Electric cylinder control method, device, electric working machine and machine-readable storage medium

Abstract

The present application discloses an electric cylinder control method, device, electric working machine and machine-readable storage medium, and relates to the technical field of engineering machinery. The method includes: when the opening change of the control device of the electric cylinder is detected, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device, and the current of the motor is controlled to increase to the target current based on the current increase rate; by controlling the current increase rate, the impact of the current increase on the electric cylinder is reduced to maintain the stability of the operation of the electric cylinder. And when the load change is detected, the output torque of the motor is determined based on the load change, and the target current is updated based on the output torque; the electric cylinder is adaptively adjusted to the load change to ensure that the electric cylinder runs smoothly and responds quickly, and the operating efficiency of the electric working machine under complex working conditions is improved. And when the electric cylinder is braked, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder to reduce the energy consumption of the electric cylinder.

Description

Technical Field

[0001] The present application relates to the technical field of engineering machinery, and specifically to an electric cylinder control method, device, electric working machine and machine-readable storage medium. Background Art

[0002] Traditional skid steer loaders mostly rely on hydraulic systems to drive the working device, but the hydraulic system has problems such as large energy loss, high maintenance cost and slow response speed. With the development of electrification technology, all-electric drive systems have gradually become a new trend in the construction machinery industry, and electric skid steer loaders have begun to appear in the public eye. During the operation of an electric skid steer loader, the motion control accuracy of the boom and bucket directly affects the operating efficiency and safety. However, how to achieve complex and precise motion control of the boom and bucket through the boom electric cylinder and bucket electric cylinder without a hydraulic system is still a major challenge. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the purpose of the embodiments of the present application is to provide an electric cylinder control method, device, electric working machine and machine-readable storage medium.

[0004] In order to achieve the above-mentioned object, the present application provides, in a first aspect, an electric cylinder control method, comprising:

[0005] When it is detected that the opening of the control device of the electric cylinder changes, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device;

[0006] Controlling the current of the motor to increase to a target current based on the current increase rate;

[0007] When a load change is detected, the output torque of the motor is determined based on the load change amount;

[0008] updating the target current based on the output torque;

[0009] During electric cylinder braking, braking energy is recovered based on the remaining charge state of the battery of the electric cylinder.

[0010] In the embodiment of the present application, when it is detected that the opening of the control device of the electric cylinder changes, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device, including:

[0011] In the case where it is detected that the opening of the control device of the electric cylinder changes, determining whether the opening change rate of the control device is less than or equal to the change rate threshold;

[0012] When the opening change rate is less than or equal to the change rate threshold, determining the current increase rate of the motor to be a first preset rate;

[0013] When the opening degree change rate is greater than the change rate threshold, the current increase rate of the motor is determined to be a second preset rate, wherein the second preset rate is greater than or equal to the first preset rate.

[0014] In the embodiment of the present application, when a load change is detected, determining the output torque of the motor based on the load change includes:

[0015] When a load change is detected, a target power of the motor is determined based on the load change amount;

[0016] The output torque of the motor is determined based on the target power.

[0017] In the embodiment of the present application, updating the target current based on the output torque includes:

[0018] Determine the torque coefficient based on the real-time speed and output torque of the motor;

[0019] determining a variable current based on a torque coefficient and an output torque;

[0020] The target current is updated based on the changing current.

[0021] In the embodiment of the present application, during electric cylinder braking, braking energy is recovered based on the remaining power state of the battery of the electric cylinder, including:

[0022] When the electric cylinder brakes, determine the braking mode of the electric cylinder, wherein the braking mode includes gentle braking and emergency braking;

[0023] The braking energy is divided into recovery energy and consumption energy based on the remaining charge state of the battery;

[0024] When the braking mode is gentle braking, the battery is charged based on the recovered energy, and the energy is consumed based on the braking resistance of the first preset ratio;

[0025] When the braking mode is emergency braking, the battery is charged based on the recovered energy, and the energy is consumed based on the braking resistance of a second preset ratio, wherein the first preset ratio is less than the second preset ratio, and the second preset ratio is less than or equal to 100%.

[0026] In the embodiment of the present application, the electric cylinder control method further includes:

[0027] When the electric cylinder is in a deceleration state, determining whether the rotation speed of the motor is less than a first preset rotation speed;

[0028] When the speed of the motor is less than the first preset speed, entering the speed control mode, wherein the speed control mode is used for constant speed control;

[0029] In the speed control mode, if the speed of the motor is greater than the second preset speed, the torque control mode is entered, wherein the torque control mode is used for constant torque control, and the second preset speed is greater than the first preset speed.

[0030] In the embodiment of the present application, the electric cylinder control method further includes:

[0031] Detecting parameter information of the motor, wherein the parameter information includes voltage, current, temperature and speed;

[0032] Based on the parameter information and the preset parameter range, determining whether the motor has abnormal operating parameters;

[0033] In the case of abnormal operating parameters, operating parameters of the electric cylinder are adjusted based on the abnormal operating parameters, wherein the operating parameters include power and / or load weight.

[0034] A second aspect of the present application provides an electric cylinder control device, comprising:

[0035] A rate determination module, for determining a current increase rate of the motor of the electric cylinder based on a rate of change of the opening of the control device when detecting a change in the opening of the control device of the electric cylinder;

[0036] A current control module, used for controlling the current of the motor to increase to a target current based on a current increase rate;

[0037] A torque determination module, used to determine the output torque of the motor based on the load change when a load change is detected;

[0038] A current updating module, for updating a target current based on an output torque;

[0039] The energy recovery module is used to recover braking energy based on the remaining power state of the battery of the electric cylinder during electric cylinder braking.

[0040] A third aspect of the present application provides an electric working machine, comprising:

[0041] The electric cylinder control device as described in the above embodiment;

[0042] Boom cylinder and bucket cylinder.

[0043] A fourth aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the electric cylinder control method as described in the above embodiment.

[0044] Through the above technical solution, when the opening change of the control device of the electric cylinder is detected, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device, and the current of the motor is controlled to increase to the target current based on the current increase rate; by controlling the current increase rate, the impact of the current increase on the electric cylinder is reduced to maintain the stability of the operation of the electric cylinder. And when the load change is detected, the output torque of the motor is determined based on the load change, and the target current is updated based on the output torque; the electric cylinder is adaptively adjusted to the load change to ensure that the electric cylinder runs smoothly and responds quickly, and improves the operating efficiency of electric operating machinery under complex working conditions. And when the electric cylinder is braked, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder, which prolongs the battery life and service life of the equipment and reduces the energy consumption and operating costs of the electric cylinder.

[0045] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0047] Figure 1 A schematic diagram of a flow chart of an electric cylinder control method according to an embodiment of the present application is schematically shown;

[0048] Figure 2 The schematic diagram shows the structure of an electric cylinder control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0050] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0052] Figure 1 The flowchart of an electric cylinder control method according to an embodiment of the present application is schematically shown. Figure 1 As shown, an embodiment of the present application provides an electric cylinder control method, which may include the following steps.

[0053] Step 100, when it is detected that the opening of the control device of the electric cylinder changes, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device;

[0054] Step 200, controlling the current of the motor to increase to a target current based on the current increase rate;

[0055] It should be noted that the electric working machinery adopts a fully electric drive system, and it is difficult to control the control accuracy of the operation without including a hydraulic system. For example, the control accuracy of the boom electric cylinder and the bucket electric cylinder of the electric skid loader during operation needs to be improved. In this embodiment, the electric working machinery is an electric skid loader as an example for explanation. During the operation of the electric skid loader, the effective control of the boom electric cylinder and the bucket electric cylinder is achieved, thereby achieving the control of the working accuracy of the electric skid loader.

[0056] It should be noted that the control device is a device for controlling the electric cylinder. The electric cylinder can be controlled by an electric control handle during operation. The operator sends instructions to the control system of the electric skid loader through the electric control handle to control the movement of the electric cylinder. In one embodiment, the operator can also control the electric cylinder through a control panel or a remote controller. In this embodiment, the electric control handle is taken as an example of the control device. The opening value of the electric control handle is [0, 100%]. When the opening information of the electric control handle is detected, it means that the electric cylinder needs to be started or the control current of the electric cylinder needs to be changed. The target current that the motor of the electric cylinder needs to reach is determined based on the current opening of the electric control handle. The opening change rate refers to the opening change value of the electric control handle per unit time. The opening change rate corresponding to the electric control handle being pushed from the initial opening to the current opening is calculated to determine the current increase rate when the current of the electric cylinder motor increases to the target current based on the opening change rate. Then, the current of the motor is controlled to increase to the target current based on the current increase rate.

[0057] It is understandable that when the electric cylinder is controlled by a control panel or a remote controller, the opening change rate can be directly obtained through an input control instruction, or the current increase rate can be directly obtained through an input control instruction.

[0058] In one embodiment, when it is detected that the opening of the control device of the electric cylinder changes, determining the current increase rate of the motor of the electric cylinder based on the opening change rate of the control device includes:

[0059] In the case where it is detected that the opening of the control device of the electric cylinder changes, determining whether the opening change rate of the control device is less than or equal to the change rate threshold;

[0060] When the opening change rate is less than or equal to the change rate threshold, determining the current increase rate of the motor to be a first preset rate;

[0061] When the opening degree change rate is greater than the change rate threshold, the current increase rate of the motor is determined to be a second preset rate, wherein the second preset rate is greater than or equal to the first preset rate.

[0062] It should be noted that the opening change rate corresponds to the current increase rate of the motor, and different opening change rates correspond to different current increase rates. In this embodiment, the current increase rate is determined to be two types, namely a first preset rate and a second preset rate, and the second preset rate is greater than or equal to the first preset rate. The current increase rate of the motor is determined by whether the opening change rate reaches a change rate threshold. In one embodiment, there can be more settings for the current increase rate, and effective control of the motor starting current is achieved by setting corresponding change rate thresholds for different current increase rates.

[0063] Specifically, in this embodiment, when the opening change of the control device of the electric cylinder is detected, it is determined whether the opening change rate of the control device corresponding to the electric cylinder is less than or equal to the change rate threshold. When the opening change rate is less than or equal to the change rate threshold, the current of the motor is controlled to rise from the current current to the target current based on the first preset rate. The setting value of the first preset rate is relatively small. When the current increase rate is equal to the first preset rate, the current of the motor rises relatively slowly, which can avoid the instantaneous large current caused by the rapid rise from causing an impact on the motor itself, causing the vibration of the electric cylinder. If the opening change rate is greater than the change rate threshold, the current of the motor is controlled to rise from the current current to the target current based on the second preset rate. The setting value of the second preset rate is relatively large. When the current increase rate is equal to the second preset rate, the current of the motor rises faster and can respond quickly to demand. The second preset rate is greater than or equal to the first preset rate. For details, please refer to the following expression:

[0064]

[0065] Among them, K2 represents the second preset rate; K1 represents the first preset rate; a represents the coefficient, and the value range of a is [1, 5]. Preferably, a is 2.

[0066] Step 300, when a load change is detected, determining the output torque of the motor based on the load change;

[0067] It should be noted that during the operation of the electric skid loader, the load condition of the electric skid loader may change at any time as the operation progresses or the demand changes. In order to improve the control of the electric cylinder more accurately and effectively and ensure that the electric cylinder moves smoothly and responds quickly, in this embodiment, the output torque of the motor is adaptively adjusted based on the load change amount. When the load change is detected, the output torque of the motor is updated. In one embodiment, in order to avoid repeated adjustments of the motor output torque in a short period of time, causing the electric cylinder to be unstable, the update of the output torque can be limited by setting a load change threshold. When the load change reaches the load change threshold, the output torque of the motor is adjusted; the update of the output torque can also be limited by setting the number of output torque adjustments within a preset time. When the number of load changes detected within the preset time is less than or equal to the number of output torque adjustments, the output torque of the motor is adjusted.

[0068] Specifically, in one embodiment, when a load change is detected, determining the output torque of the motor based on the load change includes:

[0069] When a load change is detected, a target power of the motor is determined based on the load change amount;

[0070] The output torque of the motor is determined based on the target power.

[0071] It should be noted that the output torque of the motor is related to the power of the motor. When the motor speed is constant, the power is proportional to the output torque. The increase in load will lead to an increase in power demand. Therefore, when the load change is monitored, the target power of the motor can be determined based on the load change, and then the output torque of the motor can be determined based on the target power.

[0072] Step 400, updating the target current based on the output torque;

[0073] It should be noted that the output torque of the motor is proportional to the current. After determining the output torque of the motor due to load changes, the target current of the motor is updated based on the output torque so that the output torque can be output, thereby achieving self-adaptation to load changes.

[0074] Specifically, in one embodiment, updating the target current based on the output torque includes:

[0075] Determine the torque coefficient based on the real-time speed and output torque of the motor;

[0076] determining a variable current based on a torque coefficient and an output torque;

[0077] The target current is updated based on the changing current.

[0078] It should be noted that for different motor speeds and output torques, there are different torque coefficients. The current is proportional to the torque, and the product of the torque coefficient and the torque is the current. After determining the change current, the target current is updated to the change current. Specifically, the change current can be determined by the following formula:

[0079] , ,

[0080] , ,

[0081] Among them, I represents the variable current; T represents the output torque; n represents the motor speed; P represents the motor power; m1 and m2 represent the torque coefficients, [0≤m1≤m2≤1]. The values ​​of m1 and m2 are related to the IGBT (Insulated Gate Bipolar Transistor) and the motor design. In this embodiment, m1 is 0.5 and m2 is 0.6.

[0082] Step 500 , during electric cylinder braking, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder.

[0083] It should be noted that motor braking will generate braking energy. In order to ensure the safety and stability of the electric cylinder, the braking energy needs to be managed quickly and effectively. The guidance of braking energy can be used to charge the battery. Specifically, when the electric cylinder brakes, the motor of the electric cylinder changes from a driving state to a braking state, and the rotor of the motor will operate as a generator to generate electrical energy. Feeding this electrical energy back to the battery can be used for subsequent electric cylinder driving or other power needs, thereby improving energy utilization efficiency. Furthermore, in this embodiment, the remaining power state of the battery is considered to avoid overcharging the battery. When it is determined based on the remaining power state of the battery that the remaining power of the battery is less than or equal to the power threshold, the braking energy is controlled to charge the battery. When the remaining power of the battery is greater than the power threshold, the battery is no longer charged, and the braking energy is consumed through other set paths. The battery power threshold can be adaptively adjusted based on actual conditions. For example, the power threshold is set to 95%.

[0084] In this embodiment, when it is detected that the opening of the control device of the electric cylinder changes, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device, and the current of the motor is controlled to increase to the target current based on the current increase rate; by controlling the current increase rate, the impact of the current increase on the electric cylinder is reduced, and the stability of the operation of the electric cylinder is maintained. And when the load change is detected, the output torque of the motor is determined based on the load change, and the target current is updated based on the output torque; the electric cylinder is adaptively adjusted to the load change, ensuring that the electric cylinder runs smoothly and responds quickly, and improving the operating efficiency of the electric working machinery under complex working conditions. And when the electric cylinder brakes, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder, extending the battery life and service life of the equipment, and reducing the energy consumption and operating costs of the electric cylinder.

[0085] In one embodiment, during electric cylinder braking, braking energy is recovered based on the remaining power state of the battery of the electric cylinder, including:

[0086] When the electric cylinder brakes, determine the braking mode of the electric cylinder, wherein the braking mode includes gentle braking and emergency braking;

[0087] The braking energy is divided into recovery energy and consumption energy based on the remaining charge state of the battery;

[0088] When the braking mode is gentle braking, the battery is charged based on the recovered energy, and the energy is consumed based on the braking resistance of the first preset ratio;

[0089] When the braking mode is emergency braking, the battery is charged based on the recovered energy, and the energy is consumed based on the braking resistance of a second preset ratio, wherein the first preset ratio is less than the second preset ratio, and the second preset ratio is less than or equal to 100%.

[0090] It should be noted that when consuming and recovering braking energy, if the remaining battery power is sufficient, other paths need to be selected to consume braking energy. If the remaining battery power does not reach the power threshold, but is not enough to consume all the braking energy, other paths are also needed to consume braking energy at the same time. In this embodiment, when the battery power is sufficient or the braking energy cannot be completely recovered, the braking energy is consumed in whole or in part through a braking resistor. Furthermore, in order to better adapt to the braking conditions, different preset proportions of braking resistors are used to consume braking energy for different conditions of gentle braking and emergency braking to meet different braking requirements. Among them, under gentle braking conditions, the electric cylinder can decelerate smoothly until it stops; under emergency braking conditions, the electric cylinder needs to decelerate quickly until it stops.

[0091] Specifically, the maximum braking energy that can be recovered by battery charging, i.e., the recovered energy, is determined based on the remaining power state of the battery. The remaining part of the braking energy except the recovered energy is the consumed energy. The recovered energy is recovered by charging the battery, and the consumed energy is consumed by the braking resistor. When the braking resistor consumes the consumed energy, it is not 100% in all cases. There are different investment ratios for different situations. In the case of gentle braking, the braking resistor based on the first preset ratio consumes the consumed energy; in the case of emergency braking, the braking resistor based on the second preset ratio consumes the consumed energy. The first preset ratio is less than the second preset ratio, and the second preset ratio is less than or equal to 100%. The first preset ratio and the second preset ratio can be adaptively adjusted based on the actual application scenario. For example, the first preset ratio is 70% or 80%, and the second preset ratio can be 95% or 100%. It should be noted that when the braking resistor is 100% invested to consume the braking energy, there may be instantaneous heating, but in order to respond to rapid emergency braking, the impact of the instantaneous heating can be temporarily ignored.

[0092] In this embodiment, different braking resistors are used for different working conditions in order to consume braking energy, thereby improving the adaptability and comprehensiveness of the electric cylinder braking control.

[0093] In one embodiment, the electric cylinder control method further includes:

[0094] When the electric cylinder is in a deceleration state, determining whether the rotation speed of the motor is less than a first preset rotation speed;

[0095] When the speed of the motor is less than the first preset speed, entering the speed control mode, wherein the speed control mode is used for constant speed control;

[0096] In the speed control mode, if the speed of the motor is greater than the second preset speed, the torque control mode is entered, wherein the torque control mode is used for constant torque control, and the second preset speed is greater than the first preset speed.

[0097] It should be noted that in conventional applications of electric cylinders, a torque control mode is usually adopted, that is, the output torque of the motor is controlled by changing the current and induced magnetic field of the motor. In this mode, the speed of the motor will be automatically adjusted according to the change of the load to keep the output torque constant. However, the torque control mode cannot achieve precise control in some cases, such as when the electric cylinder is in a deceleration or low-speed state. In this embodiment, in order to improve the control accuracy of the electric cylinder under different working conditions, the control mode is switched when the electric cylinder is in a low-speed state. Specifically, when the electric cylinder is in a deceleration state, if the speed of the motor is less than the first preset speed, the speed control mode is entered. In the speed control mode, the speed of the motor is mainly controlled by adjusting the voltage and current of the motor. In this mode, the output torque of the motor will be automatically adjusted according to the change of the load to keep the speed constant. After entering the speed mode, if the speed of the motor increases to be greater than the second preset speed, it is switched back to the torque control mode. In this embodiment, by controlling the second preset speed to be greater than the first preset speed, it is avoided that when a single preset speed is set, if the speed of the motor is unstable, the speed will jump back and forth based on the single preset speed, causing the control mode of the electric cylinder to switch back and forth, thereby improving the stability of the control of the electric cylinder. Specifically, in one embodiment, if the electric cylinder is in a deceleration state and the speed of the motor is less than 200rpm, the speed control mode is adopted to eliminate the vibration phenomenon of the motor at low speed. When the speed of the motor is greater than 250rpm, it is switched to the torque control mode to achieve a smooth transition.

[0098] In this embodiment, by switching the control mode under the deceleration condition of the electric cylinder, the control accuracy of the electric cylinder under the low-speed condition is improved, and the stability of the operation of the electric cylinder is improved.

[0099] In one embodiment, the electric cylinder control method further includes:

[0100] Detecting parameter information of the motor, wherein the parameter information includes voltage, current, temperature and speed;

[0101] Based on the parameter information and the preset parameter range, determining whether the motor has abnormal operating parameters;

[0102] In the case of abnormal operating parameters, operating parameters of the electric cylinder are adjusted based on the abnormal operating parameters, wherein the operating parameters include power and / or load weight.

[0103] It should be noted that, in this embodiment, by real-time monitoring of the motor of the electric cylinder, timely processing is carried out when an abnormality is found to reduce the loss of the electric cylinder. By detecting the parameter information of the motor, it is determined whether there are abnormal operating parameters that exceed the preset parameter range. If it is determined that there are abnormal operating parameters, the power or load weight of the electric cylinder is adjusted based on the abnormal operating parameters. Among them, the preset parameter range is set according to the specifications and operating conditions of the motor. It can be understood that the parameter information of the motor includes voltage, current, temperature and speed. In one embodiment, more or less parameter information can also be monitored, and adaptive adjustment can be made based on actual scene requirements. In one embodiment, if the current exceeds the preset parameter range corresponding to the current, the load is reduced to prevent the motor from overheating. When the speed exceeds the preset parameter range corresponding to the speed, the control signal is adjusted to avoid the motor from losing control, and the power can also be reduced and the brake is turned on. In one embodiment, multiple thresholds can also be set in the preset parameter range. For example, for the temperature of the motor, a first threshold and a second threshold can be set. If the temperature of the motor is higher than the first threshold, the power is reduced until the temperature returns to a safe level; if the temperature of the motor exceeds the second threshold, the electric cylinder is controlled to automatically stop. For other abnormal scenarios detected, power reduction or shutdown is used as the adjustment target to respond to the abnormalities.

[0104] In this embodiment, the safety and stability of the electric cylinder operation are improved by monitoring the parameter information of the motor.

[0105] refer to Figure 2 The embodiment of the present application further provides an electric cylinder control device 1000, comprising:

[0106] The rate determination module 1001 is used to determine the current increase rate of the motor of the electric cylinder based on the opening change rate of the control device when it is detected that the opening of the control device of the electric cylinder changes;

[0107] A current control module 1002, configured to control the current of the motor to increase to a target current based on a current increase rate;

[0108] The torque determination module 1003 is used to determine the output torque of the motor based on the load change when a load change is detected;

[0109] A current updating module 1004, configured to update a target current based on an output torque;

[0110] The energy recovery module 1005 is used to recover braking energy based on the remaining power state of the battery of the electric cylinder when the electric cylinder is braking.

[0111] The electric cylinder control device provided in the embodiment of the present application can respectively realize Figure 1 The various processes of the electric cylinder control method in the method embodiment can achieve the same technical effect. To avoid repetition, they will not be described here.

[0112] The present application also provides an electric working machine, including:

[0113] The electric cylinder control device as described in the above embodiment;

[0114] Boom cylinder and bucket cylinder.

[0115] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the electric cylinder control method as described in the above embodiment.

[0116] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0117] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0118] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0119] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0120] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0121] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0122] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0123] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0124] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A method for controlling an electric cylinder, characterized in that: include: When it is detected that the opening of the control device of the electric cylinder changes, the current increase rate of the motor of the electric cylinder is determined based on the opening change rate of the control device; Controlling the current of the motor to increase to a target current based on the current increase rate; When a load change is detected, determining the output torque of the motor based on the load change; updating the target current based on the output torque; When the electric cylinder brakes, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder; Wherein, when it is detected that the opening of the control device of the electric cylinder changes, determining the current increase rate of the motor of the electric cylinder based on the opening change rate of the control device includes: In the case where it is detected that the opening of the control device of the electric cylinder changes, determining whether the opening change rate of the control device is less than or equal to a change rate threshold; When the opening change rate is less than or equal to the change rate threshold, determining the current increase rate of the motor to be a first preset rate; In the case where the opening change rate is greater than the change rate threshold, determining the current increase rate of the motor to be a second preset rate, wherein the second preset rate is greater than or equal to the first preset rate; The step of determining the output torque of the motor based on the load change when a load change is detected comprises: When a load change is detected, determining a target power of the motor based on the load change; determining an output torque of the motor based on the target power; The updating of the target current based on the output torque comprises: Determining a torque coefficient based on the real-time speed of the motor and the output torque; determining a changing current based on the torque coefficient and the output torque; The target current is updated based on the changing current.

2. The electric cylinder control method according to claim 1, characterized in that: When the electric cylinder brakes, the braking energy is recovered based on the remaining power state of the battery of the electric cylinder, including: When the electric cylinder brakes, determining the braking mode of the electric cylinder, wherein the braking mode includes gentle braking and emergency braking; dividing the braking energy into recovered energy and consumed energy based on the remaining power state of the battery; When the braking mode is gentle braking, the battery is charged based on the recovered energy, and the consumed energy is consumed based on a braking resistor of a first preset ratio; When the braking mode is emergency braking, the battery is charged based on the recovered energy, and the consumed energy is consumed based on a braking resistor of a second preset ratio, wherein the first preset ratio is less than the second preset ratio, and the second preset ratio is less than or equal to 100%.

3. The electric cylinder control method according to claim 1, characterized in that: Also includes: When the electric cylinder is in a deceleration state, determining whether the rotation speed of the motor is less than a first preset rotation speed; When the speed of the motor is less than a first preset speed, entering a speed control mode, wherein the speed control mode is used for constant speed control; In the speed control mode, if the speed of the motor is greater than a second preset speed, the torque control mode is entered, wherein the torque control mode is used for constant torque control, and the second preset speed is greater than the first preset speed.

4. The electric cylinder control method according to claim 1, characterized in that: Also includes: Detecting parameter information of the motor, wherein the parameter information includes voltage, current, temperature and speed; Based on the parameter information and the preset parameter range, determining whether the motor has abnormal operating parameters; In the case where the abnormal operating parameters exist, operating parameters of the electric cylinder are adjusted based on the abnormal operating parameters, wherein the operating parameters include power and / or load weight.

5. An electric cylinder control device, characterized in that: include: A rate determination module, for determining a current increase rate of the motor of the electric cylinder based on a rate of change of the opening of the control device when detecting a change in the opening of the control device of the electric cylinder; a current control module, configured to control the current of the motor to increase to a target current based on the current increase rate; A torque determination module, configured to determine the output torque of the motor based on the load change when a load change is detected; a current updating module, configured to update the target current based on the output torque; an energy recovery module, used for recovering braking energy based on the remaining power state of the battery of the electric cylinder when the electric cylinder is braking; The rate determination module is also used for: In the case where it is detected that the opening of the control device of the electric cylinder changes, determining whether the opening change rate of the control device is less than or equal to a change rate threshold; When the opening change rate is less than or equal to the change rate threshold, determining the current increase rate of the motor to be a first preset rate; In the case where the opening change rate is greater than the change rate threshold, determining the current increase rate of the motor to be a second preset rate, wherein the second preset rate is greater than or equal to the first preset rate; The torque determination module is further used for: When a load change is detected, determining a target power of the motor based on the load change; determining an output torque of the motor based on the target power; The current updating module is further used for: Determining a torque coefficient based on the real-time speed of the motor and the output torque; determining a changing current based on the torque coefficient and the output torque; The target current is updated based on the changing current.

6. An electric working machine, characterized in that: include: The electric cylinder control device according to claim 5; Boom cylinder and bucket cylinder.

7. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the electric cylinder control method according to any one of claims 1 to 4.

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