Work machine control method, system, work machine, and apparatus

Abstract

The embodiment of the application provides a kind of working machine control method, system, working machine and equipment, comprising: obtaining control instruction, current angle, current angular velocity and current pilot pressure;Based on current angle and target angle, the target angular velocity corresponding to the working mechanism is obtained;Based on current angular velocity and target angular velocity, the target pilot pressure corresponding to the working mechanism is obtained;Based on current pilot pressure and target pilot pressure, the signal control quantity of handle signal for controlling the movement of working mechanism is obtained, to control the working mechanism from current angle to target angle based on the handle signal of signal control quantity.The application is used to solve the defects that can only control to move to fixed position in the prior art, realize the working mechanism of working machine to move to any position according to working condition control.

Description

Technical Field

[0001] This invention relates to the field of machinery control technology, and in particular to a machinery control method, system, machinery and equipment. Background Technology

[0002] Operating machinery typically performs tasks through reciprocating motion, such as loaders and excavators. For example, loaders primarily load and unload bulk materials such as soil, sand, gravel, lime, and coal through reciprocating loading and unloading processes; excavators primarily load and unload bulk materials such as soil, sand, gravel, lime, and coal through reciprocating digging and transport processes.

[0003] Existing technologies complete loading and unloading operations by controlling the working mechanism of the machinery. For example, by controlling the bucket or boom of a loader to raise or lower to a fixed angle, loading or unloading is completed. However, the operating conditions of the machinery are not constant during operation. For example, the angle at which the bucket of a loader is raised or lowered may change at any time depending on the operating conditions.

[0004] Therefore, how to control the operating mechanism of the machinery to make arbitrary adjustments according to the working conditions is an important issue that the industry urgently needs to solve. Summary of the Invention

[0005] This invention provides a method, system, machine, and equipment for controlling operating machinery, which addresses the shortcomings of existing technologies that can only control movement to a fixed position, and enables the operating mechanism of the machine to be moved to any position according to the operating conditions.

[0006] This invention provides a method for controlling a work machine, comprising:

[0007] The system acquires control commands, current angle, current angular velocity, and current pilot pressure. The control commands include the working mechanism of the machine and the target angle corresponding to the working mechanism, wherein the angle is determined based on the plane and the horizontal plane corresponding to the working mechanism.

[0008] Based on the current angle and the target angle, the target angular velocity corresponding to the working mechanism is obtained;

[0009] Based on the current angular velocity and the target angular velocity, the target pilot pressure corresponding to the working mechanism is obtained;

[0010] Based on the current pilot pressure and the target pilot pressure, a signal control quantity is obtained for the handle signal used to control the movement of the working mechanism, and the working mechanism is controlled to move from the current angle to the target angle based on the handle signal of the signal control quantity.

[0011] According to an embodiment of the present invention, the method for controlling a working machine includes obtaining the target angular velocity corresponding to the working mechanism based on the current angle and the target angle, comprising:

[0012] Calculate the angle difference between the current angle and the target angle;

[0013] The target angular velocity is determined based on the angle difference.

[0014] According to an embodiment of the present invention, the method for controlling a working machine further includes, before obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity:

[0015] Determine the estimated value of the first lumped disturbance parameter of the first prediction model, wherein the estimated value of the first lumped disturbance parameter is used to indicate the accuracy of the first prediction model in obtaining the target leader pressure;

[0016] The step of obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity includes:

[0017] The estimated values ​​of the current angular velocity, the target angular velocity, and the first lumped disturbance parameter are input into the first prediction model to obtain the target leader pressure output by the first prediction model.

[0018] The first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped disturbance parameter, and the pilot pressure sample.

[0019] According to an embodiment of the present invention, a method for controlling a working machine, before obtaining a signal control quantity for controlling the movement of the working mechanism based on the current pilot pressure and the target pilot pressure, further includes:

[0020] Determine the estimated value of the second lumped interference parameter of the second prediction model, wherein the estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model;

[0021] The signal control quantity for obtaining the handle signal used to control the movement of the working mechanism based on the current pilot pressure and the target pilot pressure includes:

[0022] The estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped disturbance parameter are input into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model.

[0023] The second prediction module is trained based on the estimated values ​​of the current leader pressure, the target leader pressure, the second lumped disturbance parameter, and the signal control quantity samples of the handle signal.

[0024] This invention also provides a control system for a work machinery, comprising: a signal acquisition module, a first controller, a second controller, and a third controller;

[0025] The signal acquisition module is used to acquire control commands, current angle, current angular velocity and current pilot pressure. The control commands include: the working mechanism of the working machine and the target angle corresponding to the working mechanism. The angle is determined based on the plane and the horizontal plane corresponding to the working mechanism.

[0026] The first controller is used to obtain the target angular velocity corresponding to the working mechanism based on the current angle and the target angle output by the signal acquisition module;

[0027] The second controller is used to obtain the target pilot pressure corresponding to the working mechanism based on the current angular velocity output by the signal acquisition module and the target angular velocity output by the first controller;

[0028] The third controller is used to obtain a signal control quantity for controlling the movement of the working mechanism based on the current pilot pressure output by the signal acquisition module and the target pilot pressure output by the second controller, and transmit the signal control quantity to the handle of the working machine so as to control the working mechanism to move from the current angle to the target angle based on the handle signal of the signal control quantity.

[0029] According to an embodiment of the work machinery control system of the present invention, the first controller, the second controller, and the third controller are connected in series;

[0030] The first controller is connected to the second controller, and the second controller is connected to the third controller.

[0031] According to an embodiment of the operating machinery control system of the present invention, the system further includes: a first disturbance rejection controller;

[0032] The first disturbance rejection controller and the second controller are connected;

[0033] The first disturbance rejection controller is used to determine the estimated value of the first lumped disturbance parameter of the first prediction model in the second controller, and transmit the estimated value of the first lumped disturbance parameter to the second controller; wherein, the estimated value of the first lumped disturbance parameter is used to indicate the accuracy of the first prediction model in obtaining the target leader pressure;

[0034] The second controller is used to input the current angular velocity, the target angular velocity, and the estimated values ​​of the first lumped disturbance parameter into the first prediction model to obtain the target leader pressure output by the first prediction model; wherein, the first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped disturbance parameter, and the leader pressure sample.

[0035] According to an embodiment of the operating machinery control system of the present invention, the system further includes: a second disturbance rejection controller;

[0036] The second disturbance rejection controller and the third controller are connected;

[0037] The second anti-interference controller is used to determine the estimated value of the second lumped interference parameter of the second prediction model in the third controller, and transmit the estimated value of the second lumped interference parameter to the third controller; wherein, the estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model;

[0038] The third controller is used to input the estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped disturbance parameter into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model; wherein, the second prediction module is trained based on the estimated value samples of the current leader pressure, the target leader pressure, the second lumped disturbance parameter, and the signal control quantity samples of the handle signal.

[0039] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the steps of the work machinery control method as described in any of the above embodiments.

[0040] This invention also provides a working machine for implementing the steps of the working machine control method described in any of the above embodiments.

[0041] The machine tool control method, system, machine tool, and equipment provided in this invention obtain the current angle, current angular velocity, current pilot pressure, and target angle of the machine tool's working mechanism; according to a cascade calculation method, the target angular velocity corresponding to the working mechanism is obtained based on the current angle and target angle; the target pilot pressure corresponding to the working mechanism is obtained based on the current angular velocity and target angular velocity; and the signal control quantity of the handle signal used to control the movement of the working mechanism is obtained based on the current pilot pressure and target pilot pressure. Then, the working mechanism is controlled to move from the current angle to the target angle based on the handle signal of the signal control quantity. It can be seen that when the machine tool is working, regardless of the working condition or the state of the working mechanism (corresponding to the current angle), the working mechanism can be controlled to move to any position (corresponding to the target angle) (that is, by using the obtained parameters, the signal control quantity of the handle signal corresponding to adjusting the working mechanism from the current angle to the target angle is obtained through cascade calculation), thus realizing the ability to control the working mechanism of the machine tool to move to any position. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a method for controlling machinery according to an embodiment of the present invention;

[0044] Figure 2 This is one of the schematic diagrams of a working machinery control method provided in an embodiment of the present invention;

[0045] Figure 3 This is a second schematic diagram of a working machinery control method provided in an embodiment of the present invention;

[0046] Figure 4 This is a third schematic diagram of a working machinery control method provided in an embodiment of the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of a work machinery control system provided in an embodiment of the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0050] This invention provides a method for controlling construction machinery. This method can be applied to the controller of construction machinery, such as excavators and loaders, as well as to servers and smart devices, such as mobile phones, computers, and tablets. The following description uses the application of this method to the controller of construction machinery as an example; however, it should be noted that this is merely illustrative and not intended to limit the scope of protection of this invention. Other descriptions in this invention are also illustrative and not intended to limit the scope of protection of this invention, and will not be described in detail thereafter.

[0051] The specific implementation of this method is as follows Figure 1 As shown:

[0052] Step 101: Obtain control commands, current angle, current angular velocity, and current pilot pressure.

[0053] The control commands include: the working mechanism of the operating machine and the target angle corresponding to the working mechanism, the angle being determined based on the plane and horizontal plane corresponding to the working mechanism.

[0054] The following is an illustration using a loader as an example of a working machine. The working mechanism includes: boom and bucket.

[0055] The planes corresponding to the working mechanism include: the plane where the boom is located and the plane where the bucket is located. The angles include: the angle between the plane where the boom is located and the horizontal plane, and the angle between the plane where the bucket is located and the horizontal plane.

[0056] Step 102: Based on the current angle and the target angle, obtain the target angular velocity corresponding to the working mechanism.

[0057] Step 103: Based on the current angular velocity and the target angular velocity, obtain the target pilot pressure corresponding to the working mechanism.

[0058] Specifically, based on the current angle, the target angle, and the estimated value of the first lumped interference parameter, the target angular velocity corresponding to the working mechanism is obtained, wherein the estimated value of the first lumped interference parameter is obtained based on the angular velocity and the pilot pressure.

[0059] Step 104: Based on the current pilot pressure and the target pilot pressure, obtain the signal control quantity of the handle signal used to control the movement of the working mechanism, and control the working mechanism to move from the current angle to the target angle using the handle signal based on the signal control quantity.

[0060] Among them, the signal control quantity is the signal difference between the current controller signal and the target controller signal corresponding to the controller signal. The current controller signal can be obtained directly, and the target controller signal can be obtained through the signal control quantity.

[0061] Specifically, based on the estimated values ​​of the current pilot pressure, the target pilot pressure, and the second lumped interference parameter, the signal control quantity of the handle signal corresponding to the operating mechanism is obtained, wherein the estimated value of the second lumped interference parameter is obtained based on the pilot pressure and the signal control quantity of the handle signal.

[0062] Specifically, the handle of the working machine is controlled by the control signal of the signal control quantity, so that the working mechanism of the working machine moves from the current angle to the target angle.

[0063] The machine control method provided in this invention obtains the current angle, current angular velocity, current pilot pressure, and target angle of the machine's working mechanism; calculates the target angular velocity of the working mechanism based on the current angle and target angle using a cascade calculation method; calculates the target pilot pressure of the working mechanism based on the current angular velocity and target angular velocity; and calculates the signal control quantity of the handle signal used to control the movement of the working mechanism based on the current pilot pressure and target pilot pressure. Then, the working mechanism is controlled to move from the current angle to the target angle based on the handle signal of the signal control quantity. Therefore, when the machine is operating, regardless of the working condition or the state of the working mechanism (corresponding to the current angle), the working mechanism can be controlled to any position (corresponding to the target angle) (that is, by using the obtained parameters and cascade calculation, the signal control quantity of the handle signal corresponding to adjusting the working mechanism from the current angle to the target angle is obtained), thus realizing the ability to control the working mechanism of the machine to move to any position.

[0064] In one specific embodiment, the specific implementation of obtaining the target angular velocity corresponding to the working mechanism based on the current angle and the target angle includes:

[0065] Calculate the angle difference between the target angle and the target angle; determine the target angular velocity based on the angle difference.

[0066] Specifically, the target angular velocity is determined based on a pre-set proportional-integral controller.

[0067] The angle difference between the current angle and the target angle is calculated and input into the proportional-integral (PI) controller. The logic stored in the proportional and integral units of the PI controller processes the angle difference to obtain the target angular velocity. Specifically, this is achieved through... Figure 2 To illustrate.

[0068] Among them, Figure 2 In this context, θ represents the current angle (i.e., the actual angle of the working mechanism). ref From the perspective of the target, Indicates the difference.

[0069] The angle difference is the deviation between the actual angle of the working mechanism and the target angular velocity.

[0070] The logic stored in the proportional unit and the integral unit includes: calculating the angle change of the working mechanism per unit time, which is a simple first-order integral operation logic.

[0071] In one specific embodiment, before obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity, the estimated value of the first lumped disturbance parameter of the first prediction model is determined.

[0072] The estimated value of the first lumped disturbance parameter is used to indicate the accuracy of the first prediction model in obtaining the target leader pressure.

[0073] Specifically, the estimated value of the first lumped interference parameter is determined using formulas (1), (2), and (3):

[0074]

[0075]

[0076]

[0077] Where ω(k) is the current angular velocity, This is an estimate of the angular velocity. p is the estimated value of the first lumped interference parameter. pil ot(k) represents the current pilot pressure, l3, l4, and l5 are constants, and k represents a discrete time point. a2, a3, and b2 are constants.

[0078] Specifically, an extended state observer is used to estimate the value of the first lumped disturbance parameter. When determining the first estimation logic (corresponding to formulas (1)(2)(3)) for estimating the value of the first lumped disturbance parameter, a second-order extension method is adopted. Therefore, the estimated value of the first lumped disturbance parameter at time k+1 can be estimated, as can the estimated value of the first lumped disturbance parameter at time k+2.

[0079] Among them, the estimated value of the first lumped disturbance parameter is obtained not only based on the angular velocity and the pilot pressure, but also based on the estimated value of the angular velocity and the first estimation logic.

[0080] Among them, the estimated angular velocity The initial value is 0. Through the iterative execution of formulas (1)(2)(3), the estimated angular velocity at time k+1 and the estimated angular velocity at time k+2 are obtained. Then, the estimated value of the first lumped disturbance parameter at the next time is obtained through formulas (1)(2)(3) (since it is an iterative calculation, the estimated value of the first lumped disturbance parameter at the current time is obtained based on the result of the previous time).

[0081] Since the working conditions and operating status of the machinery change during operation, this invention uses a second-order extended state observer to estimate the value of the first lumped disturbance parameter, thereby improving the accuracy of the output of the first prediction model.

[0082] Specifically, the specific implementation of obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity includes, in particular, the following methods: Figure 3 To illustrate:

[0083] The estimated values ​​of the current angular velocity, the target angular velocity, and the first lumped disturbance parameter are input into the first prediction model to obtain the target leader pressure output by the first prediction model.

[0084] The first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped disturbance parameter, and the pilot pressure sample.

[0085] Among them, Figure 3 ω(k) ref This indicates the target angular velocity.

[0086] Specifically, the target leader pressure output by the first prediction model is the optimal leader pressure.

[0087] Specifically, the angle change value is preset, and the current angular velocity changes to the target angular velocity based on the angle change value. That is, the process includes multiple intermediate angular velocities.

[0088] In the process of the first prediction model outputting the target leader pressure, iteratively predicts the predicted leader pressure corresponding to each intermediate angular velocity and the target angular velocity. That is, the current intermediate angular velocity is used as the target angular velocity for iterative prediction in turn, and then the optimal predicted leader pressure among the predicted leader pressures is taken as the target leader pressure.

[0089] Specifically, constraints and a cost function are pre-set. When the predicted leading pressure that satisfies the constraints is input into the cost function and the resulting function value is minimized, the predicted leading pressure is taken as the target leading pressure. The constraints include: the range of values ​​for the leading pressure, the required range of changes in angular velocity, etc. The cost function can be set by the user according to their actual needs (sufficiently, the difference between the predicted value and the actual value should be less than a preset value); this invention does not impose any limitations.

[0090] This invention pre-trains a first prediction model and predicts the target leader pressure based on the first prediction model. In addition, the first prediction model needs to consider the estimated value of the first lumped disturbance parameter when predicting the target leader pressure, so as to make the accuracy of the predicted target leader pressure higher.

[0091] In one specific embodiment, before obtaining the signal control quantity of the handle signal used to control the movement of the working mechanism based on the current pilot pressure and the target pilot pressure, the estimated value of the second lumped disturbance parameter of the second prediction model is determined.

[0092] The estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model.

[0093] Specifically, the estimated values ​​of the second lumped interference parameters are determined using formulas (4) and (5):

[0094]

[0095]

[0096] in, This represents the estimated value of the pilot pressure. The second lumped interference parameter is represented by the estimated value, where l1 and l2 are constants, a1 and b1 are constants, u(k) represents the current handle signal, and k represents the discrete time point.

[0097] Specifically, an extended state observer is used to estimate the value of the second lumped disturbance parameter. When determining the second estimation logic (corresponding to formulas (4) and (5)) for the second lumped disturbance parameter, a first-order extension method is adopted, so the estimated value of the second lumped disturbance parameter at time k+1 can be predicted.

[0098] Among them, the estimated value of the second lumped interference parameter is obtained not only based on the handle signal and the pilot pressure, but also based on the pilot pressure estimate and the second estimation logic.

[0099] Among them, the estimated value of the pilot pressure The initial value is 0. Through the iterative execution of formulas (4) and (5), the estimated value of the leading pressure at time k+1 is obtained. Then, the estimated value of the second lumped disturbance parameter at the next time is obtained through formulas (4) and (5) (since it is an iterative calculation, the estimated value of the second lumped disturbance parameter at the current time is obtained based on the result of the previous time).

[0100] Since the working conditions and operating status of the machinery change during operation, this invention uses a first-order extended state observer to estimate the value of the second lumped disturbance parameter, thereby improving the accuracy of the output of the second prediction model.

[0101] Specifically, based on the current pilot pressure and the target pilot pressure, the specific implementation of the signal control quantity for obtaining the handle signal used to control the movement of the working mechanism includes, as illustrated in Figure 4:

[0102] The estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped disturbance parameter are input into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model.

[0103] The second prediction module is trained based on the estimated values ​​of the current leader pressure, the target leader pressure, the second lumped disturbance parameters, and the signal control quantity samples of the handle signal.

[0104] Among them, Figure 4 p pil ot(k) ref This indicates the pressure leading to the objective.

[0105] Specifically, the signal control quantity of the handle signal output by the second prediction model is the optimal signal control quantity.

[0106] Specifically, a pressure change value is preset, and the current pilot pressure changes to the target pilot pressure based on the pressure change value. That is, the process includes multiple intermediate pilot pressures.

[0107] During the process of outputting the signal control quantity of the second prediction model, the predicted signal control quantity corresponding to each intermediate leader pressure and the target leader pressure is iteratively predicted. That is, the current intermediate leader pressure is used as the target leader pressure for iterative prediction in turn, and then the optimal predicted signal control quantity among the predicted signal control quantities is used as the signal control quantity of the handle signal.

[0108] Specifically, constraints and a cost function are pre-set. When the predicted signal control quantity that satisfies the constraints is input into the cost function and the resulting function value is minimized, that predicted signal control quantity is used as the signal control quantity. The constraints include: the range of values ​​for the signal control quantity, the required range of pressure changes, etc. The cost function can be set by the user according to their actual needs (sufficiently, the difference between the predicted value and the actual value should be less than a preset value); this invention does not impose any limitations.

[0109] This invention pre-trains a second prediction model to predict the signal control quantity of the handle signal. In addition, the second prediction model needs to consider the estimated value of the second lumped interference parameter when predicting the signal control quantity of the handle signal, so as to make the predicted signal control quantity of the handle signal more accurate.

[0110] This invention utilizes loader dynamics modeling, combining the action coupling of various structural components of the loader, and designs single-action and compound-action experiments to obtain a large amount of initial sample data. The initial sample data is then preprocessed (e.g., invalid data deletion, filtering, and outlier data deletion) to obtain final sample data. This sample data is used for model training to obtain a first prediction model and a second prediction model. Furthermore, this invention uses a proportional-integral controller set up as the outer loop controller based on the angle difference to obtain the target angular velocity, a middle loop controller set up based on the first prediction model to obtain the target pilot pressure, and an inner loop controller set up based on the second prediction model to obtain the control quantity of the handle signal.

[0111] This invention uses a cascaded control method (outer loop controller - middle loop controller - inner loop controller in cascade) to determine the target angular velocity based on a proportional-integral controller. The estimated values ​​of the target angular velocity, the current angular velocity, and the first lumped disturbance parameter are input into a first prediction model to obtain the target leader pressure. The estimated values ​​of the target leader pressure, the current leader pressure, and the second lumped disturbance parameter are input into a second prediction model to obtain the control quantity of the handle signal. This ensures the accuracy of the final handle signal control quantity and achieves rapid and precise tracking of the operating mechanism.

[0112] The following describes the control system for the operating machinery provided in the embodiments of the present invention. The control system for the operating machinery described below can be referred to in correspondence with the control method for the operating machinery described above, and will not be repeated here. Figure 5 As shown, the system includes:

[0113] Signal acquisition module 501, first controller 502, second controller 503 and third controller 504;

[0114] The signal acquisition module 501 is used to acquire control commands, current angle, current angular velocity and current pilot pressure. The control commands include: the working mechanism of the working machine and the target angle corresponding to the working mechanism. The angle is determined based on the plane and horizontal plane corresponding to the working mechanism.

[0115] The first controller 502 is used to obtain the target angular velocity corresponding to the working mechanism based on the current angle and the target angle output by the signal acquisition module;

[0116] The second controller 503 is used to obtain the target pilot pressure corresponding to the working mechanism based on the current angular velocity output by the signal acquisition module and the target angular velocity output by the first controller 502.

[0117] The third controller 504 is used to obtain a signal control quantity for controlling the movement of the working mechanism based on the current pilot pressure output by the signal acquisition module and the target pilot pressure output by the second controller 503, and transmit the signal control quantity to the handle of the working machine so as to control the working mechanism to move from the current angle to the target angle based on the handle signal of the signal control quantity.

[0118] The signal acquisition module 501 includes sensors, such as angle sensors and pressure sensors.

[0119] Specifically, the signal acquisition module 501 transmits the current angle and target angle to the first controller 502, the current angular velocity to the second control module 503, and the current pilot pressure to the third control module 504.

[0120] In one specific embodiment, the first controller 502, the second controller 503, and the third controller 504 are connected in series; the first controller 502 is connected to the second controller 503, and the second controller 503 is connected to the third controller 504.

[0121] In one specific embodiment, the system further includes: a first anti-interference controller; the first anti-interference controller and a second controller 503 are connected; the first anti-interference controller is used to determine the estimated value of the first lumped interference parameter of the first prediction model in the second controller 503, and transmit the estimated value of the first lumped interference parameter to the second controller 503; wherein, the estimated value of the first lumped interference parameter is used to indicate the accuracy of the first prediction model in obtaining the target leader pressure; the second controller 503 is used to input the current angular velocity, the target angular velocity and the estimated value of the first lumped interference parameter into the first prediction model to obtain the target leader pressure output by the first prediction model; wherein, the first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped interference parameter and the leader pressure sample.

[0122] The first disturbance rejection controller includes an extended state observer.

[0123] In one specific embodiment, the system further includes: a second anti-interference controller; the second anti-interference controller and a third controller 504 are connected; the second anti-interference controller is used to determine the estimated value of the second lumped interference parameter of the second prediction model in the third controller 504, and transmit the estimated value of the second lumped interference parameter to the third controller 504; wherein the estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model; the third controller 504 is used to input the estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped interference parameter into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model; wherein the second prediction module is trained based on the estimated value samples of the current leader pressure, the target leader pressure, the second lumped interference parameter, and the signal control quantity samples of the handle signal.

[0124] The second disturbance rejection controller includes an extended state observer.

[0125] The machine control system provided in this embodiment of the invention acquires the current angle, current angular velocity, current pilot pressure, and target angle of the machine's working mechanism through the signal acquisition module 501. Following a cascade calculation method (the first controller 502 is connected to the second controller 503, and the second controller 503 is connected to the third controller 504), the target angular velocity corresponding to the working mechanism is obtained based on the current angle and the target angular velocity. The target pilot pressure corresponding to the working mechanism is obtained based on the current pilot pressure and the target pilot pressure. A signal control quantity for controlling the movement of the working mechanism is obtained based on the current pilot pressure and the target pilot pressure. Then, based on the signal control quantity, the working mechanism is controlled to move from the current angle to the target angle. Therefore, when the machine is operating, regardless of the operating condition or the state of the working mechanism (corresponding to the current angle), the working mechanism can be controlled to any position (corresponding to the target angle). (That is, based on the acquired parameters, a cascade calculation is performed to obtain the signal control quantity for adjusting the working mechanism from the current angle to the target angle). This achieves the ability to control the working mechanism of the machine to move to any position.

[0126] The embodiments of the present invention utilize a first anti-interference controller to determine the estimated value of the first lumped interference parameter and a second anti-interference controller to determine the estimated value of the second lumped interference parameter, thereby ensuring the accuracy of the control quantity of the final handle signal and realizing fast and accurate tracking of the working mechanism.

[0127] This invention also provides a working machine for implementing the working machine control method described in any of the above embodiments, or including the working machine control system described in any of the above embodiments.

[0128] The work machinery provided in this embodiment of the invention can control the work mechanism to any position (corresponding to the target angle) regardless of the working condition or the state of the work mechanism (corresponding to the current angle). (That is, by using the obtained parameters and cascading calculation, the signal control quantity of the handle signal corresponding to adjusting the work mechanism from the current angle to the target angle can be obtained.) This realizes the ability to control the work mechanism of the work machinery to move to any position.

[0129] In one specific embodiment, the operating machinery includes excavators, loaders, etc.

[0130] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 601, a communication interface 602, a memory 603, and a communication bus 604. The processor 601, communication interface 602, and memory 603 communicate with each other via the communication bus 604. The processor 601 can call logical instructions in the memory 603 to execute a machine control method. This method includes: acquiring control instructions, current angle, current angular velocity, and current pilot pressure. The control instructions include: the working mechanism of the machine and the target angle corresponding to the working mechanism, the angle being determined based on the plane and horizontal plane corresponding to the working mechanism; obtaining the target angular velocity corresponding to the working mechanism based on the current angle and the target angular velocity; obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity; and obtaining a signal control quantity for controlling the movement of the working mechanism using a handle signal based on the current pilot pressure and the target pilot pressure, thereby controlling the working mechanism to move from the current angle to the target angle using the handle signal based on the signal control quantity.

[0131] Furthermore, the logical instructions in the aforementioned memory 603 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0132] On the other hand, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when the program instructions are executed by a computer, the computer is able to execute the machine control method provided by the above methods, the method including: acquiring control instructions, current angle, current angular velocity and current pilot pressure, wherein the control instructions include: the working mechanism of the machine and the target angle corresponding to the working mechanism, the angle being determined based on the plane and horizontal plane corresponding to the working mechanism; obtaining the target angular velocity corresponding to the working mechanism based on the current angle and the target angular velocity; obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity; obtaining a signal control quantity for controlling the movement of the working mechanism using a handle signal based on the current pilot pressure and the target pilot pressure, and controlling the working mechanism to move from the current angle to the target angle using a handle signal based on the signal control quantity.

[0133] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the above-described machine control methods. The method includes: acquiring control commands, a current angle, a current angular velocity, and a current pilot pressure, wherein the control commands include: the working mechanism of the machine and a target angle corresponding to the working mechanism, the angle being determined based on a plane and a horizontal plane corresponding to the working mechanism; obtaining a target angular velocity corresponding to the working mechanism based on the current angle and the target angle; obtaining a target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity; and obtaining a signal control quantity for controlling the movement of the working mechanism using a handle signal based on the current pilot pressure and the target pilot pressure, thereby controlling the working mechanism to move from the current angle to the target angle using a handle signal based on the signal control quantity.

[0134] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0135] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0136] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a work machine, characterized in that, include: The system acquires control commands, current angle, current angular velocity, and current pilot pressure. The control commands include the working mechanism of the machine and the target angle corresponding to the working mechanism, wherein the angle is determined based on the plane and the horizontal plane corresponding to the working mechanism. Based on the current angle and the target angle, the target angular velocity corresponding to the working mechanism is obtained; Based on the current angular velocity and the target angular velocity, the target pilot pressure corresponding to the working mechanism is obtained; Based on the current pilot pressure and the target pilot pressure, a signal control quantity for controlling the movement of the working mechanism is obtained. The working mechanism is then controlled to move from the current angle to the target angle using the handle signal based on the signal control quantity. Before obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity, the method further includes: determining an estimated value of a first lumped interference parameter of the first prediction model. The estimated value of the first lumped interference parameter is used to indicate the accuracy of the first prediction model in obtaining the target pilot pressure. The estimated value of the first lumped interference parameter is determined using the following formula: in, The current angular velocity, This is an estimate of the angular velocity. This is an estimate of the first lumped interference parameter. As the current leading pressure, , and Let k be a constant value, and k represent discrete time points. , and To obtain a constant value, an extended state observer is used to estimate the value of the first lumped disturbance parameter. When determining the first estimation logic for estimating the value of the first lumped disturbance parameter, a second-order extension method is adopted to estimate the value of the first lumped disturbance parameter at time k+1 and the value of the first lumped disturbance parameter at time k+2. The first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped disturbance parameter, and the leader pressure sample.

2. The machine control method according to claim 1, characterized in that, The step of obtaining the target angular velocity corresponding to the working mechanism based on the current angle and the target angle includes: Calculate the angle difference between the current angle and the target angle; The target angular velocity is determined based on the angle difference.

3. The machine control method according to claim 1, characterized in that, The step of obtaining the target pilot pressure corresponding to the working mechanism based on the current angular velocity and the target angular velocity includes: The estimated values ​​of the current angular velocity, the target angular velocity, and the first lumped disturbance parameter are input into the first prediction model to obtain the target leader pressure output by the first prediction model.

4. The machine control method according to claim 1, characterized in that, Before obtaining the signal control quantity of the handle signal used to control the movement of the working mechanism based on the current pilot pressure and the target pilot pressure, the method further includes: Determine the estimated value of the second lumped interference parameter of the second prediction model, wherein the estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model; The signal control quantity for obtaining the handle signal used to control the movement of the working mechanism based on the current pilot pressure and the target pilot pressure includes: The estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped disturbance parameter are input into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model. The second prediction module is trained based on the estimated values ​​of the current leader pressure, the target leader pressure, the second lumped disturbance parameter, and the signal control quantity samples of the handle signal.

5. A control system for a work machinery, characterized in that, include: Signal acquisition module, first controller, second controller and third controller; The signal acquisition module is used to acquire control commands, current angle, current angular velocity and current pilot pressure. The control commands include: the working mechanism of the working machine and the target angle corresponding to the working mechanism. The angle is determined based on the plane and the horizontal plane corresponding to the working mechanism. The first controller is used to obtain the target angular velocity corresponding to the working mechanism based on the current angle and the target angle output by the signal acquisition module; The second controller is used to obtain the target pilot pressure corresponding to the working mechanism based on the current angular velocity output by the signal acquisition module and the target angular velocity output by the first controller; The third controller is used to obtain a signal control quantity for controlling the movement of the working mechanism based on the current pilot pressure output by the signal acquisition module and the target pilot pressure output by the second controller, and transmits the signal control quantity to the handle of the working machine to control the working mechanism to move from the current angle to the target angle based on the handle signal of the signal control quantity. The system further includes: a first disturbance rejection controller; the first disturbance rejection controller and the second controller are connected; the first disturbance rejection controller is used to determine an estimated value of a first lumped disturbance parameter of the first prediction model in the second controller, and transmits the estimated value of the first lumped disturbance parameter to the second controller; wherein the estimated value of the first lumped disturbance parameter is used to indicate the accuracy of the first prediction model in obtaining the target pilot pressure, and is determined by the following formula: in, The current angular velocity, This is an estimate of the angular velocity. This is an estimate of the first lumped interference parameter. As the current leading pressure, , and Let k be a constant value, and k represent discrete time points. , and To obtain a constant value, an extended state observer is used to estimate the value of the first lumped disturbance parameter. When determining the first estimation logic for estimating the value of the first lumped disturbance parameter, a second-order extension method is adopted to estimate the value of the first lumped disturbance parameter at time k+1 and the value of the first lumped disturbance parameter at time k+2. The first prediction model is trained based on the current angular velocity sample, the target angular velocity sample, the estimated value sample of the first lumped disturbance parameter, and the leader pressure sample.

6. The operating machinery control system according to claim 5, characterized in that, The first controller, the second controller, and the third controller are connected in series; The first controller is connected to the second controller, and the second controller is connected to the third controller.

7. The machine control system according to claim 5 or 6, characterized in that, The second controller is used to input the estimated values ​​of the current angular velocity, the target angular velocity, and the first lumped disturbance parameter into the first prediction model to obtain the target leader pressure output by the first prediction model.

8. The machine control system according to claim 5 or 6, characterized in that, The system also includes: a second disturbance rejection controller; The second disturbance rejection controller and the third controller are connected; The second anti-interference controller is used to determine the estimated value of the second lumped interference parameter of the second prediction model in the third controller, and transmit the estimated value of the second lumped interference parameter to the third controller; wherein, the estimated value of the second lumped interference parameter is used to indicate the accuracy of the signal control quantity of the handle signal obtained by the second prediction model; The third controller is used to input the estimated values ​​of the current leader pressure, the target leader pressure, and the second lumped disturbance parameter into the second prediction model to obtain the signal control quantity of the real-time handle signal output by the second prediction model; wherein, the second prediction module is trained based on the estimated value samples of the current leader pressure, the target leader pressure, the second lumped disturbance parameter, and the signal control quantity samples of the handle signal.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the machine control method as described in any one of claims 1 to 4.

10. A type of operating machinery, characterized in that, The steps are for implementing the machine control method as described in any one of claims 1 to 4, or include the machine control system as described in any one of claims 5 to 8.

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