Stirred tank speed control system, method, computer device, and storage medium

Abstract

The application relates to a stirring tank rotating speed control system, method, computer equipment and storage medium. The stirring tank rotating speed control system comprises a hydraulic pump, a hydraulic motor, a rotating speed sensor, a speed reducer and a controller. The rotating speed sensor is used for collecting an actual value of the rotating speed of the hydraulic motor; the controller is used for determining a feedforward hydraulic pump displacement according to a target rotating speed and a first mapping relationship; determining a feedback hydraulic pump displacement according to a first difference value between the actual value of the rotating speed of the hydraulic motor and a set value of the rotating speed of the hydraulic motor; determining a target hydraulic pump displacement according to the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement; determining a feedforward drive duty cycle of a working electromagnetic valve current according to the target hydraulic pump displacement and a second mapping relationship; determining a feedback drive duty cycle of the working electromagnetic valve current according to a second difference value between a set current and a current of the working electromagnetic valve; and determining a target drive duty cycle of the working electromagnetic valve current according to the feedforward drive duty cycle and the feedback drive duty cycle, so as to accurately control the rotating speed of the stirring tank.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and in particular to a mixing tank speed control system, method, computer equipment, and storage medium. Background Technology

[0002] A concrete mixer truck is a specialized vehicle used to transport concrete for construction. During transportation, the concrete mixer truck must maintain a constant rotation speed in the drum to ensure that the concrete inside does not solidify and has a suitable slump.

[0003] Traditional concrete mixer trucks control the mixing tank through mechanical devices. The tank takes power directly from the engine chassis via a power take-off device (PTO). In this case, the rotational speed of the mixing tank fluctuates greatly with the engine speed. Summary of the Invention

[0004] Therefore, it is necessary to provide a mixing tank speed control system, method, computer equipment, storage medium, and computer program product that can accurately and stably control the speed of the mixing tank in response to the above-mentioned technical problems.

[0005] In a first aspect, this application provides a stirring tank speed control system, the stirring tank speed control system comprising:

[0006] A hydraulic pump includes a direct proportional solenoid valve and an inverse proportional solenoid valve. The direct proportional solenoid valve is used to control the forward rotation of the mixing tank, and the inverse proportional solenoid valve is used to control the reverse rotation of the mixing tank.

[0007] A hydraulic motor is connected to the hydraulic pump, and the hydraulic motor is used to operate under the drive of the hydraulic pump;

[0008] A speed sensor is used to collect the actual speed of the hydraulic motor.

[0009] A speed reducer is connected to the hydraulic motor, and the speed reducer is used to transfer kinetic energy to the mixing tank under the drive of the hydraulic motor so as to make the mixing tank rotate;

[0010] The controller, connected to the hydraulic pump and the speed sensor respectively, is used to determine the feedforward hydraulic pump displacement based on the target speed and a preset first mapping relationship; determine the feedback hydraulic pump displacement based on the first difference between the actual value of the hydraulic motor speed and the set value of the hydraulic motor speed; determine the target hydraulic pump displacement based on the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement; determine the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and a preset second mapping relationship; determine the feedback drive duty cycle of the working solenoid valve current based on the second difference between the sampling current and the set current of the working solenoid valve; and determine the target drive duty cycle of the working solenoid valve current based on the feedforward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working solenoid valve, wherein the working solenoid valve is one of the direct proportional solenoid valve and the inverse proportional solenoid valve.

[0011] In one embodiment, the stirring tank speed control system further includes:

[0012] An emergency component, at least partially located on the signal transmission path of the drive circuit, is used to receive and respond to a user's power-off command to disconnect the signal transmission of the drive circuit and control the hydraulic pump to stop working. The drive circuit is used to transmit the drive signal that drives the hydraulic pump.

[0013] In one embodiment, the emergency component includes:

[0014] A hard-wired switch is used to transmit a power-off signal in response to the power-off command;

[0015] A relay, connected to the hardwired switch, is located on the signal transmission path of the drive circuit and is used to disconnect in response to a power-off signal transmitted by the hardwired switch.

[0016] Secondly, this application provides a method for controlling the rotational speed of a stirred tank, the method comprising:

[0017] The feedforward hydraulic pump displacement is determined based on the target rotational speed and the preset first mapping relationship.

[0018] The feedback hydraulic pump displacement is determined based on the first difference between the actual hydraulic motor speed and the set hydraulic motor speed.

[0019] The target hydraulic pump displacement is determined based on the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement.

[0020] The feedforward drive duty cycle of the working solenoid valve current is determined based on the target hydraulic pump displacement and the preset second mapping relationship, wherein the working solenoid valve is one of a direct proportional solenoid valve and an inverse proportional solenoid valve.

[0021] The feedback drive duty cycle of the working solenoid valve current is determined based on the second difference between the sampling current of the working solenoid valve and the set current.

[0022] The target drive duty cycle of the working solenoid valve current is determined based on the feedforward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working solenoid valve.

[0023] In one embodiment, determining the feedback hydraulic pump displacement based on a first difference between the actual hydraulic motor speed and the set hydraulic motor speed includes:

[0024] The displacement of the feedback hydraulic pump is determined using a PID algorithm based on the first difference.

[0025] In one embodiment, the second mapping relationship includes a first sub-mapping relationship and a second sub-mapping relationship; the step of determining the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and the second preset relationship includes:

[0026] The target current of the working solenoid valve is determined based on the target hydraulic pump displacement and the first sub-mapping relationship.

[0027] The feedforward drive duty cycle is determined based on the target current and the second sub-mapping relationship.

[0028] In one embodiment, the second sub-mapping relationship includes an electrical characteristic curve; determining the feedforward drive duty cycle based on the target current and the second sub-mapping relationship includes:

[0029] Obtain the temperature information of the working solenoid valve;

[0030] Determine the corresponding target electrical characteristic curve based on the temperature information;

[0031] The feedforward drive duty cycle is determined based on the target current and the target electrical characteristic curve.

[0032] In one embodiment, determining the feedback drive duty cycle of the working solenoid valve current based on a second difference between the sampling current of the working solenoid valve and the set current includes:

[0033] The displacement of the feedback hydraulic pump is determined using a PID algorithm based on the second difference.

[0034] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the stirring tank speed control method as described above.

[0035] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the stirring tank speed control method described above.

[0036] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the stirring tank speed control method as described above.

[0037] The aforementioned mixing tank speed control system, method, computer equipment, storage medium, and computer program product determine the feedforward hydraulic pump displacement based on the target speed and a preset first mapping relationship, determine the feedback hydraulic pump displacement based on the first difference between the actual value of the hydraulic motor speed and the set value of the hydraulic motor speed, and then determine the accurate target hydraulic pump displacement based on the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement. By combining feedforward control and feedback control, a closed loop of hydraulic pump displacement is achieved, so that the displacement of the hydraulic system is not affected by changes in engine speed. Based on this, the feedforward drive duty cycle of the working solenoid valve current is determined according to the target hydraulic pump displacement and the preset second mapping relationship. Then, the feedback drive duty cycle of the working solenoid valve current is determined according to the second difference between the sampling current and the set current of the working solenoid valve. The target drive duty cycle of the working solenoid valve current is determined based on the feedforward drive duty cycle and the feedback drive duty cycle. The accurate target drive duty cycle is obtained through the dual closed-loop control of hydraulic pump displacement and drive duty cycle to control the opening of the working solenoid valve, thereby accurately controlling the speed of the mixing tank. This enables the adjustment of the rotation direction and speed of the hydraulic motor, thereby stabilizing the tank speed and achieving stepless control of the tank speed. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the stirring tank speed control system in one embodiment;

[0039] Figure 2 This is a schematic diagram of the stirring tank speed control system in another embodiment;

[0040] Figure 3 This is a schematic diagram illustrating the interaction between the stirring tank speed control system and the communication terminal in one embodiment;

[0041] Figure 4 This is a flowchart illustrating a method for controlling the speed of a mixing tank in one embodiment;

[0042] Figure 5 This is an internal structural diagram of a computer device in one embodiment.

[0043] Explanation of reference numerals in the attached figures:

[0044] 11-Hydraulic pump, 12-Hydraulic motor, 13-Speed ​​sensor, 14-Reducer, 15-Controller, 16-Emergency components, 21-Communication terminal. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0047] It is understood that the terms "first," "second," etc., used in this application may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first mapping relationship may be referred to as a second mapping relationship, and similarly, a second mapping relationship may be referred to as a first mapping relationship. Both a first resistor and a second resistor are mapping relationships, but they are not the same mapping relationship.

[0048] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, modules, units, etc., have electrical signal or data transmission with each other.

[0049] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising,” “including,” or “having,” etc., specify the presence of the stated feature, whole, step, operation, component, part, or combination thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof.

[0050] like Figure 1 As shown, this application provides a mixing tank speed control system, which includes: a hydraulic pump 11, a hydraulic motor 12, a speed sensor 13, a reducer 14, and a controller 15.

[0051] The hydraulic pump 11 includes a direct-proportional solenoid valve and an inverse-proportional solenoid valve. The direct-proportional solenoid valve controls the forward rotation of the mixing tank, while the inverse-proportional solenoid valve controls the reverse rotation of the mixing tank. In application, only one of the direct-proportional and inverse-proportional solenoid valves is in operation. The solenoid valve in operation is called the working solenoid valve, and its opening direction corresponds to the rotation direction of the mixing tank. The rotation speed of the mixing tank is controlled by controlling the opening degree of the working solenoid valve.

[0052] In applications, taking a direct proportional solenoid valve as the working solenoid valve as an example, before the direct proportional solenoid valve operates, it needs to detect the status of the inverse proportional solenoid valve. Based on the status of the inverse proportional solenoid valve, its operating state is determined to ensure that the inverse proportional solenoid valve is in a non-operating state, thus preventing both the direct and inverse proportional solenoid valves from operating simultaneously. The inverse proportional solenoid valve's status requires three conditions to be met: first, the inverse proportional solenoid valve's drive duty cycle is 0; second, the sampled current of the inverse proportional solenoid valve must be less than a corresponding preset threshold; and third, the inverse proportional valve's set current is 0, thereby ensuring that the inverse proportional solenoid valve is in a non-operating state.

[0053] The hydraulic motor 12 is connected to the hydraulic pump 11, and the hydraulic motor 12 is used to operate under the drive of the hydraulic pump 11. The hydraulic motor 12 is an energy conversion device that converts the hydraulic energy provided by the hydraulic pump 11 into mechanical energy.

[0054] The speed sensor 13 can be located on the hydraulic motor 12 to collect the actual speed value of the hydraulic motor 12.

[0055] The reducer 14 is connected to the hydraulic motor 12. The reducer 14 is used to transfer kinetic energy to the mixing tank under the drive of the hydraulic motor 12, so that the mixing tank rotates. The reducer 14 is actually a power transmission device, mainly used to transmit power between the hydraulic motor 12 and the mixing tank. It achieves speed reduction by meshing a gear with fewer teeth on the input shaft with a large gear on the output shaft, thereby reducing the rotational speed and increasing the torque.

[0056] The controller 15 is connected to the hydraulic pump 11 and the speed sensor 13 respectively. It is used to determine the feedforward hydraulic pump displacement based on the target speed and a preset first mapping relationship; determine the feedback hydraulic pump displacement based on the first difference between the actual speed of the hydraulic motor 12 and the set speed of the hydraulic motor 12; determine the target hydraulic pump displacement based on the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement; determine the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and a preset second mapping relationship; determine the feedback drive duty cycle of the working solenoid valve current based on the second difference between the sampling current and the set current of the working solenoid valve; and determine the target drive duty cycle of the working solenoid valve current based on the feedforward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working solenoid valve. The working solenoid valve is one of a direct proportional solenoid valve and an inverse proportional solenoid valve.

[0057] The controller 15 can set the rotational speed as the target rotational speed, and the set rotational speed can be the rotational speed input by the user.

[0058] It is understood that by connecting the controller 15 to the hydraulic pump 11, the controller 15 can control the drive duty cycle of the working solenoid valve current to control the opening degree of the working solenoid valve. Connecting the controller 15 to the speed sensor 13 allows the controller 15 to acquire the actual speed value of the hydraulic motor 12 collected by the speed sensor 13. Based on this, the controller 15 determines the feedforward hydraulic pump displacement according to the target speed and a preset first mapping relationship, and determines the feedback hydraulic pump displacement, i.e., the correction amount, according to the first difference between the actual speed value of the hydraulic motor 12 and the set speed value of the hydraulic motor 12. The sum of the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement is the target hydraulic pump displacement.

[0059] Based on this, the feedforward drive duty cycle of the working solenoid valve current is determined according to the target hydraulic pump displacement and the preset second mapping relationship, which can ensure the relative accuracy of the feedforward drive duty cycle. Then, the correction amount of the drive duty cycle of the working solenoid valve current is determined according to the second difference between the sampling current and the set current of the working solenoid valve, that is, the feedback drive duty cycle. The sum of the feedforward drive duty cycle and the feedback drive duty cycle is the target drive duty cycle, thereby further improving the accuracy of the target drive duty cycle, and thus accurately controlling the tank speed, realizing stable control and stepless regulation of the tank speed.

[0060] It should be noted that, in order to prevent damage to the tank from excessively rapid switching between forward and reverse rotation, a ramp treatment was applied to the rotation speed during the tank rotation speed change process. That is, the maximum speed step size for rising and falling is limited to prevent the tank rotation speed from changing too quickly.

[0061] The aforementioned mixing tank speed control system determines the feedforward hydraulic pump displacement based on the target speed and a preset first mapping relationship. It determines the feedback hydraulic pump displacement based on the first difference between the actual speed of hydraulic motor 12 and its set speed. Then, it determines the accurate target hydraulic pump displacement based on both the feedforward and feedback hydraulic pump displacements. This combination of feedforward and feedback control achieves a closed-loop control of the hydraulic pump displacement, ensuring that the hydraulic system's displacement is unaffected by engine speed fluctuations. Furthermore, it determines the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and a preset second mapping relationship. Then, it determines the feedback drive duty cycle of the working solenoid valve current based on the second difference between the current sampled from the working solenoid valve and its set current. Finally, it determines the target drive duty cycle of the working solenoid valve current based on both the feedforward and feedback drive duty cycles. This dual closed-loop control of the hydraulic pump displacement and drive duty cycle obtains the accurate target drive duty cycle, controlling the opening of the working solenoid valve and thus accurately controlling the tank speed. This enables the adjustment of the rotation direction and speed of hydraulic motor 12, achieving stable tank speed and stepless speed control.

[0062] In one embodiment, such as Figure 2 As shown, the mixing tank speed control system also includes: emergency component 16.

[0063] Emergency component 16 is at least partially located on the signal transmission path of the drive circuit. Emergency component 16 is used to receive and respond to the user's power-off command to disconnect the signal transmission of the drive circuit and control the hydraulic pump 11 to stop working. The drive circuit is used to transmit the drive signal for driving the hydraulic pump 11.

[0064] In the application, the user mainly inputs signals to the controller 15 through the input device, and then the controller 15 sends control commands to the hydraulic pump 11 to control the speed of the mixing tank. The controller 15 sends the control commands to the mixing tank through the CAN bus. If a bus BUSOFF fault or timeout fault occurs, the mixing tank will be out of control and cannot be stopped by normal button operation.

[0065] In this embodiment, by placing the emergency component 16 on the signal transmission path of the drive circuit, the signal transmission of the drive circuit can be disconnected when the emergency component 16 is disconnected. Then, the user inputs a power-off command to the emergency component 16, which then controls the hydraulic pump 11 to stop operating.

[0066] In one embodiment, emergency component 16 includes a hardwired switch and a relay.

[0067] Hardwired switches are used to transmit power-off signals in response to power-off commands.

[0068] The relay is connected to the hardwired switch and is located on the signal transmission path of the drive circuit to disconnect in response to the power-off signal transmitted by the hardwired switch.

[0069] The hard-wired switch is used to transmit high and low level signals. In response to a user's power-off command, the hard-wired switch transmits a signal that disconnects the relay, thereby disconnecting the signal transmission of the drive circuit and causing the hydraulic pump 11 to stop working.

[0070] Based on the same inventive concept, this application also provides a method for controlling the rotational speed of a stirred tank. In this embodiment, the method for controlling the rotational speed of a stirred tank is applied to... Figure 1 Taking the mixing tank speed control system as an example, it can be understood that this method can also be applied to servers, implemented through the interaction between the controller and the server; for example... Figure 3 As shown, it can also be applied to communication terminal 21, and is implemented through the interaction between controller 15 and communication terminal 21. This method for controlling the speed of the mixing tank can be implemented using a controller, or it can be implemented using other external control devices, such as... Figure 4 As shown, the method for controlling the speed of the mixing tank includes:

[0071] S401: Determine the feedforward hydraulic pump displacement based on the target speed and the preset first mapping relationship.

[0072] The controller can determine the set rotational speed as the target rotational speed, and the set rotational speed can be the speed input by the user. The first mapping relationship can be determined based on reasonable derivation or obtained through multiple experiments. The second mapping relationship is used to represent the mapping relationship between rotational speed and hydraulic pump displacement.

[0073] Based on the working principle of the hydraulic system, the relationship between the mixing tank rotation speed and the hydraulic pump displacement is as follows:

[0074]

[0075] In equation (1), n g n is the rotational speed of the mixing tank. p V is the engine speed. P V represents the displacement of the hydraulic pump. m For the arrangement of hydraulic motors, i q For PTO speed ratio, i j For the speed ratio of the reducer, η mv For the volumetric efficiency of the hydraulic motor, η pv This refers to the volumetric efficiency of the hydraulic pump.

[0076] S402: Determine the feedback hydraulic pump displacement based on the first difference between the actual hydraulic motor speed and the set hydraulic motor speed.

[0077] Among them, a corresponding first correction algorithm can be predetermined, and the first difference between the actual value of the hydraulic motor speed and the set value of the hydraulic motor speed is used as the input value. The correction algorithm is used to determine the correction amount of the hydraulic pump displacement, that is, the feedback hydraulic pump displacement.

[0078] S403: Determine the target hydraulic pump displacement based on the feedforward hydraulic pump displacement and the feedback hydraulic pump displacement.

[0079] S404: Determine the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and the preset second mapping relationship, wherein the working solenoid valve is one of a direct proportional solenoid valve and an inverse proportional solenoid valve.

[0080] The second mapping relationship can also be determined based on reasonable derivation or obtained through multiple experiments. The second mapping relationship is used to represent the mapping relationship between the hydraulic pump displacement and the drive duty cycle.

[0081] In application, only one of the direct proportional solenoid valve and the inverse proportional solenoid valve is in working condition. The solenoid valve in working condition is called the working solenoid valve, and its direction of rotation corresponds to that of the mixing tank. The direct proportional solenoid valve is used to control the forward rotation of the mixing tank, and the inverse proportional solenoid valve is used to control the reverse rotation of the mixing tank.

[0082] S405: Determine the feedback drive duty cycle of the working solenoid valve current based on the second difference between the sampling current and the set current of the working solenoid valve.

[0083] Similarly, a corresponding second correction algorithm can be predetermined, using the second difference between the sampling current of the working solenoid valve and the set current as the input value, and the correction algorithm is used to determine the correction amount of the drive duty cycle, i.e. the feedback drive duty cycle.

[0084] S406: Determine the target drive duty cycle of the working solenoid valve current based on the feedforward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working solenoid valve.

[0085] It is understandable that after determining the target drive duty cycle, the controller can adjust the drive signal to the hydraulic pump according to the target drive duty cycle, thereby adjusting the opening of the working solenoid valve and accurately controlling the tank speed.

[0086] The aforementioned mixing tank speed control method determines the feedforward hydraulic pump displacement based on the target speed and a preset first mapping relationship. It then determines the feedback hydraulic pump displacement based on the first difference between the actual hydraulic motor speed and the set hydraulic motor speed. Finally, it determines the accurate target hydraulic pump displacement based on both the feedforward and feedback hydraulic pump displacements. This combination of feedforward and feedback control achieves a closed-loop control of the hydraulic pump displacement, ensuring that the hydraulic system's displacement is unaffected by engine speed fluctuations. Furthermore, it determines the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and a preset second mapping relationship. The feedback drive duty cycle of the working solenoid valve current is determined based on the second difference between the sampled current and the set current. Finally, it determines the target drive duty cycle of the working solenoid valve current based on both the feedforward and feedback drive duty cycles. This dual closed-loop control of the hydraulic pump displacement and drive duty cycle provides an accurate target drive duty cycle, which controls the opening of the working solenoid valve, thereby accurately controlling the tank speed. This enables adjustment of the hydraulic motor's rotation direction and speed, ultimately achieving stable tank speed and stepless speed control.

[0087] In one embodiment, determining the feedback hydraulic pump displacement based on a first difference between the actual value of the hydraulic motor speed and the set value of the hydraulic motor speed includes the step of determining the feedback hydraulic pump displacement using a PID algorithm based on the first difference.

[0088] In the aforementioned embodiment, the first correction algorithm can be a PID algorithm. A PID algorithm is a control algorithm that combines proportional, integral, and derivative components into one. This combination of three components effectively corrects deviations, thereby obtaining accurate feedback hydraulic pump displacement. It should be noted that the PID algorithm in this embodiment is an algorithm with integral anti-saturation function to obtain the feedback hydraulic pump displacement.

[0089] In one embodiment, the second mapping relationship includes a first sub-mapping relationship and a second sub-mapping relationship; determining the feedforward drive duty cycle of the working solenoid valve current based on the target hydraulic pump displacement and the second preset relationship includes: determining the target current of the working solenoid valve based on the target hydraulic pump displacement and the first sub-mapping relationship; and determining the feedforward drive duty cycle based on the target current and the second sub-mapping relationship.

[0090] The first sub-mapping relationship may include a mapping table of hydraulic pump displacement and direct proportional solenoid valve current and a mapping table of hydraulic pump displacement and inverse proportional solenoid valve current. The corresponding mapping table is obtained according to the working solenoid valve, and then the target current of the working solenoid valve is obtained by looking up the table based on the target hydraulic pump displacement.

[0091] The second sub-mapping relationship can include a mapping table between current and drive duty cycle. Therefore, the feedforward drive duty cycle can be determined based on the target current and the second sub-mapping relationship, thus obtaining a more accurate feedforward drive duty cycle.

[0092] In one embodiment, the second sub-mapping relationship includes an electrical characteristic curve; determining the feedforward drive duty cycle based on the target current and the second sub-mapping relationship includes: acquiring the temperature information of the working solenoid valve; determining the corresponding target electrical characteristic curve based on the temperature information; and determining the feedforward drive duty cycle based on the target current and the target electrical characteristic curve.

[0093] Among them, the electrical characteristic curve is a characteristic curve that represents the mapping relationship between current and drive duty cycle.

[0094] In application, the inventors discovered that the proportional valve's resistance exhibits significant changes in electrical characteristics with increasing temperature during operation. Based on this, the electrical characteristic curves differ at different temperatures. Therefore, in this embodiment, multiple temperature ranges are pre-defined, each corresponding to an electrical characteristic curve. After acquiring the temperature information of the working solenoid valve, the temperature range where the temperature information is located is determined as the target temperature range, and the electrical characteristic curve corresponding to the target temperature range is determined as the target electrical characteristic curve. The feedforward drive duty cycle is then determined based on the target current and the target electrical characteristic curve. This method of determining the feedforward drive duty cycle takes temperature factors into account, thereby further improving the accuracy of the obtained feedforward drive duty cycle and facilitating accurate control of the tank's rotational speed.

[0095] In one embodiment, determining the feedback drive duty cycle of the working solenoid valve current based on a second difference between the sampling current and the set current of the working solenoid valve includes the step of determining the displacement of the feedback hydraulic pump using a PID algorithm based on the second difference.

[0096] In the aforementioned embodiment, the second correction algorithm can be a PID algorithm. A PID algorithm is a control algorithm that combines proportional, integral, and derivative control elements. This combination of elements effectively corrects deviations, thereby obtaining an accurate drive duty cycle. Similarly, the PID algorithm in this embodiment is one with integral anti-saturation functionality, enabling the acquisition of a feedback drive duty cycle.

[0097] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0098] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the stirring tank speed control method as described in any of the above embodiments.

[0099] In one embodiment, a computer device is provided, which may be a controller or a communication terminal, and its internal structure diagram may be as follows. Figure 5 As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a method for controlling the rotation speed of a mixing tank. The display unit is used to form a visually visible image and can be a display screen, a projection device, or a virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0100] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0101] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the steps of the stirring tank speed control method as described in any of the above embodiments.

[0102] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps of the stirring tank speed control method as described in any of the above embodiments.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0104] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0105] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0106] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A stirred tank rotational speed control system, characterized by, The mixer speed control system comprises: a hydraulic pump comprising a proportional electromagnetic valve for controlling forward rotation of a mixing tank and a reverse proportional electromagnetic valve for controlling reverse rotation of the mixing tank; a hydraulic motor connected to the hydraulic pump, the hydraulic motor being used to work under the drive of the hydraulic pump; a rotation speed sensor for collecting an actual value of the rotation speed of the hydraulic motor; a speed reducer connected to the hydraulic motor, the speed reducer being used to transmit kinetic energy to the mixing tank under the drive of the hydraulic motor to rotate the mixing tank; a controller connected to the hydraulic pump and the rotation speed sensor respectively, the controller being used to determine a feed-forward hydraulic pump displacement according to a target rotation speed and a preset first mapping relationship, determine a feedback hydraulic pump displacement according to a first difference between an actual value of the rotation speed of the hydraulic motor and a set value of the rotation speed of the hydraulic motor, determine a target hydraulic pump displacement according to the feed-forward hydraulic pump displacement and the feedback hydraulic pump displacement, determine a feed-forward drive duty cycle of a working electromagnetic valve current according to the target hydraulic pump displacement and a preset second mapping relationship, and determine a feedback drive duty cycle of the working electromagnetic valve current according to a second difference between a set current and a current of the working electromagnetic valve. The controller is used to determine a target drive duty cycle of the working electromagnetic valve current according to the feed-forward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working electromagnetic valve, wherein the working electromagnetic valve is one of the proportional electromagnetic valve and the reverse proportional electromagnetic valve.

2. The stirred tank rotational speed control system of claim 1, wherein, The mixer speed control system further comprises: an emergency assembly arranged at least partially on a signal transmission path of a drive circuit, the emergency assembly being used to receive and respond to a power-off instruction to disconnect, so as to disconnect the signal transmission of the drive circuit and control the hydraulic pump to stop working, wherein the drive circuit is used to transmit a drive signal for driving the hydraulic pump.

3. The stirred tank rotational speed control system of claim 2, wherein, The emergency assembly comprises: a hard-wire switch used to transmit a power-off signal in response to the power-off instruction; a relay connected to the hard-wire switch and arranged on the signal transmission path of the drive circuit, the relay being used to disconnect in response to the power-off signal transmitted by the hard-wire switch.

4. A method of controlling the rotational speed of a stirred tank, characterized by The mixer speed control method comprises: determining a feed-forward hydraulic pump displacement according to a target rotation speed and a preset first mapping relationship; determining a feedback hydraulic pump displacement according to a first difference between an actual value of the rotation speed of the hydraulic motor and a set value of the rotation speed of the hydraulic motor; determining a target hydraulic pump displacement according to the feed-forward hydraulic pump displacement and the feedback hydraulic pump displacement; determining a feed-forward drive duty cycle of a working electromagnetic valve current according to the target hydraulic pump displacement and a preset second mapping relationship, wherein the working electromagnetic valve is one of a proportional electromagnetic valve and a reverse proportional electromagnetic valve; determining a feedback drive duty cycle of the working electromagnetic valve current according to a second difference between a set current and a current of the working electromagnetic valve; determining a target drive duty cycle of the working electromagnetic valve current according to the feed-forward drive duty cycle and the feedback drive duty cycle, so as to control the opening degree of the working electromagnetic valve.

5. The stirred tank rotational speed control method according to claim 4, characterized by, The determining of the feedback hydraulic pump displacement according to the first difference between the actual value of the rotation speed of the hydraulic motor and the set value of the rotation speed of the hydraulic motor comprises: determining the feedback hydraulic pump displacement according to the first difference by using a PID algorithm.

6. The stirred tank rotational speed control method according to claim 4, characterized by, The second mapping relationship includes a first sub-mapping relationship and a second sub-mapping relationship; and the method comprises: determining a feed-forward drive duty cycle of the working electromagnetic valve current according to the target hydraulic pump displacement and a preset second mapping relationship, comprising: determining a target current of the working electromagnetic valve according to the target hydraulic pump displacement and the first sub-mapping relationship; 7. The stirred tank rotational speed control method according to claim 6, characterized by, determining the feed-forward drive duty cycle according to the target current and the second sub-mapping relationship. The second sub-mapping relationship includes an electrical characteristic curve; and the method of determining the feed-forward drive duty cycle according to the target current and the second sub-mapping relationship comprises: obtaining temperature information of the working electromagnetic valve; determining a corresponding target electrical characteristic curve according to the temperature information; 8. The stirred tank rotational speed control method according to claim 4, characterized by, determining the feed-forward drive duty cycle according to the target current and the target electrical characteristic curve. The method of determining a feedback drive duty cycle of the working electromagnetic valve current according to a second difference between a recovery current of the working electromagnetic valve and a set current, comprising: 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. determining the feedback drive duty cycle according to the second difference by using a PID algorithm.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The processor executes the computer program to implement the steps of the stirring tank rotating speed control method according to any one of claims 4 to 8.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the stirring tank rotating speed control method according to any one of claims 4 to 8. The computer program is executed by the processor to implement the steps of the stirring tank rotating speed control method according to any one of claims 4 to 8.

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