Double-oil-gate control system and control method for electric hoist

Abstract

The application discloses a double-oil-gate control system and control method for an electric hoist, which comprises a hand oil gate, a foot oil gate, an on-board controller, a display, a motor controller, a motor and a high-voltage power supply. The on-board controller collects the analog signals of the hand oil gate and the foot oil gate to calculate the motor request rotating speed, and transmits the request rotating speed to the display and the off-board motor controller. The motor controller controls the motor to rotate at the request rotating speed of the on-board controller, and transmits the actual rotating speed of the motor to the on-board display. The display is used for parameter display and motor rotating speed parameter adjustment, and transmits the adjusted parameters to the on-board controller. The on-board controller re-calculates the motor request rotating speed according to the adjusted parameters, and transmits the motor request rotating speed to the motor controller to control the motor to operate. The high-voltage power supply provides electric energy for the off-board motor controller. The application can parameterize the rotating speed in the links of motor starting, idling, speed increasing, speed decreasing and engine stopping, and has good man-machine interaction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of engineering machinery, in particular to a double-oil-gate control system and control method for an electric crane. BACKGROUND

[0002] With the promotion of the electrification of the crane operation mode, generally, the crane is arranged with an electric motor at the lower car, and the electric motor is connected with an oil pump to provide hydraulic power for the operation of the upper car; the speed of the operation of the upper car is largely determined by the speed of the hydraulic oil flow, and then by the speed of the electric motor; and the speed of the electric motor is controlled by the signal of the upper car oil gate.

[0003] At present, when the upper car of the electric crane is operated, the lower car motor controller directly collects the upper car foot oil gate signal through the hard wire connected between the upper car and the lower car, and the speed calculation adopts a fixed formula, which cannot be adjusted, the motor speed control is not flexible, and the adjustment cannot be made according to the initial speed and other requirements. SUMMARY

[0004] The purpose of the present application is to provide a double-oil-gate control system for an electric crane.

[0005] Another purpose of the present application is to provide a double-oil-gate control method for an electric crane, which can be parameterized adjusted according to the speed of the motor start, idle, speed-up, speed-down, and shutdown, and has good man-machine interaction.

[0006] Technical scheme: The double-oil-gate control system for the electric crane comprises a hand oil gate, a foot oil gate, an upper car controller, a display, a motor controller, a motor, and a high-voltage power supply, wherein the hand oil gate, the foot oil gate, the upper car controller, and the display are arranged at the upper car, and the motor controller, the motor, and the high-voltage power supply are arranged at the lower car; the upper car controller collects the analog signals of the hand oil gate and the foot oil gate to calculate the requested speed of the motor, and transmits the requested speed to the display and the motor controller at the lower car; the motor controller controls the motor to rotate at the requested speed of the upper car controller, and transmits the actual speed of the motor to the display at the upper car; the display is used for parameter display and motor speed parameter adjustment, and transmits the adjusted parameters to the upper car controller; the upper car controller recalculates the requested speed of the motor according to the adjusted parameters, and transmits the recalculated parameters to the motor controller to control the operation of the motor; and the high-voltage power supply provides electric energy for the motor controller at the lower car.

[0007] Preferably, CAN communication is adopted between the upper car controller and the motor controller, and between the upper car controller and the display to transmit the associated parameters of the motor speed.

[0008] Preferably, the display is provided with a motor requested speed parameter adjustment interface, and the initial calculation value and the final calculation value of the oil gate in the motor requested speed calculation formula, the minimum and maximum speed of the motor, and the speed change slope parameters are adjusted.

[0009] Preferably, the hand throttle is used to adjust the initial requested speed, and the foot throttle is used to control the incremental speed based on the initial requested speed. The rate of incremental change is adjusted through the display, thereby adjusting the speed at which the motor's requested speed changes.

[0010] Based on the same inventive concept, the present invention provides a control method for a dual throttle control system for an electric crane, comprising the following steps:

[0011] S1. The upper vehicle controller collects analog signals from the hand throttle and foot throttle, calculates the motor's requested speed value, and transmits the motor's requested speed value to the display for display, while also transmitting it to the lower vehicle's motor controller;

[0012] S2. The motor controller controls the motor to change from its current speed value to the requested speed value, and transmits the actual speed value of the motor to the display on the vehicle in real time for display.

[0013] S3. According to different working conditions, the display adjusts multiple parameters of the motor's requested speed to achieve surface-domain adjustment of the motor speed.

[0014] S4. The vehicle controller compares the change in the requested speed value of the vehicle with the change in the speed of the chassis motor within a set time period, and adjusts the required speed to be sent to the CAN cycle according to the ratio.

[0015] Furthermore, the formula for calculating the requested motor speed value in step S1 is as follows:

[0016]

[0017] Where V is the motor's requested speed, A is the hand throttle acquisition signal, and X... max X represents the maximum engine speed parameter value for manual throttle. min A is the minimum RPM parameter value for manual throttle. max A is the minimum signal value for the hand throttle. min B is the maximum signal value of the hand accelerator, and Y is the signal value collected by the foot accelerator. max Y represents the maximum engine speed parameter value when the foot is on the accelerator. min B is the minimum engine speed parameter value for foot throttle. max B is the minimum signal value for the foot accelerator. min This is the maximum signal value for the foot accelerator.

[0018] Furthermore, in step S3, the method for adjusting the motor speed request parameter on the display according to different operating conditions is as follows:

[0019] (1) The display interface has a setting for the maximum hand throttle speed parameter X. max Minimum RPM value for hand throttlemin Maximum RPM parameter value for foot accelerator pedal (Y) max Y is the minimum engine speed parameter value for foot throttle. min Starting speed ramp parameter value K1, acceleration ramp parameter value K2, deceleration ramp parameter value K3, shutdown ramp parameter value K4, maximum speed parameter value V max ;

[0020] (2) The operator sets the maximum speed parameter value V according to their own needs. max To limit the maximum speed required by the motor;

[0021] (3) Adjust the idle speed value with the hand throttle. The operator sets the maximum speed parameter value X of the hand throttle according to their own idle speed requirements. max Minimum RPM value for hand throttle min The calculated value of the motor's required speed when the accelerator pedal is not pressed is the motor's idle speed value.

[0022] (4) Adjusting the throttle speed: The operator sets the maximum speed parameter Y of the throttle according to their own operating speed requirements. max Y is the minimum engine speed parameter value for foot throttle. min When the accelerator pedal is pressed, the increment of the calculated motor speed request is consistent with the depth of the accelerator pedal being pressed.

[0023] (5) When the vehicle controller transmits the motor's requested speed value to the chassis motor controller in real time, the time it takes for the motor speed to change from the current value to the requested speed value is positively correlated with the setting of the ramp value. The vehicle controller transmits the speed ramp value to the chassis motor controller, and the motor adjusts its speed according to the speed ramp value.

[0024] V = Vcurrent + δ*K*t

[0025] V is the requested speed of the motor, Vcurrent is the current speed of the motor, K is the speed ramp value, t is the time for the motor control machine program to run one cycle, δ is the number of cycles for the motor control machine program to run, and the product of δ and t is the time for the motor to change from the current speed to the requested speed.

[0026] The operator can adjust the starting speed ramp parameter value K1 to adjust the time it takes for the motor to change from 0 speed to the motor idle speed request value;

[0027] The operator can adjust the acceleration ramp parameter value K2 to adjust the change time from the motor idle speed request value to the actual motor speed request value during the motor speed increase phase.

[0028] The operator can adjust the deceleration ramp parameter value K3 to adjust the change time from the motor idle speed request value to the actual motor speed request value during the motor deceleration phase.

[0029] The operator adjusts the flameout slope parameter value K4, and the variation time of the motor from the idle speed request value to 0 can be adjusted;

[0030] Through the floating adjustment of the above-mentioned parameters, the motor speed is changed from a fixed curve to a different value curve, and these different speed change curves constitute a curved surface, which is called curved surface domain adjustment.

[0031] Further, the CAN communication is used for the transmission of the motor speed related parameters between the on-board controller and the motor controller, and between the on-board controller and the display in step S4, and the method for automatically adjusting the CAN sending period is as follows:

[0032] The on-board controller compares the variation amount of the on-board request speed value with the variation amount of the chassis motor speed in a set time period, and adjusts the CAN sending period of the speed according to the size of the ratio, and the formula is as follows:

[0033]

[0034] T demand is the CAN sending period time of the motor speed to be executed, T current is the CAN sending period time of the current motor speed, V1 is the motor request speed at the beginning of the set time period, V2 is the motor request speed at the end of the set time period, V1 is the motor actual speed at the beginning of the set time period, and V2 is the motor actual speed at the end of the set time period.

[0035] Based on the same inventive concept, an electronic device of the present application comprises a memory and a processor, wherein:

[0036] The memory is used for storing a computer program capable of running on the processor;

[0037] The processor is used for executing the steps of the above-mentioned control method for the double-oil control system of the electric hoist when running the computer program.

[0038] Based on the same inventive concept, a storage medium of the present application, the storage medium stores a computer program, and the computer program is executed by at least one processor to realize the steps of the above-mentioned control method for the double-oil control system of the electric hoist.

[0039] Advantages: Compared with the prior art, the significant technical effects of the present application are:

[0040] (1)Motor speed surface domain parameterization adjustment; The parameters in the motor speed calculation formula, such as the starting speed slope K1, the initial idle speed value, the foot throttle acceleration slope K2, the maximum speed value, the foot throttle deceleration slope, the regular idle speed value, and the flameout deceleration slope, can be adjusted through the on-board display, and then the motor speed is changed from curve value adjustment to surface domain adjustment; The human-computer interaction is good.

[0041] (2)CAN transmission cycle automatic adjustment of the on-board and off-board motor speed; When the speed change is small, the speed change slope is not basically affected by the speed of the CAN transmission cycle of the motor speed, and if the speed change of the motor is large, the speed change slope of the motor will be stepped, causing operation jitter, so the CAN transmission cycle of the on-board and off-board motor speed is automatically adjusted according to the speed change slope, and the non-linear change of the speed is eliminated.

[0042] (3)Convenience improvement; The parameterization matching of the motor speed, power and lifting load working condition is realized, and the motor can quickly adapt to the working condition in actual operation through the motor speed adjustment interface.

[0043] (4)Safety improvement; The CAN transmission cycle automatic adjustment of the on-board and off-board motor speed can prevent the non-linear speed change and operation jitter caused by the CAN communication cycle value being greater than the motor speed change demand value. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 is a double throttle control system structure schematic diagram;

[0045] Figure 2 is a curve constant value adjustment diagram of the existing motor speed control;

[0046] Figure 3 is a motor speed control surface diagram of the present application;

[0047] Figure 4 is a motor speed CAN transmission cycle automatic adjustment rectangular wave diagram of the present application. DETAILED DESCRIPTION

[0048] The present application will be described in detail below in combination with the drawings and specific embodiments.

[0049] Abbreviations and key terms definition:

[0050] Electric hoist: A hoist that uses a motor output for power, which is divided into pure electric, plug-in, hybrid and extended range hoists according to the operation mode of the motor and the charging mode.

[0051] Double throttle: Two throttles are used to control the speed.

[0052] Control method: Motor speed curve parameterization control and adjustment strategy.

[0053] In the existing throttle control system used by the electric hoist, the motor speed cannot be adjusted according to the actual demand, and after the speed calculation formula is fixed, the speed curve is as shown in the figure Figure 2 , in which V1 is the starting idle speed value of the motor, V2 is the value before the foot throttle is accelerated, V3 is the value after the foot throttle is accelerated, V4 is the value before the foot throttle is decelerated, V5 is the value after the foot throttle is decelerated, V6 is the idle speed value before the engine is turned off, and t is the operation time; the operating personnel cannot modify the calculation formula parameters and program, and the modification must be performed by a professional, and it is difficult to realize for batch models.

[0054] The application designs a double-throttle control system and method suitable for the electric hoist, the system hardware is composed of a foot throttle, a hand throttle, an upper vehicle controller, a display, a lower vehicle motor controller, a motor and a high-voltage power supply, the foot throttle is used to control the incremental speed of the motor, the hand throttle is used to control the initial speed of the motor, the upper vehicle controller collects the hand throttle and foot throttle signals to calculate the speed, and the upper vehicle controller adopts CAN communication between the motor controller and the display to control the motor speed, display parameters and adjust parameters.

[0055] As shown in Figure 1 , the double-throttle control system comprises a hand throttle, a foot throttle, an upper vehicle controller, a display, a motor controller, a motor and a high-voltage power supply, wherein the hand throttle, the foot throttle, the upper vehicle controller and the display are arranged on the upper vehicle of the hoist, and the motor controller, the motor and the high-voltage power supply are arranged on the lower vehicle of the hoist.

[0056] The upper vehicle controller is connected and communicated with the motor controller and the display through a CAN bus

[0057] The display is used for parameter display and motor speed parameter adjustment, and can adjust the maximum speed parameter value X max of the hand throttle, the minimum speed parameter value X min of the hand throttle, the maximum speed parameter value Y max of the foot throttle, the minimum speed parameter value Y min of the foot throttle, the starting speed slope parameter value K1, the acceleration slope parameter value K2, the deceleration slope parameter value K3, the engine-off slope parameter value K4 and the maximum speed parameter value V max .

[0058] The hand throttle is used for idle speed adjustment, and in the case that the foot throttle is not stepped on, the hand throttle value is kept unchanged, so that the idle speed value is kept unchanged.

[0059] The foot throttle is used for increment speed control on the basis of idle speed value, and the rate of increment change can be adjusted through the display to adjust the speed change of the motor.

[0060] The on-board controller is used for collecting the analog signals of the hand throttle and the foot throttle to calculate the motor request speed, and the request speed is transmitted to the display and the off-board motor controller to control the motor rotation.

[0061] The motor controller controls the motor to rotate according to the motor request speed sent by the on-board controller, and the current motor speed is transmitted to the on-board display for display.

[0062] The high-voltage power supply provides power for the off-board motor controller.

[0063] The double-throttle control system improves the convenience of motor speed regulation, and can realize real-time adjustment of idle speed, speed change rate and maximum speed according to the operation requirements.

[0064] The double-throttle control system improves the convenience of motor speed regulation, and can realize real-time adjustment of idle speed, speed change rate and maximum speed according to the operation requirements.

[0065] S1, the on-board controller collects the analog signals of the hand throttle and the foot throttle, calculates the motor request speed value, and transmits the motor request speed value V to the display for display, and simultaneously transmits the motor request speed value to the off-board motor controller;

[0066]

[0067] V is the motor request speed, A is the hand throttle collection signal, X max is the maximum speed parameter value of the hand throttle, X min is the minimum speed parameter value of the hand throttle, A max is the minimum signal value of the hand throttle, A min is the maximum signal value of the hand throttle, B is the foot throttle collection signal, Y max is the maximum speed parameter value of the foot throttle, Y min is the minimum speed parameter value of the foot throttle, B max is the minimum signal value of the foot throttle, B min is the maximum signal value of the foot throttle.

[0068] S2, the motor controller controls the motor to change from the current motor speed value to the motor request speed value, and transmits the actual motor speed value to the on-board display for display in real time;

[0069] S3, according to different operation conditions, the display adjusts the parameters of the motor request speed to realize the curved surface domain adjustment of the motor request speed; the method of parameterized adjustment of the motor request speed curved surface domain is:

[0070] (1) The display interface is provided with a hand throttle maximum speed parameter value X max , a hand throttle minimum speed parameter value X min , a foot throttle maximum speed parameter value Y max , a foot throttle minimum speed parameter value Y min , a start speed slope parameter value K1, an acceleration slope parameter value K2, a deceleration slope parameter value K3, an extinction slope parameter value K4, and a maximum speed parameter value V max .

[0071] (2) The operator sets the maximum speed parameter value V max to limit the maximum speed required by the motor.

[0072] (3) The hand throttle adjusts the idle speed value, and the operator sets the hand throttle maximum speed parameter value X max , the hand throttle minimum speed parameter value X min , and the motor request speed calculation value is the motor operation idle speed value when the foot throttle is not pressed.

[0073] (4) The foot throttle adjusts the speed-up value, and the operator sets the foot throttle maximum speed parameter value Y max , the foot throttle minimum speed parameter value Y min , and the increment of the motor request speed calculation value is consistent with the depth of the foot throttle being pressed.

[0074] (5) When the on-board controller transmits the motor request speed value to the chassis motor controller in real time, the response time of the power motor itself is usually within tens of milliseconds, and the response is extremely fast. Sometimes the operator cannot react when the motor speed changes from the current value to the request value, and the operator can feel the change time. The size of the change time is positively related to the size of the slope value. The on-board controller transmits the speed slope value to the chassis motor controller, and the motor adjusts the speed change according to the speed slope value. The unit of K is revolutions / mS.

[0075] V = Vcurrent + δ * K * t

[0076] Where V is the motor request speed, Vcurrent is the current motor speed, K is the speed slope value, t is the time of one cycle of the motor control machine program, δ is the number of cycles of the motor control machine program, and the product of δ and t is the change time of the motor from the current speed to the request speed.

[0077] The operator adjusts the start speed slope parameter value K1 to adjust the change time of the motor from 0 to the motor idle request value.

[0078] The operator can adjust the acceleration ramp parameter value K2 to regulate the time it takes for the motor speed to change from the requested idle speed value to the actual requested speed value during the motor speed increase phase.

[0079] The operator can adjust the deceleration ramp parameter value K3 to regulate the time it takes for the motor to change from the requested idle speed value to the actual requested speed value during the deceleration phase.

[0080] The operator can adjust the shutdown ramp parameter value K4 to adjust the time from the motor idle speed request value to the motor speed reaching 0 during the motor shutdown phase.

[0081] By adjusting the aforementioned parameters, the motor speed changes from a fixed curve to a curve with different values. These different speed change curves form a surface, which can be called surface domain adjustment. This allows operators to adjust different parameter values ​​according to different operational needs until the desired motor operating state is achieved. The motor speed control surface is as follows: Figure 4 As shown in the figure. V1 max V2 is the maximum value among the motor starting idle speed values ​​in the curved domain. max The maximum value among the values ​​before accelerating with the foot on the accelerator, V3 max The maximum value among the values ​​after accelerating with the foot on the accelerator, V4 max The maximum value among the values ​​before deceleration by pressing the accelerator pedal, V5 max The maximum value among the values ​​after deceleration by pressing the accelerator pedal, V6 max V1 is the maximum value of the idle speed before shutdown, t is the operating time, and V1 is the maximum value of the idle speed before shutdown. min V2 is the minimum value among the motor starting idle speed values ​​in the curved domain. min The minimum value among the values ​​before acceleration by pressing the accelerator pedal, V3 min The minimum value among the values ​​after accelerating with the foot on the accelerator, V4 mim The minimum value among the values ​​before deceleration by pressing the accelerator pedal, V5 min The minimum value among the values ​​after deceleration by pressing the accelerator pedal, V6 min T1 is the minimum idle speed value before the engine is turned off. T2 is the CAN cycle for the motor to request speed during the start-up phase. T3 is the CAN cycle for the motor to request speed during the hand throttle idle phase. T4 is the CAN cycle for the motor to request speed during the foot throttle acceleration phase. T5 is the CAN cycle for the motor to request speed during the foot throttle deceleration phase. T6 is the CAN cycle for the motor to request speed during the engine shutdown phase.

[0082] S4. The vehicle controller recalculates the motor speed based on the adjusted parameters output on the display and transmits the motor speed to the motor controller to control the motor operation.

[0083] The up control compares the change amount of the up request speed value in the set time period with the change amount of the chassis motor speed, adjusts the speed sending CAN cycle to be executed according to the ratio, and is shown as follows.

[0084]

[0085] T demand is the CAN sending cycle time of the motor speed to be executed, T current is the CAN sending cycle time of the current motor speed, V1 is the motor request speed at the beginning of the set time period, V2 is the motor request speed at the end of the set time period, V electric 1 is the motor actual speed at the beginning of the set time period, and V electric 2 is the motor actual speed at the end of the set time period.

[0086] Working principle:

[0087] Motor speed surface domain adjustment; a special interface for motor parameter display and adjustment is designed, and the maximum speed parameter value X of the hand throttle in the motor speed calculation formula on the interface can be adjusted max , the minimum speed parameter value X of the hand throttle min , the maximum speed parameter value Y of the foot throttle max , the minimum speed parameter value Y of the foot throttle min , the start speed slope parameter value K1, the acceleration slope parameter value K2, the deceleration slope parameter value K3, the extinction slope parameter value K4, and the maximum speed parameter value V max are adjusted for floating adjustment, and then the motor speed is changed from a fixed curve to a curve with different values, and these different speed change curves form a surface, which is called surface domain adjustment. In this way, the operator can adjust different parameter values according to different operation requirements until the motor operation state required by the operator is reached. The motor speed control surface is shown in Figure 3 , in which: V1 max is the maximum value of the motor start idle speed in the surface domain, V2 max is the maximum value of the foot throttle before acceleration, V3 max is the maximum value of the foot throttle after acceleration, V4 max is the maximum value of the foot throttle before deceleration, V5 max is the maximum value of the foot throttle after deceleration, V6 max is the maximum value of the idle speed before extinction, t is the operation time, V1 min is the minimum value of the motor start idle speed in the surface domain, V2 min is the minimum value of the foot throttle before acceleration, V3 min is the minimum value of the foot throttle after acceleration, V4 min is the minimum value of the foot throttle before deceleration, V5 min is the minimum value of the foot throttle after deceleration, and V6 minThe minimum value in the idle speed value before the flameout.

[0088] The CAN sending period of the up-down motor speed is automatically adjusted; the up-down controller automatically adjusts the CAN sending period of the up-down motor speed according to the comparison value of the up-down request speed value variation and the chassis motor speed variation in the set time period, so that the actual motor speed variation is consistent with the request speed variation sent by the up-down controller, and the nonlinear variation of the motor speed is eliminated. Figure 4

[0089] The application improves the convenience of the motor speed adjustment, and can adjust the speed parameter according to the operation condition requirement, and match the actual power requirement.

[0090] Based on the same inventive concept, an electronic device of the application comprises a memory and a processor, wherein:

[0091] The memory is used for storing a computer program capable of running on the processor;

[0092] The processor is used for executing the steps of the above-mentioned control method for the double-oil control system of the electric hoist when running the computer program, and achieving the consistent technical effects of the above-mentioned method.

[0093] Based on the same inventive concept, a storage medium of the application stores a computer program, and the computer program realizes the steps of the above-mentioned control method for the double-oil control system of the electric hoist when executed by at least one processor, and achieves the consistent technical effects of the above-mentioned method.​

Claims

1. A control method for an electric hoist dual throttle control system, characterized by, It comprises the following steps: S1, the upper controller collects the analog signal of the hand throttle and the foot throttle, calculates the motor request speed value, and transmits the motor request speed value to the display for display, and simultaneously transmits it to the lower motor controller; S2, the motor controller controls the motor to change from the current speed value of the motor to the motor request speed value, and transmits the actual speed value of the motor to the display on the upper vehicle in real time for display; S3, according to different working conditions, the display adjusts multiple parameters of the motor request speed, realizing the curved surface domain adjustment of the motor speed; including: (1) The display interface is provided with a hand throttle maximum speed parameter value X max , a hand throttle minimum speed parameter value X min , a foot throttle maximum speed parameter value Y max , a foot throttle minimum speed parameter value Y min , a start speed slope parameter value K1, an acceleration slope parameter value K2, a deceleration slope parameter value K3, an extinguishing slope parameter value K4, and a maximum speed parameter value V max ; (2) The operator sets the maximum speed parameter value V according to his own needs to limit the maximum speed of the motor demand; max ; (3) Hand throttle adjustment idle speed value, the operator sets the hand throttle maximum speed parameter value X according to the idle speed operation speed demand of the operator max , the hand throttle minimum speed parameter value X min When the foot throttle is not stepped on, the calculated value of the motor request speed is the motor operation idle speed value; (4) The accelerator pedal adjustment speed-up value, the operator sets the accelerator pedal maximum speed parameter value Y according to the work speed requirement max The accelerator pedal minimum speed parameter value Y min When the accelerator pedal is stepped on, the increment size of the calculated value of the motor request speed is consistent with the depth of the accelerator pedal being stepped on; (5) when the upper controller transmits the motor request speed value to the chassis motor controller in real time, the change time of the motor speed from the current value to the request speed value is positively related to the size of the slope value set, the upper controller transmits the speed slope value to the chassis motor controller, and the motor adjusts the speed change according to the size of the speed slope value; V = V 当前 + δ * K * t V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V 当前 V is the motor request speed, V The operator adjusts the start speed slope parameter value K1, which can adjust the change time of the motor from the speed 0 to the motor idle request value; The operator adjusts the acceleration slope parameter value K2, which can adjust the change time of the motor from the motor idle request value to the motor speed actual request value in the acceleration stage; The operator adjusts the deceleration slope parameter value K3, which can adjust the change time of the motor from the motor idle request value to the motor speed actual request value in the deceleration stage; The operator adjusts the extinction slope parameter value K4, which can adjust the change time of the motor from the motor idle request value to the motor speed 0 in the extinction stage; Through the floating adjustment of the above parameters, the motor speed changes from a fixed curve to a curve with different values, and these different speed change curves form a curved surface, which is called curved surface domain adjustment; in this way, the operator can adjust different parameter values according to different working requirements, until the motor working state required by himself is reached; S4, the upper controller compares the change amount of the upper request speed value in the set time period with the speed change amount of the chassis motor, and adjusts the speed sending CAN cycle according to the size of the ratio.

2. A control method for a dual oil control system of an electric crane according to claim 1, characterized in that, The motor request speed value calculation formula in step S1 is: Wherein, V is the motor request speed, A is the hand throttle collection signal, X max is the hand throttle maximum speed parameter value, X min is the hand throttle minimum speed parameter value, A max is the hand throttle minimum signal value, A min is the hand throttle maximum signal value, B is the foot throttle collection signal, Y max is the foot throttle maximum speed parameter value, Y min is the foot throttle minimum speed parameter value, B max is the foot throttle minimum signal value, B min is the foot throttle maximum signal value.

3. A control method for a dual oil control system of an electric crane according to claim 1, characterized in that, In step S4, CAN communication is used between the upper controller and the motor controller, and between the upper controller and the display for motor speed related parameter transmission, and the CAN sending cycle is automatically adjusted as follows: The upper controller compares the change amount of the upper request speed value in the set time period with the speed change amount of the chassis motor, and adjusts the speed sending CAN cycle according to the size of the ratio, and the formula is: T 需求 T is the CAN transmission cycle time of the motor rotation speed to be executed 当前 T is the CAN transmission cycle time of the current motor rotation speed, V1 is the motor request rotation speed at the start of the set time period, V2 is the motor request rotation speed at the end of the set time period, V 电1 V is the motor actual rotation speed at the start of the set time period, V 电2 V is the motor actual rotation speed at the end of the set time period.

4. The control method for a dual oil control system of an electric crane according to claim 1, characterized by, The electric hoist double throttle control system comprises a hand throttle, a foot throttle, a car controller, a display, a motor controller, a motor and a high-voltage power supply, wherein the hand throttle, the foot throttle, the car controller and the display are arranged on the car, and the motor controller, the motor and the high-voltage power supply are arranged on the lower car; the car controller collects the hand throttle and the foot throttle analog signals to calculate the motor request speed, and transmits the request speed to the display and the motor controller on the lower car; the motor controller controls the motor to rotate according to the request speed of the car controller, and transmits the actual speed of the motor to the display on the car; the display is used for parameter display and motor speed parameter adjustment, and transmits the adjusted parameters to the car controller; the car controller recalculates the motor request speed according to the adjusted parameters, and transmits the motor request speed to the motor controller to control the motor to run; and the high-voltage power supply provides power for the motor controller on the lower car.

5. A control method for a dual oil pressure control system of an electric hoist according to claim 4, characterized in that, CAN communication is used between the car controller and the motor controller, and between the car controller and the display to transmit the motor speed related parameters.

6. A control method for a dual oil control system of an electric crane according to claim 4, characterized in that, The display is provided with a motor request speed parameter adjustment interface to adjust the initial calculation value and the final calculation value of the throttle in the motor request speed calculation formula, the minimum and maximum motor speed and the speed change slope parameters.

7. A control method for a dual oil control system of an electric crane according to claim 4, characterized in that, The hand throttle is used for initial request speed adjustment, and the foot throttle is used for incremental speed size control on the basis of the initial request speed; the incremental change rate is adjusted through the display, so as to adjust the speed change of the motor request speed.

8. An electronic device, comprising: The memory is used for storing a computer program capable of running on the processor; and the processor is used for executing the steps of the control method for the electric hoist double throttle control system according to any one of claims 1-7 when the computer program is run. The storage medium stores a computer program, and the computer program is executed by at least one processor to realize the steps of the control method for the electric hoist double throttle control system according to any one of claims 1-7. ​ 9. A storage medium, characterized by ​

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