Active vibration damping control method and system for loader working device

Abstract

This invention discloses an active vibration damping control method and system for a loader's working device. The method includes acquiring operating parameters of the loader's working device, including rodless chamber pressure and bucket lifting height; determining whether to trigger active vibration damping based on the operating parameters and corresponding reference values; if active vibration damping is triggered, determining a current compensation value based on the bucket lifting height and its corresponding reference value, and determining the current of the loader boom actuation solenoid valve based on the rodless chamber pressure and the current compensation value. This invention can reduce the cost of the active vibration damping control system and improve response speed.

Description

Technical Field

[0001] This invention relates to the field of loader technology, and in particular to an active vibration damping control method and system for a loader working device. Background Technology

[0002] Loaders play an important role in modern engineering and technology, and correspondingly, the requirements for the working efficiency and user comfort of loaders are becoming increasingly higher.

[0003] In related technologies, loaders rarely have active damping functions in their working devices. Even when active damping is included, it usually involves adding an accumulator and a matching hydraulic solenoid valve. This approach has several drawbacks, such as increased costs due to the need for additional accumulators and solenoid valves; slow response speed on complex road surfaces and under full load; ineffective handling of material spillage; and the need to redesign the hydraulic circuit, resulting in cumbersome piping and installation. Furthermore, the accumulator requires significant space and is difficult to install. Summary of the Invention

[0004] This invention provides an active vibration damping control method and system for a loader working device, in order to reduce the cost of the active vibration damping control system and improve the response speed.

[0005] According to one aspect of the present invention, an active vibration damping control method for a loader working device is provided, comprising:

[0006] Obtain the operating parameters of the loader's working device, wherein the operating parameters include rodless chamber pressure and bucket lifting height;

[0007] Whether to trigger active damping is determined based on the operating parameters and the corresponding reference values ​​of the operating parameters;

[0008] If active damping is triggered, the current compensation value is determined based on the bucket lifting height and the corresponding reference value, and the current of the loader boom actuation solenoid valve is determined based on the rodless chamber pressure and the current compensation value.

[0009] Optionally, obtaining the operating parameters of the loader's working device includes:

[0010] The rodless chamber pressure is collected using a rodless chamber pressure sensor at a first preset period, the boom angle is collected using a boom angle sensor at the first preset period, and the bucket lifting height is determined based on the boom angle.

[0011] The method of obtaining the operating parameters of the loader working device also includes:

[0012] The initial value of the rodless chamber pressure is used as the reference value corresponding to the rodless chamber pressure, and the initial value of the bucket lifting height is used as the reference value of the bucket lifting height.

[0013] Optionally, determining whether to trigger active damping based on the operating parameters and the corresponding reference values ​​includes:

[0014] The threshold range corresponding to the rodless chamber pressure is determined based on the reference value corresponding to the rodless chamber pressure, and the threshold range corresponding to the bucket lifting height is determined based on the reference value of the bucket lifting height.

[0015] If the current rodless chamber pressure is outside the corresponding threshold range, and the current bucket lifting height is within the corresponding threshold range, then active damping is triggered.

[0016] Optionally, the triggering of active damping includes:

[0017] If the current rodless chamber pressure is greater than the upper limit of the corresponding threshold range, the lower shock absorber is triggered, and the current of the loading boom lowering solenoid valve is determined according to the rodless chamber pressure and the current compensation value.

[0018] If the current rodless chamber pressure is less than the lower limit of the corresponding threshold range, the upper damping is triggered, and the current of the loading boom lifting solenoid valve is determined based on the rodless chamber pressure and the current compensation value.

[0019] Optionally, determining the compensation current based on the bucket lifting height and a reference value corresponding to the bucket lifting height includes:

[0020] Within a second preset period, the deviation between the bucket lifting height and the corresponding reference value is accumulated to obtain the bucket lifting height deviation value, wherein each second preset period includes at least one consecutive first preset period;

[0021] In the current first preset cycle, the current compensation value is determined based on the bucket lifting height deviation value and the current correction coefficient of the previous second preset cycle.

[0022] Optionally, determining the current of the loading boom actuation solenoid valve based on the rodless chamber pressure and the current compensation value includes:

[0023] The current of the loading boom lowering solenoid valve is determined using the following formula:

[0024] I D =K D *(PP U )+I 01 +△I U , among which, I DK is the current of the solenoid valve for lowering the loading boom. D P is the first preset coefficient. U The upper limit of the threshold range corresponding to the rodless chamber pressure is given by P, where P is the current rodless chamber pressure, and I is the upper limit of the threshold range. 01 The base current of the loading boom lowering solenoid valve, ΔI U This is the current compensation value;

[0025] The current of the loading boom lifting solenoid valve is determined according to the following formula:

[0026] I U =K U *(P D -P)+I 02 +△I U , among which, I U K is the current of the lifting solenoid valve of the loading boom. U P is the second preset coefficient. D P is the lower limit of the threshold range corresponding to the rodless chamber pressure, and I is the current rodless chamber pressure. 02 The base current of the lifting solenoid valve of the loading boom is ΔI. U This is the current compensation value.

[0027] Optionally, the method further includes:

[0028] Within a preset number of first preset cycles after the active damping is triggered, the maximum current corresponding to the boom action solenoid valve is output to the loader boom action solenoid valve.

[0029] Optionally, obtaining the operating parameters of the loader working device further includes: obtaining the travel speed of the loader working device, and / or obtaining bus command signals;

[0030] The step of determining whether to trigger active damping based on the operating parameters and the corresponding reference values ​​of the operating parameters includes:

[0031] If the current rodless chamber pressure is outside the corresponding threshold range, the current bucket lifting height is within the corresponding threshold range, the travel speed is greater than the preset speed, and / or the bus command signal is activated, then active damping is triggered.

[0032] According to another aspect of the present invention, an active vibration damping control system for a loader working device is provided, comprising:

[0033] Hydraulic module, sensing module, and electronic control module;

[0034] The sensing module is electrically connected to the electronic control module, and the sensing module is used to acquire the operating parameters of the loader's working device;

[0035] The electronic control module is used to determine whether to trigger active damping based on the operating parameters and the reference values ​​corresponding to the operating parameters; the electronic control module is also used to determine the current compensation value based on the bucket lifting height and the reference value corresponding to the bucket lifting height when active damping is triggered, and to determine the current of the loading boom action solenoid valve based on the rodless chamber pressure and the current compensation value.

[0036] The hydraulic module is electrically connected to the electronic control module and is used to control the boom movement of the loader in response to the current of the solenoid valve for boom movement.

[0037] Optionally, the sensing module includes a rodless chamber pressure sensor and a boom position angle sensor, wherein the rodless chamber pressure sensor is used to collect the rodless chamber pressure, and the boom position angle sensor is used to collect the boom angle.

[0038] The hydraulic module includes a working pump, a multi-way valve, and a boom cylinder; the multi-way valve includes the boom actuation solenoid valve, the multi-way valve is electrically connected to the electronic control module, and the boom cylinder and the working pump are both connected to the multi-way valve.

[0039] The technical solution of this invention employs an active vibration damping control method for a loader's working device, comprising: acquiring operating parameters of the loader's working device, including rodless chamber pressure and bucket lifting height; determining whether to trigger active vibration damping based on the operating parameters and corresponding reference values; if active vibration damping is triggered, determining a current compensation value based on the bucket lifting height and corresponding reference value, and determining the current of the loader's boom actuation solenoid valve based on the rodless chamber pressure and the current compensation value. This embodiment uses an electronically controlled active vibration damping system, eliminating the need for an accumulator, thus reducing the cost of the active vibration damping control system and improving response speed. Furthermore, using the bucket lifting height to compensate for the current of the boom actuation solenoid valve improves the accuracy of the boom actuation solenoid valve's current, further enhancing response speed. Simultaneously, the electronically controlled approach also offers greater adaptability and a higher level of intelligence.

[0040] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A flowchart of an active vibration damping control method for a loader working device provided in an embodiment of the present invention;

[0043] Figure 2 A flowchart illustrating another active vibration damping control method for a loader working device provided in an embodiment of the present invention;

[0044] Figure 3 This is a control result diagram of an active vibration damping control method for a loader working device provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of the active shock absorption control system of a loader working device provided in an embodiment of the present invention. Detailed Implementation

[0046] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0047] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0048] Figure 1 This is a flowchart of an active vibration damping control method for a loader working device provided in an embodiment of the present invention. The method can be executed by the active vibration damping control system of the loader working device, and includes:

[0049] Step S110: Obtain the operating parameters of the loader's working device, including rodless chamber pressure and bucket lifting height;

[0050] Specifically, the loader's working device is applied to the loader to perform tasks such as digging, bulldozing, lifting, and loading / unloading. A loader may include a working device, a traveling device, an engine, a transmission system, a steering and braking system, a hydraulic system, an operating system, and auxiliary systems. The working device includes, for example, a boom, a rocker arm, a bucket, and connecting rods. The boom includes corresponding rodless and rod-mounted chambers. The rodless chamber pressure and the bucket lifting height are important operating parameters of the loader's working device, reflecting its actual operating status. For example, the operating parameters of the loader's working device can be acquired by sensors and subsequently used to analyze whether active damping needs to be triggered.

[0051] Step S120: Determine whether to trigger active damping based on the operating parameters and the corresponding reference values;

[0052] Specifically, the reference values ​​corresponding to the operating parameters are the operating parameters of the loader's working device when it is operating smoothly. These reference values ​​can be pre-stored in the active damping control system of the loader's working device, or they can be automatically updated each time the active damping control system is activated (this will be explained later). The operating parameters are compared with the reference values. If the operating parameters do not meet the preset conditions (this will be explained later), it indicates that the operation is smooth, or that the active damping function is not activated, and therefore active damping is not triggered. Conversely, if the operating parameters meet the preset conditions, it indicates that the operation is not smooth, thus triggering active damping.

[0053] In step S130, if active damping is triggered, the current compensation value is determined based on the bucket lifting height and the corresponding reference value, and the current of the loader boom action solenoid valve is determined based on the rodless chamber pressure and the current compensation value.

[0054] Specifically, triggering active damping includes triggering upper damping and triggering lower damping. Lower damping is triggered when the rodless chamber pressure is high, and upper damping is triggered when the rodless chamber pressure is low. Different damping modes output current to different boom action solenoid valves. During the actual operation of the loader's working device, the rodless chamber pressure changes, and the bucket lifting height also changes due to active damping. In this embodiment, the bucket lifting height is used to compensate for the current of the boom action solenoid valve. This also avoids the problem of inaccurate current and slow damping response caused by solely using the rodless chamber pressure to determine the boom action solenoid valve current.

[0055] Furthermore, as can be seen from the above analysis, in this embodiment, the active damping control method does not require an accumulator to execute, but is instead controlled by electronic control for logical judgment and control; and the boom action solenoid valve and the modules required for electronic control are inherent in the loader, so there is no need to add an accumulator and a matching solenoid valve, thus not increasing the cost of the loader; at the same time, the use of electronic control also has the advantages of fast response speed and can effectively solve the problem of material spillage.

[0056] The technical solution of this embodiment employs an active vibration damping control method for a loader's working device, which includes: acquiring the operating parameters of the loader's working device, including the rodless chamber pressure and the bucket lifting height; determining whether to trigger active vibration damping based on the operating parameters and their corresponding reference values; if active vibration damping is triggered, determining a current compensation value based on the bucket lifting height and its corresponding reference value, and determining the current of the loader's boom actuation solenoid valve based on the rodless chamber pressure and the current compensation value. This embodiment uses an electronically controlled approach for active vibration damping, eliminating the need for an accumulator, thus reducing the cost of the active vibration damping control system and improving response speed. Furthermore, using the bucket lifting height to compensate for the current of the boom actuation solenoid valve improves the accuracy of the valve's current, further enhancing response speed. Simultaneously, the electronically controlled approach also offers greater adaptability and a higher level of intelligence.

[0057] Optionally, obtaining the operating parameters of the loader's working device includes: collecting the rodless chamber pressure using a rodless chamber pressure sensor at a first preset cycle, collecting the boom angle using a boom angle sensor at a first preset cycle, and determining the bucket lifting height based on the boom angle.

[0058] Specifically, the first preset cycle is, for example, the clock cycle of the active damping control system, and the rodless chamber pressure is collected once within each clock cycle. Similarly, the boom position angle sensor collects the boom angle once within each first preset cycle. The bucket lifting height and boom angle satisfy the following formula: H = K * β, where H is the bucket lifting height, β is the boom angle, and K is a coefficient related to the boom length. The value of K varies for different booms, and this embodiment does not specifically limit it. It is understood that the longer the boom, the larger the corresponding K value; the shorter the boom, the smaller the corresponding K value. In this embodiment, both the boom angle sensor and the rodless chamber pressure sensor are inherent sensors in the loader, eliminating the need for additional sensors, thus keeping the cost of the active damping control system low.

[0059] Optionally, obtaining the operating parameters of the loader's working device also includes: using the initial value of the rodless chamber pressure as a reference value corresponding to the rodless chamber pressure, and using the initial value of the bucket lifting height as a reference value for the bucket lifting height.

[0060] Specifically, when the active damping control method is executed, the rodless chamber pressure and boom angle are collected once within each first preset cycle. The rodless chamber pressure and boom angle collected within the first preset cycle are used as corresponding reference values. The active damping control method can be activated by the user. Before the loader's working device enters an unstable operating phase, the user can activate the active damping control system, thus initiating the active damping control method. That is, within the first preset cycle, the loader's working device operates in a stable state. Therefore, adjusting the current of the boom action solenoid valve based on the reference values ​​within the first preset cycle allows the active damping effect of the loader's working device to more closely resemble the stable operating state, resulting in better damping performance.

[0061] Alternatively, in some other implementations, reference values ​​can be pre-stored in the active damping control system, thereby reducing the computational load of the active damping control system.

[0062] Optionally, determining whether to trigger active damping based on operating parameters and corresponding reference values ​​includes:

[0063] The threshold range corresponding to the rodless chamber pressure is determined based on the reference value corresponding to the rodless chamber pressure, and the threshold range corresponding to the bucket lifting height is determined based on the reference value corresponding to the bucket lifting height; if the current rodless chamber pressure is outside the corresponding threshold range, and the current bucket lifting height is within the corresponding threshold range, active damping is triggered.

[0064] Specifically, the reference values ​​of operating parameters collected when the loader is working smoothly can determine the threshold range corresponding to the rodless chamber pressure and the threshold range corresponding to the bucket lifting height. For example, let P0 be the reference value corresponding to the rodless chamber pressure, then P U = (1+K) P )*P0, where P U K represents the upper limit of the threshold range corresponding to the rodless chamber pressure. P This is a correction factor related to the pressure in the rodless chamber. Correspondingly, P D = (1-K) P )*P0, where P D This represents the lower limit of the threshold range corresponding to the rodless chamber pressure. Additionally, the threshold range corresponding to the bucket lifting height can be determined by the following formula: H + = (1+K) M )*H M H - = (1-K) M )*H M Among them, H + H represents the upper limit of the threshold range for bucket lifting height.- K represents the lower limit of the threshold range for bucket lifting height. M H is the lifting height range factor. M This is the optimal lifting height for the loader's transport boom.

[0065] When the real-time rodless chamber pressure fluctuates within the threshold range, it indicates that the vibration of the loader's working device is not significant, and active damping is unnecessary, thus saving power consumption. Conversely, when the real-time rodless chamber pressure exceeds the corresponding threshold range, it indicates significant vibration, potentially requiring damping control. When the real-time bucket lifting height is within the corresponding threshold range, it indicates that the loader is operating normally, and damping can be triggered; however, when the real-time bucket lifting height is outside the threshold range, it indicates that the bucket may not be operating normally, and triggering active damping could damage the bucket. In this embodiment, damping only begins when the rodless chamber pressure exceeds the corresponding threshold range but the bucket lifting height does not, thus satisfying the aforementioned preset conditions. This achieves the damping function, saves power consumption, and prevents damage to the loader's working device.

[0066] Optionally, triggering active damping includes: if the current rodless chamber pressure is greater than the upper limit of the corresponding threshold range, triggering lower damping, and determining the current of the loader boom lowering solenoid valve based on the rodless chamber pressure and current compensation value; if the current rodless chamber pressure is less than the lower limit of the corresponding threshold range, triggering upper damping, and determining the current of the loader boom lifting solenoid valve based on the rodless chamber pressure and current compensation value.

[0067] Specifically, the loader boom actuation solenoid valve includes a loader boom lowering solenoid valve and a loader boom raising solenoid valve. The loader boom lowering solenoid valve controls the loader boom's descent, while the loader boom raising solenoid valve controls the loader boom's ascent. When the real-time rodless chamber pressure exceeds the upper limit of the corresponding threshold range, it indicates excessive rodless chamber pressure, resulting in significant upward displacement of the loader's working device, thus requiring lower damping. In this case, the calculated current for the loader boom actuation solenoid valve is the same as the current for the loader boom lowering solenoid valve. Conversely, when the real-time rodless chamber pressure is below the lower limit of the corresponding threshold range, it indicates insufficient rodless chamber pressure, resulting in significant downward displacement of the loader's working device, thus requiring upper damping. The loader boom raising solenoid valve controls the upward movement of the loader's working device, and in this case, the calculated current for the loader boom actuation solenoid valve is the same as the current for the loader boom raising solenoid valve.

[0068] Optionally, determining the compensation current based on the bucket lifting height and the corresponding reference value includes: within a second preset period, accumulating the deviation values ​​between the reference values ​​corresponding to the bucket lifting height to obtain a bucket lifting height deviation value, wherein each second preset period includes at least one consecutive first preset period; in the current first preset period, determining the current compensation value based on the bucket lifting height deviation value of the previous second preset period and the current correction coefficient.

[0069] Specifically, the first preset cycle is relatively short, and calculating the current compensation value in each first preset cycle would be labor-intensive. In this embodiment, the second preset cycle includes at least one first preset cycle, for example, five or ten first preset cycles. In each first preset cycle, the bucket lifting height H is collected, and the reference value of the bucket lifting height is calculated from the reference value of the boom angle. Let the reference value of the bucket lifting height be H. R The period of the first preset cycle is t, and the period of the second preset cycle is T. Then, the bucket lifting height deviation value ΔH within the second preset cycle is (H... R -H (1) )+(H R -H2)+…+(H R -H (T / t-1) )+(H R -H (T / t) Optionally, the initial value of ΔH is 0, meaning that the corresponding current compensation value is 0 within the first second preset cycle. After the first second preset cycle ends, due to the control of active damping, the actual value of the bucket lifting height will differ from the reference value, at which point the value of ΔH will no longer be 0; in the second second preset cycle, the current compensation value is calculated using the ΔH calculated in the first first preset cycle. It should be noted that since each second preset cycle contains at least one first preset cycle, the current compensation value is calculated using the ΔH corresponding to the previous second preset cycle in all first preset cycles within the same second preset cycle.

[0070] Optionally, determining the current of the loader boom actuation solenoid valve based on the rodless chamber pressure and current compensation value includes: determining the current of the loader boom descent solenoid valve according to the following formula: I D =K D *(PP U )+I 01 +△I U , among which, I D To supply the current to the solenoid valve for lowering the boom, K D P is the first preset coefficient. U I represents the upper limit of the threshold range corresponding to the rodless chamber pressure, where P is the current rodless chamber pressure, and I is the upper limit of the threshold range. 01 For the base current of the loading boom lowering solenoid valve, ΔIU The current compensation value is used; the current of the loader boom lifting solenoid valve is determined according to the following formula: I U =K U *(P D -P)+I 02 +△I U , among which, I U To supply the current to the solenoid valve for the boom lifting, K U P is the second preset coefficient. D I represents the lower limit of the threshold range corresponding to the rodless chamber pressure, where P is the current rodless chamber pressure, and I is the lower limit. 02 For the base current of the loading boom lifting solenoid valve, ΔI U This is the current compensation value.

[0071] Specifically, in this embodiment, the first preset coefficient K D This is the compensation coefficient for the conversion of pressure into current during the lower damping process control. Its value can be determined based on tests of the loader's working device, while I... 01 The base current for the loading boom lowering solenoid valve can be determined based on the characteristics of the loading boom lowering solenoid valve. Similarly, the second preset coefficient K... U This is the compensation coefficient for the conversion of pressure into current during the shock absorption process. Its value can be determined by testing the loader's working device. 02 The base current for loading the boom lifting solenoid valve can be determined based on the characteristics of the boom lifting solenoid valve.

[0072] Optionally, the method further includes: within a preset number of first preset cycles after triggering active damping, the maximum current corresponding to the boom action solenoid valve is output by the boom action solenoid valve.

[0073] Specifically, the preset quantity is, for example, 2 or 3. When triggering the upper or lower damping, since the actual current of the loading boom solenoid valve is not a step signal, it takes a certain amount of time to build up from a smaller current to a larger current. If the current value calculated by the current compensation value and the rodless chamber pressure is output to the loading boom solenoid valve in the first preset number of preset cycles after triggering the damping, the current build-up time of the loading boom solenoid valve may be insufficient, and thus the current cannot reach the corresponding value, resulting in poor damping effect. In this embodiment, the maximum operating current is output to the loading boom solenoid valve first, so that the loading boom solenoid valve can quickly build up the current and quickly enter the working state, improving the damping effect.

[0074] Optionally, obtaining the operating parameters of the loader working device further includes: obtaining the travel speed of the loader working device, and / or obtaining the bus command signal; determining whether to trigger active damping based on the operating parameters and the corresponding reference values ​​includes: if the current rodless chamber pressure is outside the corresponding threshold range, the current bucket lifting height is within the corresponding threshold range, and the travel speed is greater than the preset speed, and / or the bus command signal is activated, then active damping is triggered.

[0075] Specifically, in this embodiment, when the operating parameters include a bus command signal, active damping can only be triggered when the bus command signal is activated; otherwise, active damping cannot be triggered. The bus command signal is input by the user, for example, through a keyboard or other device within the active damping control system. The active damping control method only begins execution when the user inputs an activation bus command signal into the keyboard. When the operating parameters include travel speed, active damping can only be triggered when the travel speed exceeds a preset speed. When the travel speed is low, the displacement of the loader's working device is relatively gentle, thus active damping may not be triggered.

[0076] Optionally, Figure 2 A flowchart of another active vibration damping control method for a loader working device provided in an embodiment of the present invention is shown below. Figure 2 The method includes: acquiring the rodless chamber pressure, acquiring the boom angle, acquiring the travel speed, and acquiring the bus command signal. Specifically, after acquiring the rodless chamber pressure, the signal is filtered to obtain the rodless chamber pressure P as described herein; after acquiring the boom angle, the signal is filtered to obtain the boom angle β as described herein; and after acquiring the travel speed, the signal is filtered to obtain the travel speed V as described herein. The signal filtering can be noise reduction, etc. After obtaining the rodless chamber pressure P, the initial value of the rodless chamber pressure is used as a reference value P0 and stored. After obtaining the boom angle, the actual bucket lifting height H is calculated, and the initial value of the actual bucket lifting height is used as the reference value H0 of the bucket lifting height. R and store H R After obtaining P0, according to P... U = (1+K) P P is calculated from P0. U Value, and according to P D = (1-K) P P is calculated using )*P0 D Value. Obtain H. R Then, according to H + = (1+K) M )*H M H - = (1-K) M )*H M Calculate H +and H - Determine if the driving speed V is greater than the preset speed Va, and determine if P > P. U , or P < P O Check if H- < H < H+, if V > Va, and if the bus command signal through the I / O port is enabled. If all are true, then active damping is triggered. Furthermore, in the step of triggering active damping, if P > P... U Then through I D =K D *(PP U )+I 01 +△I U Calculate the current to the loading boom lowering solenoid valve and output current to it. If P < P O Then use I U =K U *(P D -P)+I 02 +△I U Calculate the current of the loading boom lifting solenoid valve and output current to the loading boom lifting solenoid valve.

[0077] For example, Figure 3 This is a control result diagram of an active vibration damping control method for a loader working device provided in an embodiment of the present invention, with reference to... Figure 3 Curve 11 represents the pressure curve of the rodless chamber in the non-damping state, i.e., without applying the active damping control method provided in this embodiment; curve 12 represents the pressure curve of the rodless chamber after applying the active damping control method provided in this embodiment; curve 13 represents the actual displacement curve of the loader's working device; curve 14 represents the current curve of the loader's boom lowering solenoid valve; and curve 15 represents the current curve of the loader's boom lifting solenoid valve. Figure 3 It can be seen that the active damping control method in this embodiment can make the actual displacement of the loader working device more stable, that is, it has a good damping effect.

[0078] This invention also provides an active vibration damping control system for a loader's working device, such as... Figure 4 As shown, Figure 4This is a schematic diagram of the active damping control system for a loader working device provided in an embodiment of the present invention. The active damping control system includes: a hydraulic module, a sensing module, and an electronic control module; the sensing module is electrically connected to the electronic control module, and is used to acquire the operating parameters of the loader working device; the electronic control module is used to determine whether to trigger active damping based on the operating parameters and the corresponding reference values; the electronic control module is also used to determine a current compensation value based on the bucket lifting height and the corresponding reference value when active damping is triggered, and to determine the current of the loader boom actuation solenoid valve based on the rodless chamber pressure and the current compensation value; the hydraulic module is electrically connected to the electronic control module and is used to control the boom movement of the loader in response to the current of the loader boom actuation solenoid valve.

[0079] Specifically, such as Figure 4 As shown, the sensing module includes a rodless chamber pressure sensor 4 and a boom position angle sensor 3. The rodless chamber pressure sensor 4 is used to collect the pressure in the rodless chamber, and the boom position angle sensor 3 is used to collect the boom angle. The hydraulic module includes a working pump 7, a multi-way valve 5, and a boom cylinder 6. The multi-way valve includes a boom actuation solenoid valve, which is electrically connected to the electronic control module. Both the boom cylinder 6 and the working pump 7 are connected to the multi-way valve 5. The electronic control module includes a VECU (Vehicle electronic control system) 8, a keyboard 2, and an IECU (Instrument electronic control system) 1. The working pump 7 is connected to the gearbox in the loader to provide power to the loader's working device. The loader boom lifting solenoid valve in the multi-way valve is connected to the lifting pilot circuit of the boom cylinder and then to the rodless chamber to control boom lifting. The loader boom lowering solenoid valve is connected to the lowering pilot circuit of the boom cylinder and then to the rod chamber to control boom lowering. In this embodiment, all sensing modules are connected to VECU 8. VECU 8 performs various logical judgments in the active damping control method and controls the hydraulic module. IECU 1 is used to interact with keyboard 2, allowing the user to input bus command signals to determine whether damping is activated, etc.

[0080] The specific working principle and beneficial effects of the active vibration damping control system in this embodiment can be found in the description of the active vibration damping control method in this embodiment of the invention, and will not be repeated here.

[0081] This invention also provides a loader working device, which includes the active shock absorption control system provided in any embodiment of this invention. Since the loader working device provided in this invention includes the active shock absorption control system provided in any embodiment of this invention, it also has the same beneficial effects, and will not be described further here.

[0082] This invention also provides a loader, which includes the loader working device provided in any embodiment of this invention. Since it includes the loader working device provided in any embodiment of this invention, it also has the same beneficial effects, which will not be described again here.

[0083] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0084] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. An active vibration damping control method for a loader's working device, characterized in that, include: Obtain the operating parameters of the loader's working device, wherein the operating parameters include rodless chamber pressure and bucket lifting height; Whether to trigger active damping is determined based on the operating parameters and the corresponding reference values ​​of the operating parameters; If active damping is triggered, the current compensation value is determined based on the bucket lifting height and the reference value corresponding to the bucket lifting height, and the current of the loading boom action solenoid valve is determined based on the rodless chamber pressure and the current compensation value. The step of determining whether to trigger active damping based on the operating parameters and the corresponding reference values ​​of the operating parameters includes: The threshold range corresponding to the rodless chamber pressure is determined based on the reference value corresponding to the rodless chamber pressure, and the threshold range corresponding to the bucket lifting height is determined based on the reference value of the bucket lifting height. If the current rodless chamber pressure is outside the corresponding threshold range, and the current bucket lifting height is within the corresponding threshold range, then active damping is triggered; The triggered active damping includes: If the current rodless chamber pressure is greater than the upper limit of the corresponding threshold range, the lower shock absorber is triggered, and the current of the loading boom lowering solenoid valve is determined according to the rodless chamber pressure and the current compensation value. If the current rodless chamber pressure is less than the lower limit of the corresponding threshold range, the upper damping is triggered, and the current of the loading boom lifting solenoid valve is determined based on the rodless chamber pressure and the current compensation value.

2. The method according to claim 1, characterized in that, The acquisition of the operating parameters of the loader's working device includes: The rodless chamber pressure is collected using a rodless chamber pressure sensor at a first preset period, the boom angle is collected using a boom angle sensor at the first preset period, and the bucket lifting height is determined based on the boom angle. The method of obtaining the operating parameters of the loader working device also includes: The initial value of the rodless chamber pressure is used as the reference value corresponding to the rodless chamber pressure, and the initial value of the bucket lifting height is used as the reference value of the bucket lifting height.

3. The method according to claim 2, characterized in that, The compensation current is determined based on the bucket lifting height and the corresponding reference value, including: Within a second preset period, the deviation between the bucket lifting height and the corresponding reference value is accumulated to obtain the bucket lifting height deviation value, wherein each second preset period includes at least one consecutive first preset period; In the current first preset cycle, the current compensation value is determined based on the bucket lifting height deviation value and the current correction coefficient of the previous second preset cycle.

4. The method according to claim 3, characterized in that, The current of the loading boom actuation solenoid valve is determined based on the rodless chamber pressure and the current compensation value, including: The current of the loading boom lowering solenoid valve is determined using the following formula: I D =K D *(P-P) U )+I 01 +△I U , among which, I D K is the current of the solenoid valve for lowering the loading boom. D P is the first preset coefficient. U The upper limit of the threshold range corresponding to the rodless chamber pressure is given by P, where P is the current rodless chamber pressure, and I is the upper limit of the threshold range. 01 The base current of the loading boom lowering solenoid valve, ΔI U This is the current compensation value; The current of the loading boom lifting solenoid valve is determined according to the following formula: I U =K U *(P) D - P)+I 02 +△I U , among which, I U K is the current of the lifting solenoid valve of the loading boom. U P is the second preset coefficient. D P is the lower limit of the threshold range corresponding to the rodless chamber pressure, and I is the current rodless chamber pressure. 02 The base current of the lifting solenoid valve of the loading boom is ΔI. U This is the current compensation value.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Within a preset number of first preset cycles after the active damping is triggered, the maximum current corresponding to the boom action solenoid valve is output to the loader boom action solenoid valve.

6. The method according to any one of claims 1 to 4, characterized in that, The method of obtaining the operating parameters of the loader working device further includes: obtaining the travel speed of the loader working device, and / or obtaining bus command signals; The step of determining whether to trigger active damping based on the operating parameters and the corresponding reference values ​​of the operating parameters includes: If the current rodless chamber pressure is outside the corresponding threshold range, the current bucket lifting height is within the corresponding threshold range, the travel speed is greater than the preset speed, and / or the bus command signal is activated, then active damping is triggered.

7. An active vibration damping control system for a loader's working device, characterized in that, For implementing the active vibration damping control method according to any one of claims 1 to 6, the active vibration damping control system comprises: Hydraulic module, sensing module, and electronic control module; The sensing module is electrically connected to the electronic control module, and the sensing module is used to acquire the operating parameters of the loader's working device; The electronic control module is used to determine whether to trigger active damping based on the operating parameters and the reference values ​​corresponding to the operating parameters; the electronic control module is also used to determine the current compensation value based on the bucket lifting height and the reference value corresponding to the bucket lifting height when active damping is triggered, and to determine the current of the loading boom action solenoid valve based on the rodless chamber pressure and the current compensation value. The hydraulic module is electrically connected to the electronic control module and is used to control the boom movement of the loader in response to the current of the solenoid valve for boom movement.

8. The system according to claim 7, characterized in that, The sensing module includes a rodless chamber pressure sensor and a boom position angle sensor. The rodless chamber pressure sensor is used to collect the rodless chamber pressure, and the boom position angle sensor is used to collect the boom angle. The hydraulic module includes a working pump, a multi-way valve, and a boom cylinder; the multi-way valve includes the boom actuation solenoid valve, the multi-way valve is electrically connected to the electronic control module, and the boom cylinder and the working pump are both connected to the multi-way valve.

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