter, such that the drive module outputs a drive parameter, wherein the drive parameter is used to control the output of the fixed-displacement hydraulic pump to achieve the target flow, and the target flow matches the target flow parameter. In this scheme, the first control parameter is determined based on the preset parameter relationship and the target flow parameter for controlling the output of the fixed-displacement hydraulic pump. The drive module is then controlled based at least on this first control parameter to achieve the same target flow as the target flow parameter. The preset parameter relationship represents the relationship between various parameters affecting the volumetric efficiency of the fixed-displacement hydraulic pump. Therefore, by considering the influence of the volumetric efficiency of the fixed-displacement hydraulic pump on the first control parameter determined in conjunction with the preset parameter relationship, compensation is made for the volumetric efficiency's impact on the hydraulic pump's input speed, thereby improving the control accuracy of the fixed-displacement hydraulic pump's output flow.

[0083] like Figure 3 The diagram shown is a flowchart of Embodiment 2 of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0084] Step S301: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0085] Step S302: Determine the first control parameter based at least on the preset parameter relationship and the target flow parameter;

[0086] Steps S301-302 are consistent with the corresponding steps in Example 1, and will not be repeated in this example.

[0087] Step S303: Determine the second control parameter based on the target flow rate parameter and the historical flow rate parameter;

[0088] The historical traffic parameter is the target traffic parameter sent by the host computer before this time, and the target traffic parameter is stored each time it is received.

[0089] In practice, the host computer sends a target flow instruction according to an agreed period, and the target flow instruction carries the target flow parameters.

[0090] In this embodiment, feedforward compensation is performed based on the rate of change of the target flow parameters in each cycle. When the value of the target flow parameters changes rapidly (requiring a high response speed from the hydraulic pump), the feedforward compensation will increase accordingly to meet the dynamic characteristics of the system flow regulation.

[0091] Specifically, the second control parameter is determined by analyzing the target flow parameters obtained in this cycle with the historical flow parameters from previous cycles.

[0092] The second control parameter is also used to control the operation of the drive module, and can specifically be the voltage input to the drive module.

[0093] The specific process of determining the second control parameter will be described in detail in subsequent embodiments, but will not be described in detail in this embodiment.

[0094] Step S304: Generate target control parameters based on the first control parameters and the second control parameters;

[0095] The target control parameter is obtained by summing the first control parameter and the second control parameter.

[0096] The first control parameter is a control parameter that takes into account the influence of the volumetric efficiency of the fixed displacement hydraulic pump and compensates for the volumetric efficiency with respect to the input speed of the hydraulic pump. The second control parameter is a feedforward control parameter obtained by combining historical flow parameters. The two parameters are added together to obtain the target control parameter that combines both factors.

[0097] For example, if the first control parameter is Uc and the second control parameter is Uq, then the target control parameters are as follows:

[0098] U = Uc + Uq

[0099] Step S305: Control the operation of the drive module based on the target control parameters, so that the drive module outputs drive parameters, which are used to control the output target flow rate of the fixed-displacement hydraulic pump, and the target flow rate matches the target flow rate parameters.

[0100] The target control parameters are input to the drive module, which then outputs drive parameters. These drive parameters are used as input to the fixed displacement hydraulic pump to achieve a target flow rate that matches the target flow rate parameters, resulting in higher accuracy.

[0101] In summary, this embodiment provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: determining a second control parameter based on the target flow parameter and historical flow parameters; generating a target control parameter based on the first and second control parameters; and controlling the operation of a drive module based on the target control parameter. In this embodiment, the second control parameter is a feedforward control parameter obtained by combining historical flow parameter analysis. The first control parameter is a control parameter that considers the influence of the volumetric efficiency of the fixed-displacement hydraulic pump and compensates for the volumetric efficiency on the hydraulic pump input speed. The target control parameter obtained based on the first and second control parameters combines the influence of both aspects. The drive parameter output by the drive module based on the target control parameter enables the target flow output of the fixed-displacement hydraulic pump to be more accurate.

[0102] like Figure 4 The flowchart shown is a third embodiment of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0103] Step S401: Determine at least two parameters corresponding to the preset parameter relationship;

[0104] This embodiment describes the process of setting the preset parameter relationships.

[0105] The at least two parameters include the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter, and the input speed.

[0106] The input rotational speed corresponds to the drive parameters output by the drive module.

[0107] Among them, the operating parameters are those that affect the volumetric efficiency of the fixed displacement hydraulic pump.

[0108] It should be noted that, since the volumetric efficiency of a hydraulic pump is the ratio of the actual output flow rate to the theoretical output flow rate during operation, and is affected by various factors in the hydraulic pump such as speed, pressure, temperature and wear, the operating parameters used in this embodiment are the hydraulic pump outlet pressure and temperature.

[0109] First, several parameters related to the volumetric efficiency of the fixed displacement hydraulic pump are determined, including the pump's operating parameters, output flow rate, and input speed.

[0110] The input speed of the fixed displacement hydraulic pump is derived from the speed output by the drive module connected to it.

[0111] In this embodiment, the parameters corresponding to the preset parameter relationship include: the outlet pressure P, temperature T, input speed n, and output flow rate Q of the hydraulic pump.

[0112] Step S402: Determine one parameter (excluding output flow rate) as a variable from the at least two parameters in sequence, and the remaining parameters as fixed parameters;

[0113] It should be noted that, since the goal is to determine the impact of the hydraulic pump's operating parameters on the output, this embodiment focuses on determining the relationship between each parameter and the output flow rate.

[0114] Among the determined parameters, one parameter, except for the output flow rate, is designated as a variable, while the remaining parameters are fixed.

[0115] For example, if the temperature of the hydraulic pump is determined to be a variable, then the outlet pressure P and input speed n of the hydraulic pump are fixed quantities.

[0116] Step S403: Control the variable values ​​according to the set gradient values, and record the variable values ​​and output flow rates in sequence;

[0117] Different gradient values ​​can be set for each parameter. The gradient value can be changed according to any parameter as a variable, and its value can be increased from the minimum value to the maximum value or decreased from the maximum value to the minimum value.

[0118] The general approach is to increase the value from the minimum to the maximum value sequentially.

[0119] Among these multiple parameters, each parameter is treated as a variable and its value is changed in turn, so that the relationship between the change of each parameter and the output flow rate can be obtained.

[0120] It should be noted that the gradient value can be 3-5% of the adjustable range of the parameter. Of course, this value can be set according to the actual situation.

[0121] In the example below, the outlet pressure is first used as a variable, then the temperature is used as a variable, and finally the rotational speed is used as a variable.

[0122] Specifically, the hydraulic pump is set to its minimum operating speed and allowed to stabilize. Once stable, the pump temperature is stabilized, and the loading valve is gradually adjusted to increase the pump inlet pressure from 0 to the maximum operating pressure. The pump inlet pressure is stabilized at the minimum pressure and operating speed, and then, with a predetermined temperature increment, the pump is increased from the minimum operating temperature to the maximum operating temperature. This pressure increase experiment is repeated at each temperature, constituting one test sub-cycle. Then, with a predetermined speed increment, the pump is increased from the minimum permissible speed to the maximum operating speed, and this sub-cycle is repeated at each speed to complete all tests. The output flow rate of the hydraulic pump under all tests is then obtained.

[0123] Step S404: Based on the variable values ​​and the output flow rate values, obtain a preset parameter relationship that expresses the relationship between the at least two parameters;

[0124] Among them, based on the different variable values ​​and quantitative values ​​obtained in the above steps, the corresponding output flow rate value of the quantitative hydraulic pump is processed to obtain a preset parameter relationship that expresses the relationship between these multiple parameters.

[0125] Specifically, first establish the relationship between the output flow rate of the fixed displacement hydraulic pump and various parameters, as follows:

[0126] Q = f(n, P, T)

[0127] Then, the relationship is reversed to obtain the preset parameter relationship.

[0128] Specifically, the relationship between these preset parameters can be represented as follows:

[0129] n = f(Q, P, T)

[0130] Where P is the outlet pressure of the hydraulic pump, T is the temperature of the hydraulic pump, n is the input speed of the hydraulic pump, and Q is the output flow rate of the hydraulic pump.

[0131] In practice, the preset parameter relationship can be fitted to the variable values ​​and the output flow rate values ​​using the MATLAB curve fitting tool to obtain a fitting curve. This fitting curve is a three-dimensional curve and can be presented as a fitting curve or as a mathematical expression.

[0132] For example, the mathematical expression can be as follows:

[0133] n = aQ 3 +bQ 2 +cQ+aP 3 +bP 2 +cP+aT 2 +bT+d

[0134] Where P is the outlet pressure of the hydraulic pump, T is the temperature of the hydraulic pump, n is the input speed of the hydraulic pump, Q is the output flow rate of the hydraulic pump, abc are coefficients, and d is a rational number.

[0135] It should be noted that the mathematical expression of the preset parameter relationship mentioned above is only for illustration and does not limit the actual form of the mathematical expression used for the preset parameter relationship.

[0136] It should be noted that the process of determining the preset parameter relationship in steps S401-404 is performed during the debugging process. In the subsequent normal operation of the hydraulic pump, the preset parameter relationship can be directly determined using this process.

[0137] It should be noted that the predetermined parameter relationship control method can be extended to hydraulic pumps with the same structure and displacement. It can improve the control accuracy and response speed of hydraulic pump output flow without adding or modifying mechanical devices, laying a solid foundation for meeting the high precision and fast response requirements of pump-controlled hydraulic systems.

[0138] Step S405: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0139] Step S406: Determine the first control parameter based at least on the preset parameter relationship and the target flow parameter;

[0140] Step S407: Control the operation of the drive module based at least on the first control parameter, so that the drive module outputs drive parameters, the drive parameters are used to control the output target flow rate of the fixed displacement hydraulic pump, and the target flow rate matches the target flow rate parameter.

[0141] Steps S405-407 are consistent with the corresponding steps in Example 1, and will not be repeated in this example.

[0142] In summary, the quantitative hydraulic pump output flow control method provided in this embodiment also includes a process of generating a preset parameter relationship, comprising: determining any parameter other than the output flow as a variable from among multiple parameters corresponding to the preset parameter relationship, and the remaining parameters as fixed quantities; controlling the value change of the variable according to the set change gradient value, and recording the variable value and the output flow value in sequence; obtaining a preset parameter relationship expressing the relationship between the at least two parameters based on the variable value and the output flow value. The generated preset parameter relationship is combined with the volumetric efficiency of the quantitative hydraulic pump, so that the first driving parameter determined based on the preset parameter relationship is more accurate during normal operation.

[0143] like Figure 5 The flowchart shown is a 4th embodiment of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0144] Step S501: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0145] Step S501 is the same as the corresponding step in Example 1, and will not be described again in this example.

[0146] Step S502: Obtain the operating parameters of the fixed displacement hydraulic pump;

[0147] The operating parameters include at least temperature and pressure values.

[0148] It should be noted that, since the volumetric efficiency of a hydraulic pump is the ratio of the actual output flow rate to the theoretical output flow rate during operation, and is affected by various factors in the hydraulic pump such as speed, pressure, temperature and wear, the operating parameters used in this embodiment are the pressure and temperature of the hydraulic pump.

[0149] Specifically, this pressure value is the outlet pressure of the fixed displacement hydraulic pump.

[0150] Specifically, a temperature sensor and a pressure sensor are set up. The temperature sensor detects the temperature of the fixed-displacement hydraulic pump to obtain a temperature signal, and the pressure sensor detects the outlet pressure of the fixed-displacement hydraulic pump to obtain a pressure signal. The temperature sensor sends the temperature signal and the pressure sensor sends the pressure signal to the electronic equipment executing this solution.

[0151] Step S503: Based on the operating parameters of the quantitative hydraulic pump, the target flow rate parameter, and the obtained preset parameter relationship, determine the first driving parameter;

[0152] The preset relationship parameters represent the relationship between the operating parameters of the fixed-displacement hydraulic pump, the output flow parameters, and the drive parameters output by the drive module.

[0153] The preset parameter relationship can be represented as follows:

[0154] n = f(Q, P, T)

[0155] Where P is the outlet pressure of the hydraulic pump, T is the temperature of the hydraulic pump, n is the input speed of the hydraulic pump, and Q is the output flow rate of the hydraulic pump.

[0156] The temperature and outlet pressure of the fixed displacement hydraulic pump are detected by sensors. Since the target output flow rate of the hydraulic pump is known, it is necessary to determine the input speed of the hydraulic pump.

[0157] Substituting the above operating parameters and hydraulic pump target flow parameters into the above preset parameter relationships, we obtain the relationship between the hydraulic pump input speed and temperature, pressure, and target output flow:

[0158] nc = f(Qc, P, T)

[0159] Where Qc is the target output flow rate of the hydraulic pump, P is the outlet pressure of the hydraulic pump, and T is the temperature value of the hydraulic pump.

[0160] Where nc is the motor speed of the drive module, which serves as the input speed of the hydraulic pump.

[0161] Step S504: Determine the first control parameter based on the first driving parameter and the first preset gain value;

[0162] The first preset gain value is the speed command input gain, which is a conversion based on the relationship between the speed command and the input voltage of the drive module, and is specifically determined based on the performance of the drive module.

[0163] The first control parameter is the input voltage of the drive module, and the drive module rotates and outputs the rotational speed under this input voltage.

[0164] Specifically, the first control parameter is obtained by taking the quotient of the first driving parameter and the first preset gain value.

[0165] The first control parameter is expressed as follows:

[0166] Uc = nc / k1 = f(Qc,P,T) / k1

[0167] Where Uc is an input voltage of the driver module, and k1 is the first preset gain value.

[0168] It should be noted that the process of determining the first preset gain value will be described in subsequent embodiments, and will not be detailed in this embodiment.

[0169] Step S505: Control the operation of the drive module based at least on the first control parameter, so that the drive module outputs drive parameters, the drive parameters are used to control the output target flow rate of the fixed displacement hydraulic pump, and the target flow rate matches the target flow rate parameter.

[0170] Step S505 is the same as the corresponding step in Example 1, and will not be described again in this example.

[0171] In summary, this embodiment provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: obtaining operating parameters of the fixed-displacement hydraulic pump, wherein the operating parameters include at least temperature and pressure values; determining a first driving parameter based on the operating parameters of the fixed-displacement hydraulic pump, the target flow parameter, and a preset parameter relationship, wherein the preset relationship parameter characterizes the relationship between the operating parameters of the fixed-displacement hydraulic pump, the output flow parameter, and the driving parameters output by the driving module; and determining a first control parameter based on the first driving parameter and a first preset gain value. In this embodiment, the first driving parameter is determined based on the operating parameters of the fixed-displacement hydraulic pump, the target flow parameter, and the preset parameter relationship, and the first control parameter is determined based on the first preset gain value of the driving module and the first driving parameter, thus clarifying the process of determining the first driving parameter based on the preset parameter relationship.

[0172] like Figure 6 The flowchart shown is a 5th embodiment of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0173] Step S601: Obtain the first identification information of the driver module;

[0174] This embodiment describes the process of determining the first preset gain value.

[0175] Different types of drive modules have different characteristics, and correspondingly, the relationship between their input voltage and output speed is different.

[0176] This electronic device can be used as a control device for various hydraulic systems, and different gain values ​​are set for various drive modules.

[0177] Specifically, the electronic device stores the correspondence between the identification information of different driving modules and the preset gain values.

[0178] When installing or starting the hydraulic system, the identification information of the drive module can be provided to the electronic device.

[0179] Specifically, the installer may input the first identification information of the driver module as the input information of the electronic device, or the driver module may upload the information to the electronic device after establishing a communication connection with the electronic device. This application does not limit the specific implementation of the electronic device obtaining the first identification information.

[0180] Step S602: Determine the first value corresponding to the first identification information as the first preset gain value from at least two preset gain values;

[0181] Specifically, in the correspondence between the identification information of the driving module and the preset gain value, the first value corresponding to the first identification information is determined as the first preset gain value.

[0182] For example, in an electronic device, a preset gain value a is set for driver module A, and a preset gain b is set for driver module B. The first identification information of the driver module obtained is driver module A, and the preset gain value a is determined to be the first preset gain value.

[0183] It should be noted that steps S601-602 only need to be performed once in actual application. During the subsequent normal operation of the hydraulic pump, the determined first preset gain value can be directly adopted.

[0184] Step S603: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0185] Step S604: Obtain the operating parameters of the fixed displacement hydraulic pump;

[0186] Step S605: Based on the operating parameters of the quantitative hydraulic pump, the target flow rate parameter, and the obtained preset parameter relationship, determine the first driving parameter;

[0187] Step S606: Determine the first control parameter based on the first driving parameter and the first preset gain value;

[0188] Step S607: Control the operation of the drive module based at least on the first control parameter, so that the drive module outputs drive parameters, the drive parameters are used to control the output target flow rate of the fixed displacement hydraulic pump, and the target flow rate matches the target flow rate parameter.

[0189] Steps S603-607 are the same as the corresponding steps in Example 4, and will not be repeated in this example.

[0190] In summary, the quantitative hydraulic pump output flow control method provided in this embodiment further includes: determining a first value as a first preset gain value from a plurality of stored preset gain values ​​based on the first identification information of the obtained drive module, so as to provide a basis for subsequently determining the first control parameter based on the first preset gain value.

[0191] like Figure 7 The flowchart shown is a sample of Embodiment 6 of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0192] Step S701: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0193] Step S702: Determine the first control parameter based at least on the preset parameter relationship and the target flow parameter;

[0194] Steps S701-702 are consistent with the corresponding steps in Example 2, and will not be repeated in this example.

[0195] Step S703: Obtain at least two historical flow parameters adjacent to the target flow parameter;

[0196] Specifically, based on the acquisition time of the target traffic parameters obtained this time, historical traffic parameters obtained at multiple adjacent acquisition times prior to this acquisition time are retrieved.

[0197] Specifically, this refers to historical flow parameters obtained from multiple previous cycles.

[0198] The historical flow parameter is the flow rate value output by the quantitative hydraulic pump indicated by the host computer in the corresponding cycle.

[0199] Step S704: Determine the rate of change of the control flow parameter based on the target flow parameter and the at least two historical flow parameters;

[0200] The rate of change of the control flow parameter is the rate of change of the flow parameter output by the quantitative hydraulic pump controlled by the host computer.

[0201] Specifically, the rate of change of the flow parameters is calculated based on the target flow parameters and at least two historical flow parameters.

[0202] Specifically, the rate of change is dQc / dt, where Qc is the target output flow rate of the hydraulic pump.

[0203] Step S705: Determine the second control parameter based on the rate of change of the control flow parameter and the second preset gain value;

[0204] The second preset gain value is a feedforward compensation coefficient, which is related to the output accuracy of the fixed displacement hydraulic pump.

[0205] Specifically, the second control parameter is obtained by multiplying the rate of change of the control flow parameter and the second preset gain value.

[0206] The identifier for the second control parameter is as follows:

[0207] Uq=k2(dQc / dt)

[0208] Where Uq is the compensation input voltage of the drive module, k2 is the second preset gain value, and dQc / dt is the rate of change of the control flow parameter.

[0209] It should be noted that the process of determining the first preset gain value will be described in subsequent embodiments, and will not be detailed in this embodiment.

[0210] Step S706: Generate target control parameters based on the first control parameters and the second control parameters;

[0211] Step S707: Control the operation of the drive module based on the target control parameters, so that the drive module outputs drive parameters, which are used to control the output target flow rate of the quantitative hydraulic pump, and the target flow rate matches the target flow rate parameters.

[0212] Steps S706-707 are the same as the corresponding steps in Example 2, and will not be repeated in this example.

[0213] In summary, this embodiment provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: obtaining at least two historical flow parameters adjacent to the target flow parameter; determining a control flow parameter change rate based on the target flow parameter and the at least two historical flow parameters; and determining a second control parameter based on the control flow parameter change rate and a second preset gain value. In this embodiment, the target flow parameter and multiple historical flow parameters determine the control flow parameter change rate for controlling the fixed-displacement hydraulic pump, and then, based on the control flow parameter change rate and the second preset gain value, a second control parameter for feedforward compensation is determined to improve the response speed of the fixed-displacement hydraulic pump.

[0214] like Figure 8 The flowchart shown is a 7th embodiment of a quantitative hydraulic pump output flow control method provided in this application. The method includes the following steps:

[0215] Step S801: Obtain the target debugging flow parameters;

[0216] This embodiment describes the process of determining the second preset gain value.

[0217] Step S802: Control the fixed-displacement hydraulic pump based on the target adjustment flow parameters to obtain the output flow parameters of the fixed-displacement hydraulic pump;

[0218] During the commissioning of the fixed-displacement hydraulic pump, the pump is driven to rotate via a drive module.

[0219] The method of controlling the operation of a fixed-displacement hydraulic pump based on a target adjustable flow rate parameter includes: converting the target adjustable flow rate parameter into a drive voltage, which is used as the adjustable input voltage of the drive module so that the drive module outputs an adjustable speed, and the fixed-displacement hydraulic pump rotates based on the fixed speed to obtain the output flow rate parameter.

[0220] The process of converting the target flow rate parameter into the driving voltage is similar to the process of obtaining the target control parameter in the previous embodiment, and will not be described in detail in this embodiment.

[0221] Step S803: Based on the deviation between the target debugging flow parameter and the output flow parameter, adjust the value of the second preset gain parameter;

[0222] The second preset gain parameter is the parameter corresponding to the second preset gain value in the subsequent step S809.

[0223] During the debugging process, a fixed target debugging flow parameter is used to obtain the output flow parameter of the fixed-displacement hydraulic pump.

[0224] In practice, during the debugging process, the initial value of the second preset gain value is first set to 0, which has no effect by default. During the debugging process, the value of the second preset gain value is gradually increased or decreased to reduce the deviation.

[0225] Step S804: When the deviation reaches the preset deviation range, the corresponding value of the second preset gain is taken as the second preset gain value;

[0226] Among them, if the deviation of the target adjustment flow rate parameter and the output flow rate parameter is small and within the preset deviation range, the output accuracy of the fixed displacement hydraulic pump is high and can meet the dynamic characteristics of flow regulation.

[0227] Wherein, when the deviation reaches the preset deviation range, the corresponding value of the second preset gain is a value that enables the quantitative hydraulic pump to output high accuracy, and this value is determined to be the second preset gain value.

[0228] It should be noted that steps S801-804 only need to be performed once in actual application. During subsequent normal operation of the hydraulic pump, the determined first preset gain value can be directly used.

[0229] It should be noted that the process of determining the second preset gain value in steps S801-804 is performed during the debugging process. During the subsequent normal operation of the hydraulic pump, the second preset gain value can be directly set.

[0230] Step S805: Obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump;

[0231] Step S806: Determine the first control parameter based at least on the preset parameter relationship and the target flow parameter;

[0232] Step S807: Obtain at least two historical flow parameters adjacent to the target flow parameter;

[0233] Step S808: Determine the rate of change of the control flow parameter based on the target flow parameter and the at least two historical flow parameters;

[0234] Step S809: Determine the second control parameter based on the rate of change of the control flow parameter and the second preset gain value;

[0235] Step S810: Generate target control parameters based on the first control parameters and the second control parameters;

[0236] Step S811: Control the drive module to run based on the target control parameters.

[0237] The steps S805-811 are the same as those in Example 6, and will not be repeated in this example.

[0238] In summary, this embodiment provides a method for controlling the output flow of a fixed-displacement hydraulic pump, comprising: obtaining a target test flow parameter; controlling the fixed-displacement hydraulic pump based on the target test flow parameter to obtain the output flow parameter of the fixed-displacement hydraulic pump; adjusting the value of a second preset gain parameter based on the deviation between the target test flow parameter and the output flow parameter; and taking the value of the corresponding second preset gain parameter as a second preset gain value when the deviation reaches a preset deviation range. In this embodiment, during the test, based on the input target test flow parameter, the deviation from the output flow parameter output by the system composed of the drive module and the hydraulic pump is determined, and a suitable second preset gain value is determined to ensure the response speed of the fixed-displacement hydraulic pump.

[0239] Corresponding to the embodiment of the quantitative hydraulic pump output flow control method provided in this application above, this application also provides an embodiment of an apparatus for applying the quantitative hydraulic pump output flow control method.

[0240] like Figure 9 The diagram shown is a structural schematic of an embodiment of a quantitative hydraulic pump output flow control device provided in this application. The device includes the following structure: an acquisition module 901, a determination module 902, and a control module 903.

[0241] The module 901 is used to obtain the target flow parameters for controlling the output of the quantitative hydraulic pump.

[0242] The determining module 902 is used to determine a first control parameter based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the quantitative hydraulic pump;

[0243] The control module 903 is used to control the operation of the drive module based at least on the first control parameter, so that the drive module outputs drive parameters, the drive parameters are used to control the output target flow of the quantitative hydraulic pump, and the target flow matches the target flow parameter.

[0244] Optionally, the determining module includes:

[0245] The determining unit is used to determine the second control parameter based on the target flow parameter and the historical flow parameter;

[0246] A generation unit is used to generate target control parameters based on the first control parameters and the second control parameters;

[0247] The control unit is used to control the operation of the drive module based on the target control parameters.

[0248] Optionally, it also includes: preset modules;

[0249] The preset module is used to determine at least two parameters corresponding to the preset parameter relationship. The at least two parameters include the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter, and the input speed, wherein the input speed corresponds to the drive parameters output by the drive module. From the at least two parameters, any one parameter except the output flow rate is sequentially determined as a variable, and the remaining parameters are fixed displacements. The variable values ​​are controlled to change according to a set gradient value, and the variable values ​​and output flow rate values ​​are recorded sequentially. Based on the variable values ​​and output flow rate values, a preset parameter relationship expressing the relationship between the at least two parameters is obtained.

[0250] Optionally, the determining module includes:

[0251] The obtaining unit is used to obtain the operating parameters of the fixed displacement hydraulic pump, the operating parameters including at least temperature and pressure values;

[0252] The drive parameter determination unit is used to determine the first drive parameter based on the operating parameters of the fixed displacement hydraulic pump, the target flow rate parameter, and a preset parameter relationship. The preset relationship parameter characterizes the relationship between the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter, and the drive parameters output by the drive module.

[0253] The control parameter determination unit is used to determine the first control parameter based on the first driving parameter and the first preset gain value.

[0254] Optional, also includes:

[0255] The identification information acquisition module is used to obtain the first identification information of the driver module;

[0256] The gain value determination module is used to determine, from at least two preset gain values, a first value corresponding to the first identification information as the first preset gain value.

[0257] Optionally, the determining unit includes:

[0258] A sub-unit is used to obtain at least two historical flow parameters adjacent to the target flow parameter;

[0259] The first determining subunit is used to determine the rate of change of the control flow parameter based on the target flow parameter and the at least two historical flow parameters;

[0260] The second determining subunit is used to determine the second control parameter based on the rate of change of the control flow parameter and the second preset gain value.

[0261] Optionally, it may also include: a debugging module;

[0262] The debugging module is used to obtain target debugging flow parameters; control the fixed-displacement hydraulic pump based on the target debugging flow parameters to obtain the output flow parameters of the fixed-displacement hydraulic pump; adjust the value of the second preset gain parameter based on the deviation between the target debugging flow parameters and the output flow parameters; and take the value of the corresponding second preset gain parameter as the second preset gain value when the deviation reaches a preset deviation range.

[0263] It should be noted that the explanation of the composition, structure and function of the quantitative hydraulic pump output flow control device provided in this embodiment is provided in the explanation of the aforementioned method embodiment, and will not be repeated in this embodiment.

[0264] This application provides a fixed-displacement hydraulic pump output flow control device. Based on preset parameter relationships and a target flow parameter for controlling the fixed-displacement hydraulic pump output, a first control parameter is determined. At least according to this first control parameter, a drive module is controlled to operate, so that the drive module outputs drive parameters to control the fixed-displacement hydraulic pump output to match the target flow parameter. The preset parameter relationships are the relationships between various parameters affecting the volumetric efficiency of the fixed-displacement hydraulic pump. Therefore, by considering the influence of the volumetric efficiency of the fixed-displacement hydraulic pump on the first control parameter determined in conjunction with the preset parameter relationships, compensation is made for the volumetric efficiency's impact on the hydraulic pump input speed, thereby improving the control accuracy of the fixed-displacement hydraulic pump output flow.

[0265] Corresponding to the above embodiment of the quantitative hydraulic pump output flow control method provided in this application, this application also provides scenario embodiments for applying the quantitative hydraulic pump output flow control method.

[0266] like Figure 10 The diagram illustrates a scenario for a quantitative hydraulic pump output flow control method provided in this application. The scenario includes: a host computer 1001, a control device 1002, a drive module 1003, and a hydraulic system 1004. The control device includes a speed calculation module and a feedforward compensation module. The drive module includes a driver and a servo motor. The hydraulic system includes a pressure sensor, a temperature sensor, a hydraulic pump, and an actuator. The speed calculation module has a preset parameter relationship Uc = f(Qc, P, T) / k1, and the feedforward compensation module has a feedforward compensation algorithm Uq = k2(dQc / dt).

[0267] Where P is the hydraulic pump outlet pressure collected by the pressure sensor, T is the hydraulic pump temperature collected by the temperature sensor, k1 and k2 are preset gain values, Qc is the target flow rate of the hydraulic pump indicated in the flow command output by the host computer, the output voltage Uc is calculated by the speed calculation module, the output voltage Uq is processed by the feedforward compensation stage, Uc and Uq are added to obtain U, and U is input to the drive module, the drive module outputs the speed n, and the hydraulic pump outputs the flow rate Qp to the actuator based on the input speed n.

[0268] in, Figure 10 The middle arrow indicates the direction of signal transmission.

[0269] In this scenario, a sinusoidal flow rate with a frequency of 0.5Hz, an amplitude of 0.5L / min, and a median of 2L / min was selected as the command input signal. Tests were conducted under three conditions: the initial state, the state using only the speed calculation stage, and the state using both the speed calculation stage and the feedforward compensation stage.

[0270] Before testing, the relief valve was first adjusted to a safe pressure, and then the throttle valve opening was adjusted to keep the pressure at the pump inlet of the fixed displacement hydraulic pump at 8±0.1MPa. During the test, the pump inlet pressure fluctuated between 4.43 and 12.65MPa.

[0271] like Figure 11-13 The image shown is a schematic diagram of the test results. Among them, Figure 11 The figure shown is the hydraulic pump output flow curve in the initial state. Figure 12 The figure shown is the hydraulic pump output flow rate curve when only the rotational speed is used to solve the model. Figure 13 The figure shows the hydraulic pump output flow curve when using the speed calculation module and the feedforward compensation module.

[0272] Comparison Figure 11-13 It can be seen that under the sinusoidal flow signal input, the actual flow rate has a large lag in the initial state, and the flow rate deviation fluctuates between -0.565 L / min and 0.421 L / min; when only the speed calculation loop is used, the lag phenomenon of the actual flow rate is significantly improved, and the flow rate deviation fluctuates between -0.237 L / min and 0.276 L / min; when both the speed calculation loop and the feedforward compensation loop are used, the lag phenomenon of the actual flow rate is further improved, and the flow rate deviation fluctuates between -0.115 L / min and 0.114 L / min.

[0273] 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. The apparatus provided in the embodiments is described simply because it corresponds to the method provided in the embodiments; relevant parts can be found in the method section.

[0274] The above description of the provided embodiments enables those skilled in the art to make or use this application. 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 spirit or scope of this application. Therefore, this application 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 provided herein.

Claims

1. A method for controlling the output flow rate of a fixed-displacement hydraulic pump, characterized in that, include: Obtain the target flow parameters for controlling the output of the fixed-displacement hydraulic pump; A first control parameter is determined based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed displacement hydraulic pump; Obtain at least two historical flow parameters adjacent to the target flow parameter; The rate of change of the control flow parameter is determined based on the target flow parameter and the at least two historical flow parameters. The second control parameter is determined based on the rate of change of the control flow parameter and the second preset gain value; Target control parameters are generated based on the first and second control parameters. The drive module is controlled to operate based on the target control parameters, so that the drive module outputs drive parameters, which are used to control the quantitative hydraulic pump to output a target flow rate, and the target flow rate matches the target flow rate parameters.

2. The method according to claim 1, characterized in that, Before obtaining the target flow parameters for controlling the output of the quantitative hydraulic pump, the process also includes: Determine at least two parameters corresponding to the preset parameter relationship, the at least two parameters including the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter and the input speed, the input speed corresponding to the drive parameters output by the drive module; Of the at least two parameters, one parameter other than the output flow rate is determined as a variable, and the remaining parameters are fixed. According to the set gradient value, control the change of the variable value, and record the variable value and output flow value in sequence; Based on the variable values ​​and the output flow rate values, a preset parameter relationship expressing the relationship between the at least two parameters is obtained.

3. The method according to claim 1, characterized in that, The determination of the first control parameter based at least on a preset parameter relationship and the target flow parameter includes: Obtain the operating parameters of the fixed displacement hydraulic pump, wherein the operating parameters include at least temperature and pressure values; Based on the operating parameters of the fixed-displacement hydraulic pump, the target flow rate parameter, and the preset parameter relationship, a first driving parameter is determined. The preset parameter relationship characterizes the relationship between the operating parameters of the fixed-displacement hydraulic pump, the output flow rate parameter, and the driving parameters output by the driving module. The first control parameter is determined based on the first driving parameter and the first preset gain value.

4. The method according to claim 3, characterized in that, Also includes: Obtain the first identification information of the driver module; Among at least two preset gain values, the first value corresponding to the first identification information is determined as the first preset gain value.

5. The method according to claim 1, characterized in that, Before obtaining the target flow parameters for controlling the output of the quantitative hydraulic pump, the process also includes: Obtain the target debugging flow parameters; Based on the target adjustment flow parameters, the quantitative hydraulic pump is controlled to obtain the output flow parameters of the quantitative hydraulic pump; Based on the deviation between the target debugging flow parameters and the output flow parameters, the value of the second preset gain parameter is adjusted. When the deviation reaches a preset deviation range, the value of the corresponding second preset gain parameter is taken as the second preset gain value.

6. A device for controlling the output flow rate of a fixed-displacement hydraulic pump, characterized in that, include: The module is used to obtain the target flow parameters for controlling the output of the fixed displacement hydraulic pump; The determination module is used to determine a first control parameter based at least on a preset parameter relationship and the target flow parameter, wherein the preset parameter relationship characterizes the relationship between at least two parameters related to the fixed displacement hydraulic pump; The determining module is further configured to obtain at least two historical flow parameters adjacent to the target flow parameter, determine the rate of change of the control flow parameter based on the target flow parameter and the at least two historical flow parameters, determine a second control parameter based on the rate of change of the control flow parameter and a second preset gain value, and generate a target control parameter based on the first control parameter and the second control parameter. The control module is used to control the operation of the drive module based on the target control parameters, so that the drive module outputs drive parameters, which are used to control the fixed-displacement hydraulic pump to output a target flow rate, and the target flow rate matches the target flow rate parameters.

7. The apparatus according to claim 6, characterized in that, Also includes: Preset modules; The preset module is used to determine at least two parameters corresponding to the preset parameter relationship. The at least two parameters include the operating parameters of the fixed displacement hydraulic pump, the output flow rate parameter, and the input speed. The input speed corresponds to the drive parameters output by the drive module. In the at least two parameters, one parameter other than the output flow rate is determined as a variable, and the remaining parameters are fixed. The variable values ​​are controlled according to the set gradient values, and the variable values ​​and output flow rate values ​​are recorded sequentially. Based on the variable values ​​and the output flow rate values, a preset parameter relationship expressing the relationship between the at least two parameters is obtained.

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