Symmetrical proportional valve control method, device, electronic equipment and vehicle

Abstract

The present application discloses a symmetrical proportional valve control method, device, electronic device and vehicle, belonging to the field of proportional valve control technology, the method comprising: determining a target execution total gap based on the total opening execution capacity and the total gap between the opening targets; screening out the maximum value from the left scaling execution coefficient and the right scaling execution coefficient as the target scaling execution coefficient, and calculating the left target execution ratio and the right target execution ratio based on the target scaling execution coefficient; calculating the left change increment and the right change increment based on the target execution total gap, the left target execution ratio and the right target execution ratio; determining the left target opening time and the right target opening time based on the left change increment and the right change increment; controlling the symmetrical proportional valve based on the left change increment, the right change increment, the left target opening time and the right target opening time. The present invention controls the proportional valve by the left and right opening increments and the time required for the target opening, thereby avoiding excessive opening of the symmetrical proportional valve and ensuring its coordinated operation.

Description

Technical Field

[0001] The present invention relates to the technical field of proportional valve control, and in particular to a symmetrical proportional valve control method, device, electronic equipment and vehicle. Background Art

[0002] The development of the automotive industry, especially the rise of electric vehicles and intelligent driving technologies in recent years, has placed higher demands on the response speed, stability, and accuracy of vehicle braking systems. Symmetrical proportional valve control technology is widely used in the braking systems of various vehicles, especially luxury sedans, SUVs, commercial vehicles, and electric vehicles. With the development of intelligent driving technology, the requirements for symmetrical proportional valve control technology are becoming increasingly stringent.

[0003] In the existing technology, the corresponding magnetic field force is generated by controlling the magnitude and direction of the current in the electromagnetic coil, thereby driving the valve core to move and adjusting the fluid pressure in the hydraulic or pneumatic system. However, the electromagnetic coil will produce energy loss during operation. At the same time, due to interference from the coil temperature or the ambient electromagnetic field, errors will occur in the electromagnetic control results, affecting the stability and safety of the vehicle.

[0004] Therefore, there is an urgent need for a symmetrical proportional valve control method that can control the vehicle system by calculating the time required to control the symmetrical proportional valve opening increment and the target opening, thereby improving the stability and safety of the vehicle system. Summary of the Invention

[0005] In view of this, it is necessary to provide a symmetrical proportional valve control method, device, electronic equipment and vehicle, which can control the vehicle system by calculating the time required to control the symmetrical proportional valve opening increment and the target opening, thereby improving the stability and safety of the vehicle system.

[0006] In order to solve the above technical problems, on the one hand, the present invention provides a symmetrical proportional valve control method for vehicle control, wherein the symmetrical proportional valve includes a left proportional valve and a right proportional valve, and the method includes:

[0007] Determining a total opening execution capability and a total opening target gap of the symmetrical proportional valve, and determining a total target execution gap based on the total opening execution capability and the total opening target gap;

[0008] Determining a left scaling execution coefficient and a right scaling execution coefficient, selecting a maximum value from the left scaling execution coefficient and the right scaling execution coefficient as a target scaling execution coefficient, and calculating a left target execution ratio and a right target execution ratio based on the target scaling execution coefficient;

[0009] Calculate the left change increment and the right change increment according to the total target execution gap, the left target execution ratio and the right target execution ratio, and determine the left target opening time and the right target opening time according to the left change increment and the right change increment;

[0010] The symmetrical proportional valve is controlled according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

[0011] In one possible implementation, determining the total gap between the proportional valve opening execution capability and the opening target includes:

[0012] Obtaining the left opening execution capability and the right opening execution capability, the left target opening and the right target opening, and the left executed opening and the right executed opening of the symmetrically arranged left proportional valve and the right proportional valve;

[0013] Determining the sum of the left opening execution capability and the right opening execution capability as the total opening execution capability;

[0014] Calculating a left opening target gap based on the left target opening and the left executed opening;

[0015] Calculating a right opening target gap based on the right target opening and the right executed opening;

[0016] The total target opening gap is determined by summing the left target opening gap and the right target opening gap.

[0017] In one possible implementation, determining the target execution total gap according to the total opening execution capability and the total opening target gap includes:

[0018] Generate a unit time execution total capacity according to the opening execution total capacity and a preset time period;

[0019] The minimum value between the total execution capability per unit time and the total gap of the opening target is selected as the total target execution gap.

[0020] In one possible implementation, determining the left scaling execution coefficient and the right scaling execution coefficient includes:

[0021] Calculate the left opening execution capacity ratio according to the total opening execution capacity and the left opening execution capacity;

[0022] Calculate the right opening execution capacity ratio according to the total opening execution capacity and the right opening execution capacity;

[0023] Calculate the left opening target gap ratio according to the left opening target gap and the total opening target gap;

[0024] Calculating the right opening target gap ratio according to the right opening target gap and the total opening target gap;

[0025] Calculate the left zoom execution coefficient according to the left opening target gap ratio and the left opening execution capacity ratio;

[0026] The right zoom execution coefficient is calculated according to the right opening target gap ratio and the right opening execution capability ratio.

[0027] In one possible implementation, calculating the left target execution ratio and the right target execution ratio according to the target scaling execution coefficient includes:

[0028] Calculating the left opening target gap execution ratio according to the target scaling execution coefficient and the left opening target gap ratio;

[0029] The right opening target gap execution ratio is calculated according to the target scaling execution coefficient and the right opening target gap ratio.

[0030] In one possible implementation, calculating the left change increment and the right change increment according to the left target execution ratio, the right target execution ratio, and the total target execution gap includes:

[0031] The left opening change increment is calculated according to the total target execution gap and the left target execution ratio. The calculation formula of the left opening change increment is:

[0032] ,

[0033] in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, Implementing total gap for opening target of symmetrical proportional valve;

[0034] The right opening change increment is calculated according to the total target execution gap and the right target execution ratio. The calculation formula of the right opening change increment is:

[0035] ,

[0036] in, is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve, Implements total gap for opening target of symmetrical proportional valves.

[0037] In one possible implementation, calculating the left target opening time and the right target opening time according to the left change increment and the right change increment includes:

[0038] The left target opening time is calculated according to the left change increment and the left executed opening, and the calculation formula of the left target opening time is:

[0039] ,

[0040] in, The left target opening time is the time required for the left proportional valve to change its opening to the target opening of the left proportional valve. is the increment of the opening of the left proportional valve, is the left opening target gap;

[0041] The right target opening time is calculated according to the right change increment and the right executed opening, and the calculation formula of the right target opening time is:

[0042] ,

[0043] in, The right target opening time is the time required for the right proportional valve to change its opening to the target opening of the right proportional valve. is the increment of the opening of the right proportional valve, is the right opening target gap.

[0044] In a second aspect, the present invention further provides a symmetrical proportional valve control device, comprising:

[0045] a target execution total gap calculation module, configured to determine the total opening execution capability and the total opening target gap of the symmetrical proportional valve, and determine the target execution total gap based on the total opening execution capability and the total opening target gap;

[0046] a target execution ratio calculation module, configured to determine a left scaling execution coefficient and a right scaling execution coefficient, select a maximum value from the left scaling execution coefficient and the right scaling execution coefficient as the target scaling execution coefficient, and calculate the left target execution ratio and the right target execution ratio based on the target scaling execution coefficient;

[0047] an opening increment and time calculation module, configured to calculate a left change increment and a right change increment according to the total target execution gap, the left target execution ratio, and the right target execution ratio, and determine a left target opening time and a right target opening time according to the left change increment and the right change increment;

[0048] A control module is used to control the symmetrical proportional valve according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

[0049] In a third aspect, the present invention also provides an electronic device comprising a memory and a processor, wherein the memory is used to store programs and data; the processor is coupled to the memory and is used to execute the program stored in the memory to implement the symmetrical proportional valve control method as described above, and / or to implement the symmetrical proportional valve control as described above.

[0050] In a fourth aspect, the present invention further provides a vehicle, which is provided with a symmetrical proportional valve control device or a symmetrical proportional valve control electronic device, so that the vehicle can implement the symmetrical proportional valve control method as described above.

[0051] The beneficial effects of the present invention are: first, the total opening execution capacity and the total opening target gap of the symmetrical proportional valve are determined, and the target execution total gap is determined based on the total opening execution capacity and the total opening target gap; then, the left scaling execution coefficient and the right scaling execution coefficient are determined, and the maximum value among the left scaling execution coefficient and the right scaling execution coefficient is screened out as the target scaling execution coefficient, and the left target execution ratio and the right target execution ratio are calculated based on the target scaling execution coefficient; then, the left change increment and the right change increment are calculated based on the target execution total gap, the left target execution ratio and the right target execution ratio; the left target opening time and the right target opening time are determined based on the left change increment and the right change increment; finally, the symmetrical proportional valve is controlled based on the left change increment, the right change increment, the left target opening time and the right target opening time. The present invention selects a larger value as the target scaling execution coefficient through the left scaling execution coefficient and the right scaling execution coefficient of the symmetrical proportional valve, calculates the left target execution ratio and the right target execution ratio according to the target scaling coefficient, calculates the target execution total difference according to the total opening execution capacity and the total opening target difference, and calculates the left change increment and the right change increment according to the left target execution ratio, the right target execution ratio and the total target execution difference, so that the left change increment and the right change increment are less than or equal to the left opening execution capacity and the right opening execution capacity within unit time, thereby avoiding the risk of damage to the valve body system caused by drastic changes in the opening of the left proportional valve and the right proportional valve, and improving the stability and safety of the vehicle control system; calculates the left target opening time and the right target opening time according to the left change increment and the right change increment, determines the consistency of the left and right target opening times, thereby achieving the coordination of the left and right proportional valves during working time, and further improving the stability and safety of the vehicle control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the 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 work.

[0053] Figure 1 A schematic flow chart of an embodiment of a symmetrical proportional valve control method provided by the present invention;

[0054] Figure 2 For the present invention Figure 1 Flow chart of the first embodiment of step S101;

[0055] Figure 3 For the present invention Figure 1 Flow chart of the second embodiment of step S101;

[0056] Figure 4 For the present invention Figure 1 A flow chart of an embodiment of step S102;

[0057] Figure 5 For the present invention Figure 1 Flow chart of the first embodiment of step S103;

[0058] Figure 6 For the present invention Figure 1 Flow chart of the second embodiment of step S103;

[0059] Figure 7 A schematic structural diagram of an embodiment of a symmetrical proportional valve control device provided by the present invention;

[0060] Figure 8 A schematic structural diagram of an embodiment of the symmetrical proportional valve control electronic device provided by the present invention;

[0061] Figure 9 This is a control principle diagram of the vehicle symmetrical linear proportional valve provided by the present invention. DETAILED DESCRIPTION

[0062] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of the present invention.

[0063] In the description of the embodiments of the present invention, unless otherwise specified, "plurality" means two or more. "And / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, "A and / or B" can mean: A exists alone, A and B exist simultaneously, or B exists alone.

[0064] The terms "first," "second," and so on, used in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0065] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0066] The present invention provides a symmetrical proportional valve control method, device, electronic equipment and vehicle, which are described below respectively.

[0067] Figure 1 A flow chart of an embodiment of the symmetrical proportional valve control method provided by the present invention is shown as follows: Figure 1 As shown, the symmetrical proportional valve control method includes:

[0068] S101, determining a total opening execution capability and a total opening target gap of the symmetrical proportional valve, and determining a total target execution gap based on the total opening execution capability and the total opening target gap;

[0069] S102: Determine a left scaling execution coefficient and a right scaling execution coefficient, select a maximum value from the left scaling execution coefficient and the right scaling execution coefficient as a target scaling execution coefficient, and calculate a left target execution ratio and a right target execution ratio based on the target scaling execution coefficient;

[0070] S103, calculating the left change increment and the right change increment based on the total target execution gap, the left target execution ratio, and the right target execution ratio, and determining the left target opening time and the right target opening time based on the left change increment and the right change increment;

[0071] S104 , controlling the symmetrical proportional valve according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

[0072] It should be noted that the symmetrical proportional valve in this embodiment is applied to the control system of the vehicle. The proportional valve is a linear proportional valve, including a left linear proportional valve and a right linear proportional valve, which respectively control the left system and the right system of the vehicle. Figure 9 , Figure 9 This is the control principle diagram of the vehicle's symmetrical linear proportional valve provided by the present invention. The symmetrical proportional valve is designed to achieve synchronous or proportional action of the actuators on the left and right sides (such as wheel brakes, hydraulic cylinders, etc.) to ensure the stability, safety and handling performance requirements of the vehicle.

[0073] It should be further explained that the total opening execution capacity of the symmetrical proportional valve is the sum of the maximum opening range that can be achieved by the left proportional valve and the right proportional valve, as well as their response speed and control accuracy; the opening target gap is the sum of the left opening target gap and the right opening target gap, and the opening target gap is the difference between the maximum opening on the left and right sides and the executed opening; the left scaling execution coefficient and the right scaling execution coefficient are calculated based on the opening execution capacity of the left proportional valve and the right proportional valve and the opening target gap of the left proportional valve and the right proportional valve.

[0074] In this embodiment, the total execution capacity of the opening of the symmetrical proportional valve and the total target gap of the opening are first determined, and the target execution total gap is determined according to the total execution capacity of the opening and the total target gap; the left scaling execution coefficient and the right scaling execution coefficient are determined, the maximum value is screened out from the left scaling execution coefficient and the right scaling execution coefficient as the target scaling execution coefficient, and the left target execution ratio and the right target execution ratio are calculated according to the target scaling execution coefficient; the left change increment and the right change increment are calculated according to the target execution total gap, the left target execution ratio and the right target execution ratio; the left target opening time and the right target opening time are determined according to the left change increment and the right change increment; the left change increment and the right change increment of the symmetrical proportional valve are controlled according to the left target opening time and the right target opening time. The present invention selects a larger value as the target scaling execution coefficient through the left scaling execution coefficient and the right scaling execution coefficient of the symmetrical proportional valve, calculates the left target execution ratio and the right target execution ratio according to the target scaling coefficient, calculates the target execution total difference according to the total opening execution capacity and the total opening target difference, and calculates the left change increment and the right change increment according to the left target execution ratio, the right target execution ratio and the total target execution difference, so that the left change increment and the right change increment are less than or equal to the left opening execution capacity and the right opening execution capacity within unit time, thereby avoiding the risk of damage to the valve body system caused by drastic changes in the opening of the left proportional valve and the right proportional valve, and improving the stability and safety of the vehicle control system; the left target opening time and the right target opening time are calculated according to the left change increment and the right change increment, and the consistency of the left and right target opening times is determined, thereby achieving the coordination of the left and right proportional valves during working time, and further improving the stability and safety of the vehicle control system.

[0075] This embodiment calculates the change increment of the left proportional valve and the change increment of the right proportional valve, so that the left change increment and the right change increment are less than or equal to the left opening execution capacity and the right opening execution capacity within unit time, thereby avoiding the risk of damage to the valve body system due to drastic changes in the opening of the left proportional valve and the right proportional valve, and improving the stability and safety of the vehicle control system; at the same time, the target opening time of the left proportional valve and the target opening time of the right proportional valve are calculated based on the change increment of the left proportional valve and the right proportional valve, and the consistency of the left and right target opening times is determined, thereby achieving coordination of the left and right proportional valves in working time, and further improving the stability and safety of the vehicle control system.

[0076] In some embodiments of the present invention, Figure 2 As shown, Figure 2 The present invention provides Figure 1 The flowchart of the first embodiment of step S101 in FIG. 1 is for determining the total gap between the proportional valve opening execution capacity and the opening target, including:

[0077] S201, obtaining the left opening execution capability and the right opening execution capability, the left target opening and the right target opening, and the left executed opening and the right executed opening of the symmetrically arranged left proportional valve and the right proportional valve;

[0078] S202: Determine the sum of the left opening execution capability and the right opening execution capability as the total opening execution capability;

[0079] S203, calculating the left opening target gap based on the left target opening and the left executed opening;

[0080] S204, calculating the right opening target gap based on the right target opening and the right executed opening;

[0081] S205 , determining the total target opening gap by taking the sum of the left opening target gap and the right opening target gap.

[0082] It should be noted that the left opening execution capability and the right opening execution capability refer to the maximum opening range that the left proportional valve and the right proportional valve can achieve, as well as their response speed and control accuracy, which are determined by the design specifications of the proportional valve or the parameter data of the proportional valve; the left target opening and the right target opening are the expected proportional valve openings calculated by the vehicle electronic control unit (ECU) based on the vehicle status (such as vehicle speed, braking requirements, etc.) and driver input; the left executed opening and the right executed opening refer to the openings actually reached by the left proportional valve and the right proportional valve at the current moment. The left executed opening and the right executed opening are directly measured by sensors (such as displacement sensors, pressure sensors, etc.), and can also be estimated by the control algorithm in the vehicle electronic control unit (ECU) based on other measurable parameters (such as current, voltage, etc.). In some vehicle braking systems, these data can also be provided through the vehicle diagnostic interface.

[0083] Specifically, the total opening execution capacity is the sum of the left opening execution capacity and the right opening execution capacity. That is, the calculation formula for the total opening execution capacity is:

[0084] ,

[0085] in, is the total execution capacity of the opening, is the target opening difference of the left proportional valve, is the opening execution capacity of the right proportional valve;

[0086] The calculation formula for the total gap of the opening target is:

[0087] ,

[0088] , ,

[0089] in, is the total gap of the opening target, is the target opening difference of the left proportional valve, is the target opening difference of the right proportional valve, is the target opening of the left proportional valve, is the executed opening of the left proportional valve, is the target opening of the right proportional valve, is the executed opening of the right proportional valve.

[0090] This embodiment calculates the total execution capacity of the symmetrical proportional valve opening based on the opening execution capacity of the left proportional valve and the left and right proportional valves, calculates the total target opening difference of the symmetrical proportional valve through the target opening and the executed opening of the left proportional valve and the left and right proportional valves, and calculates the total execution capacity and the total target opening difference of the left and right symmetrical proportional valves, providing a basis for subsequent calculations.

[0091] In some embodiments of the present invention, Figure 3 As shown, Figure 3 The present invention provides Figure 1 The flowchart of the second embodiment of step S101 in FIG. 1 includes:

[0092] S301, generating a total execution capacity per unit time according to the total execution capacity of the opening degree and a preset time period;

[0093] S302: Filter out the minimum value between the total execution capacity per unit time and the total gap of the opening target as the target total execution gap.

[0094] Specifically, the calculation formula for the total target execution gap is:

[0095] ,

[0096] in, The total gap in target implementation is is the total execution capacity per unit time, is the total gap of the opening target, filter out and The smaller value is used as the target execution total gap.

[0097] This embodiment compares the calculated total execution capacity per unit time with the total target opening gap, and selects the smaller value as the target execution total gap, ensuring that the actual openings of the left and right proportional valves do not exceed the total execution capacity of the proportional valves and do not exceed the total target opening gap, so as to avoid damage to the proportional valve system due to drastic changes in the proportional valve openings, and improve the stability and safety of the system.

[0098] In some embodiments of the present invention, Figure 4 As shown, Figure 4 The present invention provides Figure 1 The flowchart of step S102 of an embodiment of determining the left scaling execution coefficient and the right scaling execution coefficient of the proportional valve includes:

[0099] S401. Calculate the left opening execution capacity ratio based on the total opening execution capacity and the left opening execution capacity;

[0100] S402. Calculate the right opening execution capacity ratio based on the total opening execution capacity and the right opening execution capacity;

[0101] S403, calculating the left opening target gap ratio based on the left opening target gap and the total opening target gap;

[0102] S404. Calculate the right opening target gap ratio based on the right opening target gap and the total opening target gap;

[0103] S405. Calculate the left scaling execution coefficient based on the left opening target gap ratio and the left opening execution capability ratio;

[0104] S406. Calculate the right scaling execution coefficient according to the right opening target gap ratio and the right opening execution capability ratio.

[0105] It should be noted that the left scaling execution coefficient of the left proportional valve and the right scaling execution coefficient of the right proportional valve are coefficients used to adjust the difference between the actual openings of the left proportional valve and the right proportional valve and the target openings.

[0106] Specifically, first, the left opening execution capacity ratio of the left proportional valve and the right opening execution capacity ratio of the right proportional valve are calculated, and the calculation formula is:

[0107] , ,

[0108] in, is the proportion of the left opening execution capacity of the left proportional valve, is the right opening execution capacity ratio of the right proportional valve, is the total execution capacity of the opening, is the target opening difference of the left proportional valve, is the opening execution capacity of the right proportional valve;

[0109] Then, the left opening target gap ratio of the left proportional valve and the right opening target gap ratio of the right proportional valve are calculated using the following formula:

[0110] , ,

[0111] in, is the target gap ratio of the left opening of the left proportional valve, is the right opening target difference ratio of the right proportional valve, is the total gap of the opening target, is the target opening difference of the left proportional valve, is the target opening gap of the right proportional valve;

[0112] Finally, the left proportional valve opening target gap scaling execution coefficient and the right proportional valve opening target gap scaling execution coefficient are calculated using the following formula:

[0113] , ,

[0114] in, is the left scaling execution coefficient, that is, the left proportional valve opening target gap scaling execution coefficient, is the right scaling execution coefficient, that is, the right proportional valve opening target gap scaling execution coefficient, is the target gap ratio of the left opening of the left proportional valve, is the right opening target difference ratio of the right proportional valve, is the proportion of the left opening execution capacity of the left proportional valve, It is the right opening execution capacity ratio of the right proportional valve.

[0115] In this embodiment, the target opening difference scaling execution coefficient of the left proportional valve and the right proportional valve is calculated as a basis for adjusting the difference between the actual opening of the left proportional valve and the right proportional valve and the target opening.

[0116] In some embodiments of the present invention, calculating the left target execution ratio and the right target execution ratio according to the target scaling execution coefficient includes:

[0117] Calculate the left opening target gap execution ratio based on the target scaling execution coefficient and the left opening target gap ratio;

[0118] The right opening target gap execution ratio is calculated based on the target scaling execution coefficient and the right opening target gap ratio.

[0119] It should be noted that the target scaling execution coefficient is a larger value selected from the target difference scaling execution coefficient for the opening of the left proportional valve and the target difference scaling execution coefficient for the opening of the right proportional valve.

[0120] Specifically, first, determine the target scaling execution coefficient, which is expressed as:

[0121] ,

[0122] in, is the target scaling execution coefficient, that is, the target gap scaling execution coefficient of the symmetrical proportional valve opening. is the left scaling execution coefficient, that is, the left proportional valve opening target gap scaling execution coefficient, is the right scaling execution coefficient, that is, the right proportional valve opening target gap scaling execution coefficient;

[0123] Then, the left opening target gap execution ratio and the right opening target gap execution ratio are calculated using the following formula:

[0124] , ,

[0125] in, is the left opening target difference execution ratio of the left proportional valve, is the right opening target gap execution ratio, is the target scaling execution coefficient, that is, the target gap scaling execution coefficient of the symmetrical proportional valve opening. is the target gap ratio of the left opening of the left proportional valve, is the right opening target difference ratio of the right proportional valve, ,and According to the calculation formula of the left opening target gap execution ratio and the right opening target gap execution ratio, we can get:

[0126] , ,

[0127] in, is the left opening target difference execution ratio of the left proportional valve, is the right opening target gap execution ratio, is the target gap ratio of the left opening of the left proportional valve, is the right opening target difference ratio of the right proportional valve, is the left scaling execution coefficient, that is, the left proportional valve opening target gap scaling execution coefficient, is the right scaling execution coefficient, that is, the right proportional valve opening target gap scaling execution coefficient;

[0128] Furthermore, according to the calculation formula of the left opening execution capacity ratio of the left proportional valve and the right opening execution capacity ratio of the right proportional valve, combined with the above expression, it can be obtained:

[0129] , ,

[0130] in, is the left opening target difference execution ratio of the left proportional valve, is the right opening target gap execution ratio, is the proportion of the left opening execution capacity of the left proportional valve, = is the right opening execution capability ratio of the right proportional valve. That is, the left opening target difference execution ratio of the left proportional valve is less than or equal to the left opening execution capability ratio, and the right opening target difference execution ratio of the right proportional valve is less than or equal to the right opening execution capability ratio.

[0131] In some embodiments of the present invention, Figure 5 As shown, Figure 5 The present invention provides Figure 1 The flowchart of the first embodiment of step S103 in FIG. 1 is a flowchart of calculating the left change increment and the right change increment based on the left target execution ratio, the right target execution ratio, and the total target execution gap, including:

[0132] S501. Calculate the left opening change increment based on the left target execution ratio and the total target execution gap. The calculation formula for the left opening change increment is:

[0133] ,

[0134] in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, Implementing total gap for opening target of symmetrical proportional valve;

[0135] S502. Calculate the right opening change increment based on the right target execution ratio and the total target execution gap. The calculation formula for the right opening change increment is:

[0136] ,

[0137] in, is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve, Implements total gap for opening target of symmetrical proportional valves.

[0138] Specifically, according to the calculation formula of the left opening change increment and the right opening change increment, it can be known that:

[0139] , ,

[0140] in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, The total gap in the target execution of the symmetrical proportional valve opening is is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve, Implementing total gap for opening target of symmetrical proportional valve;

[0141] Because the total gap in target execution Total execution capacity per unit time Total gap from opening target The smaller value of , so we get:

[0142] , ,

[0143] in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, is the total execution capacity per unit time, is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve;

[0144] Furthermore, combined with the calculation formula , , we can get:

[0145] , ,

[0146] in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, is the total capacity of proportional valve opening, is the unit time, is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve, is the proportion of the left opening execution capacity of the left proportional valve, is the right opening execution capacity ratio of the right proportional valve;

[0147] Furthermore, combined with the formula , , we can get:

[0148] , ,

[0149] in, is the increment of the opening of the left proportional valve, is the increment of the opening of the right proportional valve, is the proportion of the left opening execution capacity of the left proportional valve, is the right opening execution capacity ratio of the right proportional valve, is the total execution capacity of the opening, is the target opening difference of the left proportional valve, is the opening execution capability of the right proportional valve, is the unit time;

[0150] From this, it can be determined that the calculated opening change increment of the left proportional valve is less than or equal to the opening execution capacity of the left proportional valve per unit time, and the opening change increment of the right proportional valve is less than or equal to the opening execution capacity of the right proportional valve per unit time.

[0151] This embodiment determines the incremental change of the symmetrical proportional valve by calculating the incremental change of the opening of the left proportional valve and the incremental change of the opening of the right proportional valve, ensuring that the calculated incremental change of the opening of the left proportional valve and the right proportional valve per unit time is less than or equal to the opening execution capacity of the left proportional valve and the right proportional valve per unit time, thereby avoiding damage to the symmetrical proportional valve system caused by drastic changes in the opening of the symmetrical proportional valve, thereby improving the safety and stability of the vehicle system.

[0152] In some embodiments of the present invention, Figure 6 As shown, Figure 6 The present invention provides Figure 1 The flowchart of the second embodiment of step S103 in FIG. 1 is a flowchart of calculating the left target opening time and the right target opening time according to the left change increment and the right change increment, including:

[0153] S601. Calculate the left target opening time according to the left change increment and the left executed opening. The calculation formula for the left target opening time is:

[0154] ,

[0155] in, The left target opening time is the time required for the left proportional valve to change its opening to the target opening of the left proportional valve. is the increment of the opening of the left proportional valve, is the left opening target gap;

[0156] S602: Calculate the right target opening time according to the right change increment and the right executed opening. The calculation formula for the right target opening time is:

[0157] ,

[0158] in, The right target opening time is the time required for the right proportional valve to change its opening to the target opening of the right proportional valve. is the increment of the opening of the right proportional valve, is the right opening target gap.

[0159] Specifically, in order to verify the values ​​of the left opening target gap and the right opening target gap, the calculation formulas for the left target opening time of the left proportional valve and the right target opening time of the right proportional valve are combined with the calculation formulas for the left opening change increment and the right opening change increment to obtain:

[0160] , ,

[0161] in, is the left target opening time, is the right target opening time, is the increment of the opening of the left proportional valve, is the left opening target gap, is the increment of the opening of the right proportional valve, is the right opening target gap, is the left opening target difference execution ratio of the left proportional valve, is the right opening target gap execution ratio, Implementing total gap for opening target of symmetrical proportional valve;

[0162] According to the calculation formula of the left opening target gap execution ratio and the right opening target gap execution ratio, we can further obtain:

[0163] ,

[0164] ,

[0165] in, is the left target opening time, is the right target opening time, is the increment of the opening of the left proportional valve, is the left opening target gap, is the increment of the opening of the right proportional valve, is the right opening target gap, is the left opening target difference execution ratio of the left proportional valve, is the right opening target gap execution ratio, The total gap in the target execution of the symmetrical proportional valve opening is is the target scaling execution coefficient, is the target gap ratio of the left opening of the left proportional valve, is the right opening target difference ratio of the right proportional valve, is the total gap of the opening target;

[0166] From this we can see and Equal, that is, in this embodiment, the left target opening time and the right target opening time are equal based on the total target opening gap, the target scaling execution coefficient and the total target execution gap of the symmetrical proportional valve, thereby ensuring the coordination of the working time of the symmetrical proportional valve.

[0167] This embodiment calculates the target opening time of the symmetrical proportional valves to determine that the time required for the executed opening change of the left proportional valve to the target opening of the left proportional valve is the same as the time required for the executed opening change of the right linear proportional valve to the target opening of the right linear proportional valve, thereby ensuring the coordination of the working time of the symmetrical proportional valves and further ensuring the stability and safety of the vehicle system.

[0168] In order to better implement the symmetrical proportional valve control method in the embodiment of the present invention, based on the symmetrical proportional valve control method, correspondingly, Figure 7 As shown, the embodiment of the present invention further provides a symmetrical proportional valve control device 700 including:

[0169] The target execution total gap calculation module 701 is used to determine the total opening execution capability and the total opening target gap of the symmetrical proportional valve, and determine the target execution total gap based on the total opening execution capability and the total opening target gap;

[0170] A target execution ratio calculation module 702 is configured to determine a left scaling execution coefficient and a right scaling execution coefficient, select a maximum value from the left scaling execution coefficient and the right scaling execution coefficient as a target scaling execution coefficient, and calculate a left target execution ratio and a right target execution ratio based on the target scaling execution coefficient;

[0171] An opening increment and time calculation module 703 is configured to calculate a left change increment and a right change increment based on the total target execution gap, the left target execution ratio, and the right target execution ratio, and determine a left target opening time and a right target opening time based on the left change increment and the right change increment;

[0172] The control module 704 is used to control the symmetrical proportional valve according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

[0173] The symmetrical proportional valve control device 700 provided in the above embodiment can implement the technical solution described in the above embodiment of the symmetrical proportional valve control method. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above embodiment of the symmetrical proportional valve control method, which will not be repeated here.

[0174] In the embodiments of the present invention, the symmetrical proportional valve control device may be a standalone server or a server network or server cluster composed of servers. For example, the symmetrical proportional valve control device described in the embodiments of the present invention includes, but is not limited to, a computer, a network host, a single network server, a collection of multiple network servers, or a cloud server composed of multiple servers. A cloud server is composed of a large number of computers or network servers based on cloud computing.

[0175] The present invention also provides a symmetrical proportional valve control electronic device, such as Figure 8 As shown, Figure 8 This is a block diagram of an embodiment of an electronic device for controlling a symmetrical proportional valve provided by the present invention. The electronic device 800 can be a computing device such as a mobile terminal, desktop computer, notebook, PDA, or server. The electronic device 800 includes a processor 801 and a memory 802 , wherein the memory 802 stores a symmetrical proportional valve control program 803 .

[0176] In some embodiments, the memory 802 can be an internal storage unit of a computer electronic device, such as a hard drive or memory of the computer electronic device. In other embodiments, the memory 802 can also be an external storage electronic device of the computer electronic device, such as a plug-in hard drive, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the computer electronic device. Furthermore, the memory 802 can also include both an internal storage unit of the computer electronic device and an external storage electronic device. The memory 802 is used to store application software installed in the computer electronic device and various types of data, such as program code installed in the computer electronic device. The memory 802 can also be used to temporarily store data that has been output or is about to be output. In one embodiment, the symmetrical proportional valve control program 803 can be executed by the processor 801, thereby implementing the symmetrical proportional valve control method, device, electronic device, and storage electronic device of each embodiment of the present invention.

[0177] In some embodiments, the processor 801 may be a central processing unit (CPU), a microprocessor, or other data processing chip, configured to execute program codes or process data stored in the memory 802 , such as executing a symmetrical proportional valve control program.

[0178] Those skilled in the art will appreciate that all or part of the processes in the above-described method embodiments can be implemented by instructing the relevant hardware using a computer program. The computer program can be stored in a non-volatile computer-readable medium. When executed, the computer program can include the processes of the above-described method embodiments. Any reference to memory, storage, database, or other media used in the various embodiments provided herein may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct RAMbus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM).

[0179] The above is a detailed introduction to the symmetrical proportional valve control method, device, electronic equipment and vehicle provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A symmetrical proportional valve control method for vehicle control, wherein the symmetrical proportional valve comprises a left proportional valve and a right proportional valve, characterized in that: The method comprises: Determine the total execution capacity of the opening of the symmetrical proportional valve and the total target opening gap, and determine the total target execution gap based on the total execution capacity and the total target opening gap; the total execution capacity is the sum of the maximum opening range, response speed, and control accuracy of the left proportional valve and the right proportional valve; the total target opening gap is the sum of the left target opening gap and the right target opening gap, where the left target opening gap and the right target opening gap are the differences between the maximum openings and the executed openings on the left and right sides, respectively; Determining a left scaling execution coefficient and a right scaling execution coefficient, selecting a maximum value from the left scaling execution coefficient and the right scaling execution coefficient as a target scaling execution coefficient, and calculating a left target execution ratio and a right target execution ratio based on the target scaling execution coefficients; the left scaling execution coefficient and the right scaling execution coefficient are coefficients used to adjust the difference between the actual openings of the left proportional valve and the right proportional valve, respectively, and the target scaling execution coefficient is the larger value selected from the left scaling execution coefficient and the right scaling execution coefficient; Wherein, calculating the left target execution ratio and the right target execution ratio according to the target scaling execution coefficient includes: calculating the proportion of the left opening execution capability according to the total opening execution capability and the left opening execution capability; calculating the proportion of the right opening execution capability according to the total opening execution capability and the right opening execution capability; calculating the proportion of the left opening target gap according to the left opening target gap and the total opening target gap; calculating the proportion of the right opening target gap according to the right opening target gap and the total opening target gap; calculating the left opening target execution ratio according to the target scaling execution coefficient and the proportion of the left opening target gap; calculating the right opening target execution ratio according to the target scaling execution coefficient and the proportion of the right opening target gap; Calculate the left change increment and the right change increment according to the total target execution gap, the left target execution ratio and the right target execution ratio, and determine the left target opening time and the right target opening time according to the left change increment and the right change increment; The symmetrical proportional valve is controlled according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

2. The symmetrical proportional valve control method according to claim 1, characterized in that: Determine the total gap between the proportional valve opening execution capability and the opening target, including: Obtaining the left opening execution capability and the right opening execution capability, the left target opening and the right target opening, and the left executed opening and the right executed opening of the symmetrically arranged left proportional valve and the right proportional valve; Determining the sum of the left opening execution capability and the right opening execution capability as the total opening execution capability; Calculating a left opening target gap based on the left target opening and the left executed opening; Calculating a right opening target gap based on the right target opening and the right executed opening; The total target opening gap is determined by summing the left target opening gap and the right target opening gap.

3. The symmetrical proportional valve control method according to claim 1, characterized in that: Determining the total target execution gap according to the total opening execution capability and the total opening target gap includes: Generate a unit time execution total capacity according to the opening execution total capacity and a preset time period; The minimum value between the total execution capability per unit time and the total gap of the opening target is selected as the total target execution gap.

4. The symmetrical proportional valve control method according to claim 3, characterized in that: Determine the left and right scaling execution coefficients, including: Calculate the left zoom execution coefficient according to the left opening target gap ratio and the left opening execution capacity ratio; The right zoom execution coefficient is calculated according to the right opening target gap ratio and the right opening execution capability ratio.

5. The symmetrical proportional valve control method according to claim 1, characterized in that: Calculating the left change increment and the right change increment based on the total target execution gap, the left target execution ratio, and the right target execution ratio includes: The left opening change increment is calculated according to the total target execution gap and the left target execution ratio. The calculation formula of the left opening change increment is: ， in, is the increment of the opening of the left proportional valve, is the target execution ratio of the opening of the left proportional valve, Implementing total gap for opening target of symmetrical proportional valve; The right opening change increment is calculated according to the total target execution gap and the right target execution ratio. The calculation formula of the right opening change increment is: ， in, is the increment of the opening of the right proportional valve, is the target execution ratio of the opening of the right proportional valve, Implements total gap for opening target of symmetrical proportional valves.

6. The symmetrical proportional valve control method according to claim 5, characterized in that: Calculating the left target opening time and the right target opening time according to the left change increment and the right change increment includes: The left target opening time is calculated according to the left change increment and the left executed opening, and the calculation formula of the left target opening time is: ， in, The left target opening time is the time required for the left proportional valve to change its opening to the target opening of the left proportional valve. is the increment of the opening of the left proportional valve, is the left opening target gap; The right target opening time is calculated according to the right change increment and the right executed opening. The calculation formula of the right target opening time is: ， in, The right target opening time is the time required for the right proportional valve to change its opening to the target opening of the right proportional valve. is the increment of the opening of the right proportional valve, is the right opening target gap.

7. A symmetrical proportional valve control device, characterized in that: include: a target execution total gap calculation module, configured to determine the total opening execution capability and the total opening target gap of the symmetrical proportional valve, and to determine the target execution total gap based on the total opening execution capability and the total opening target gap; the total opening execution capability is the sum of the maximum opening range, response speed, and control accuracy achievable by the left and right proportional valves; and the total opening target gap is the sum of the left opening target gap and the right opening target gap, where the left opening target gap and the right opening target gap are the differences between the maximum openings and the executed openings on the left and right sides, respectively; a target execution ratio calculation module, configured to determine a left scaling execution coefficient and a right scaling execution coefficient, select the maximum value from among the left scaling execution coefficient and the right scaling execution coefficient as the target scaling execution coefficient, and calculate the left target execution ratio and the right target execution ratio based on the target scaling execution coefficient; the left scaling execution coefficient and the right scaling execution coefficient are coefficients used to adjust the difference between the actual openings of the left and right proportional valves, respectively, and the target scaling execution coefficient is the larger value selected from the left scaling execution coefficient and the right scaling execution coefficient; Wherein, calculating the left target execution ratio and the right target execution ratio according to the target scaling execution coefficient includes: calculating the proportion of the left opening execution capability according to the total opening execution capability and the left opening execution capability; calculating the proportion of the right opening execution capability according to the total opening execution capability and the right opening execution capability; calculating the proportion of the left opening target gap according to the left opening target gap and the total opening target gap; calculating the proportion of the right opening target gap according to the right opening target gap and the total opening target gap; calculating the left opening target execution ratio according to the target scaling execution coefficient and the proportion of the left opening target gap; calculating the right opening target execution ratio according to the target scaling execution coefficient and the proportion of the right opening target gap; an opening increment and time calculation module, configured to calculate a left change increment and a right change increment according to the total target execution gap, the left target execution ratio, and the right target execution ratio, and determine a left target opening time and a right target opening time according to the left change increment and the right change increment; The control module controls the symmetrical proportional valve according to the left change increment, the right change increment, the left target opening time, and the right target opening time.

8. A symmetrical proportional valve control electronic device, characterized in that: The method comprises a processor and a memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the steps of the symmetrical proportional valve control method according to any one of claims 1 to 6 are implemented.

9. A vehicle, characterized in that: The vehicle is provided with a symmetrical proportional valve control device or a symmetrical proportional valve control electronic device, so that the vehicle controls the vehicle system according to the symmetrical proportional valve control method according to any one of claims 1 to 6.

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