Motor displacement control method and device for engineering machinery, engineering machinery and medium

Abstract

The invention discloses a motor displacement control method of an engineering machine, electronic equipment, the engineering machine and a computer readable storage medium. The method comprises the steps that the current rotating speed of a hydraulic motor and target variable information influencing the rotating speed of the hydraulic motor are obtained; according to the target variable information, the theoretical rotating speed of the hydraulic motor is determined; and comparing the theoretical rotating speed with the current rotating speed, and adjusting the current control current of the hydraulic motor based on the obtained comparison result. Thus, the control current of the hydraulic motor is automatically adjusted according to the load condition, the overspeed and impact phenomena existing in the loading lowering process in the prior art are effectively avoided, and the safety of the engineering machinery is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering machinery, and in particular to a motor displacement control method of engineering machinery, electronic equipment, engineering machinery and a computer-readable storage medium. Background Art

[0002] At present, cranes mainly include hydraulic control systems based on hydraulic proportional pilots and electric control systems based on electric proportional pilots. Regardless of the control method, the hoisting mechanism is driven by a hydraulic motor. When the reducer is determined, the speed of the hoisting mechanism (that is, the speed of the hydraulic motor) mainly depends on the flow of the system and the displacement of the motor. In order to improve work efficiency, the hoisting mechanism usually uses a variable motor. The variable motor usually sets a cut-off pressure. When the motor pressure reaches the cut-off pressure value, it automatically switches from a small displacement to a large displacement to achieve self-protection of the motor. The cut-off pressure change range is only about 1MPa. However, due to the cut-off characteristics, when the pressure reaches near the cut-off pressure, if the load fluctuates, there will be violent high-frequency oscillations in the displacement, causing continuous shaking of the hoisting mechanism.

[0003] In order to take into account the efficiency and stability of the hoisting mechanism, different speed gear switches are usually set, which are realized by the maximum flow of the switch control system and the displacement of the motor. Customers can choose the available gear according to the load and operation requirements. This control method is simple, reliable, and has good stability. It is the current mainstream control method. However, if the high-speed gear is selected when loaded, the hydraulic motor is in a small displacement, so that the hoisting motor will slowly accelerate under the drag of the heavy object when it is lowered at high speed. As the descent distance increases, the speed will become faster and faster, forcing the motor speed to exceed its maximum allowable speed, and even out of control. At the same time, overspeed lowering will cause low oil pressure at the descent end, and the balance valve will suddenly close and then open, causing severe impact. However, the above-mentioned overspeed and impact phenomena will cause damage to the components of the hydraulic system, seriously affecting the safety of the crane's hoisting. Summary of the invention

[0004] The purpose of the present application is to provide a motor displacement control method, electronic equipment, engineering machinery and computer-readable storage medium for engineering machinery, which can effectively avoid the overspeed and impact phenomena that exist in the prior art when lowering the load by automatically adjusting the control current of the hydraulic motor, thereby improving the safety of the engineering machinery.

[0005] To achieve the above objectives:

[0006] In a first aspect, an embodiment of the present application provides a method for controlling motor displacement of an engineering machine, comprising:

[0007] Acquire the current speed of the hydraulic motor and target variable information affecting the speed of the hydraulic motor;

[0008] Determining the theoretical speed of the hydraulic motor according to the target variable information;

[0009] The theoretical rotation speed is compared with the current rotation speed, and the current control current of the hydraulic motor is adjusted based on the comparison result.

[0010] Optionally, the target variables include engine speed, control current of the main pump, electrical override control pressure of the hydraulic motor, single rope tension of the wire rope wound on the drum of the hoisting mechanism of the engineering machinery, and the number of layers of the wire rope.

[0011] Optionally, the acquisition of target variable information affecting the displacement of the hydraulic motor includes:

[0012] Obtaining the rope threading ratio of the hoisting mechanism and the lifting capacity of the engineering machinery;

[0013] Determining the electrical override control pressure of the hydraulic motor according to the rope threading ratio;

[0014] The single rope tension of the steel wire rope is determined according to the rope threading ratio and the lifting weight.

[0015] Optionally, determining the theoretical rotation speed of the hydraulic motor according to the target variable information includes:

[0016] According to the formula Calculate the theoretical speed n of the hydraulic motor; where n p represents the engine speed, I represents the control current of the main pump, y represents the number of layers of the wire rope, ΔP represents the electrical override control pressure, T represents the single rope tension, and a, b, c, d, and e are constants.

[0017] Optionally, when the displacement of the hydraulic motor is inversely proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result includes:

[0018] If the current control current of the hydraulic motor is greater than a preset minimum control current and less than or equal to a preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and a preset speed threshold, then control to reduce the current control current of the hydraulic motor;

[0019] If the current control current of the hydraulic motor is greater than or equal to the preset minimum control current and less than the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to increase.

[0020] Optionally, when the displacement of the hydraulic motor is proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result includes:

[0021] If the current control current of the hydraulic motor is greater than or equal to a preset minimum control current and less than a preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and a preset speed threshold, then control to increase the current control current of the hydraulic motor;

[0022] If the current control current of the hydraulic motor is greater than the preset minimum control current and less than or equal to the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to be reduced.

[0023] Optionally, the controlling reduces the current control current of the hydraulic motor, comprising:

[0024] Controlling the current control current of the hydraulic motor to decrease to any value in a preset current range;

[0025] The controlling increases the current control current of the hydraulic motor, including:

[0026] The current control current of the hydraulic motor is controlled to increase to any value in a preset current range.

[0027] Optionally, before obtaining the current rotation speed of the hydraulic motor, the method further includes:

[0028] In response to detecting that the operating handle of the engineering machine is triggered, the hydraulic motor is controlled to start according to a preset initial control current.

[0029] In a second aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing a computer program, and when the processor runs the computer program, the motor displacement control method of the above-mentioned engineering machinery is implemented.

[0030] In a third aspect, an embodiment of the present application provides a construction machinery comprising the electronic device described in the second aspect.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the motor displacement control method of the above-mentioned engineering machinery is implemented.

[0032] The motor displacement control method, electronic device, engineering machinery and computer-readable storage medium provided in the embodiments of the present application include: obtaining the current speed of the hydraulic motor and the target variable information affecting the speed of the hydraulic motor; determining the theoretical speed of the hydraulic motor according to the target variable information; comparing the theoretical speed and the current speed, and adjusting the current control current of the hydraulic motor based on the comparison result. In this way, the theoretical speed of the hydraulic motor is determined by the target variable information affecting the speed of the hydraulic motor, and then the theoretical speed of the hydraulic motor is compared with the actual speed, and the current control current of the hydraulic motor is adjusted based on the comparison result, so that the control current of the hydraulic motor can be automatically adjusted according to the load conditions, effectively avoiding the overspeed and impact phenomenon existing in the prior art when lowering with load, and improving the safety of the engineering machinery. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A schematic flow chart of a method for controlling motor displacement of an engineering machine provided by an embodiment of the present invention;

[0034] Figure 2 Schematic diagram of the process of obtaining target variable information in an embodiment of the present invention;

[0035] Figure 3 Schematic diagram of the motor displacement control logic of the engineering machinery provided in the embodiment of the present invention Figure 1 ;

[0036] Figure 4 Schematic diagram of the motor displacement control logic of the engineering machinery provided in the embodiment of the present invention Figure 2 ;

[0037] Figure 5 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0038] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0039] It should be noted that, in this article, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, components, features, and elements with the same name in different embodiments of the present application may have the same meaning or different meanings, and their specific meanings need to be determined by their explanation in the specific embodiment or further combined with the context of the specific embodiment.

[0040] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in this article, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this article, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein can be interpreted as "at the time of..." or "when..." or "in response to determination". Furthermore, as used in this article, the singular forms "one", "one" and "the" are intended to also include plural forms, unless there is an opposite indication in the context. It should be further understood that the terms "comprising", "including" indicate that there are described features, steps, operations, elements, components, projects, kinds, and / or groups, but do not exclude the existence, occurrence or addition of one or more other features, steps, operations, elements, components, projects, kinds, and / or groups. The terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Thus, “A, B, or C” or “A, B and / or C” means “any of the following: A; B; C; A and B; A and C; B and C; A, B, and C.” An exception to this definition will occur only when a combination of elements, functions, steps, or operations are inherently mutually exclusive in some manner.

[0041] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0042] It should be noted that, in this article, step codes such as S101, S102, etc. are used for the purpose of expressing the corresponding content more clearly and concisely, and do not constitute a substantial limitation on the sequence. When implementing the step, those skilled in the art may execute S102 first and then S101, etc., but these should all be within the scope of protection of this application.

[0043] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] In the subsequent description, the suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present application, and have no specific meanings. Therefore, "module", "component" or "unit" can be used in a mixed manner.

[0045] See also Figure 1 , is a motor displacement control method for an engineering machine provided in an embodiment of the present application. The motor displacement control method for an engineering machine can be executed by a motor displacement control device for an engineering machine provided in an embodiment of the present application. The motor displacement control device for an engineering machine can be implemented in software and / or hardware, such as an electronic device such as a controller or a server. In this embodiment, the execution subject of the motor displacement control method for an engineering machine is a controller in an engineering machine as an example. The motor displacement control method for an engineering machine provided in this embodiment includes:

[0046] Step S101: Acquire the current rotation speed of the hydraulic motor and target variable information affecting the rotation speed of the hydraulic motor.

[0047] It should be noted that the above-mentioned engineering machinery includes components such as a hoisting mechanism, a hydraulic motor, an engine, and an operating handle. The hoisting mechanism includes a drum and a wire rope wound on the drum, and can specifically be a crane or other machinery. In this embodiment, the engineering machinery is taken as an example of a crane. Among them, the current speed of the hydraulic motor can be obtained in real time by installing a speed sensor on the hydraulic motor, or the current speed of the hydraulic motor can be obtained by calculating and converting the speed obtained from the hoisting encoder, which is not specifically limited here. Among them, the time point for obtaining the current speed of the hydraulic motor and the target variable information affecting the speed of the hydraulic motor can be any time after a preset initial control current is given to the hydraulic motor to start the hydraulic motor, or it can be any time during the working process of the hydraulic motor.

[0048] There are many target variables that affect the speed of the hydraulic motor. In one embodiment, the target variables include the engine speed, the control current of the main pump, the electrical override control pressure of the hydraulic motor, the single rope tension of the wire rope, and the number of layers of the wire rope. Figure 2 As shown, the engine speed (denoted as n p ) can be read from the engine's electronic control unit (ECU) through a computer or other device. The ECU is an integrated control device for the engine that can process the information input by the engine's various sensors according to its own stored program, and then output instructions. The control current of the main pump (denoted as I) can be read from the controller. Its size depends on the opening of the operating handle, and the maximum value depends on the engine torque corresponding to the opening. The control current of the main pump is used to control the displacement of the main pump, thereby affecting the system flow. The electrical override control pressure of the hydraulic motor (denoted as ΔP) refers to the working pressure when the hydraulic motor needs to adjust the displacement, which is related to the rope threading ratio. The single rope tension of the wire rope (denoted as T) can be calculated by combining information such as the lifting weight. The number of layers of wire rope (denoted as y) can be obtained by calculation. The winch of the crane is equipped with an encoder that can read the number of turns of the drum. At the same time, the length of the wire rope will be calibrated by the encoder when the rope is threaded into the winch mechanism. The rope length of each layer of the drum is certain. In this way, the amount of rope output can be obtained according to the number of turns of the drum, thereby obtaining the number of layers of the wire rope.

[0049] In one embodiment, obtaining target variable information affecting the speed of the hydraulic motor includes:

[0050] Obtain the rope threading ratio of the winch mechanism and the lifting capacity of the construction machinery;

[0051] Determine the electrical override control pressure of the hydraulic motor according to the rope threading ratio and the number of layers of the wire rope;

[0052] Determine the single rope tension of the wire rope based on the rope threading ratio and lifting weight.

[0053] Specifically, the pressure fluctuation adjustment range of the hydraulic motor is obtained according to the rope threading ratio and the number of layers of the wire rope, and the electrical override starting pressure of the hydraulic motor is calculated in combination with the preset cut-off pressure of the hydraulic motor at the minimum displacement; and the single rope tension of the wire rope is determined according to the rope threading ratio and the lifting weight.

[0054] It can be understood that the rope threading ratio mainly depends on the number of pulley blocks, and the number of wire rope layers refers to the number of wire rope layers on the drum, which is related to the amount of rope output and mainly affects the torque of the hydraulic motor. When the displacement of the hydraulic motor is lower than the minimum allowable displacement, it will cause certain damage to the hydraulic motor. In order to make the displacement of the hydraulic motor automatically adapt to the hoisting mechanism under different loads, the hydraulic motor can be set with the corresponding pressure fluctuation adjustment range according to the rope threading ratio and the number of wire rope layers. Then, when the rope threading ratio and the number of wire rope layers are known, the hydraulic motor's electrical override adjustment pressure can be calculated in combination with the preset cut-off pressure of the hydraulic motor at the minimum displacement.

[0055] Step S102: Determine the theoretical rotation speed of the hydraulic motor according to the target variable information.

[0056] It can be understood that since the target variable affects the speed of the hydraulic motor, the theoretical speed of the hydraulic motor in the current state, that is, the theoretical optimal speed, can be calculated in real time according to the target variable information. p The function related to the control current I of the main pump, the number of layers of the wire rope y, the electrical override pressure ΔP, and the single rope tension T can be expressed as n = f(n p ,I,ΔP,T,y), such as Figure 2 As shown, and n∈[0,n max ],n max The maximum speed allowed by the hydraulic motor.

[0057] In one embodiment, determining the theoretical speed of the hydraulic motor according to the target variable information includes: according to the formula Calculate the theoretical speed n of the hydraulic motor; where n p represents the engine speed, I represents the control current of the main pump, y represents the number of layers of the wire rope, ΔP represents the electrical override control pressure, T represents the single rope tension, and a, b, c, d, and e are constants. Among them, a, b, c, d, and e can be determined based on the parameters of the main pump, the flow loss of the system, the parameters of the hydraulic motor, the drum parameters, and the reducer parameters.

[0058] Step S103: Compare the theoretical rotation speed with the current rotation speed, and adjust the current control current of the hydraulic motor based on the comparison result.

[0059] Specifically, the theoretical rotation speed of the hydraulic motor and the current rotation speed of the hydraulic motor are compared to obtain a comparison result, and then the current control current of the hydraulic motor is adjusted based on the comparison result to achieve automatic adjustment of the control current of the hydraulic motor according to the load conditions.

[0060] In one embodiment, when the displacement of the hydraulic motor is inversely proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result includes:

[0061] If the current control current of the hydraulic motor is greater than the preset minimum control current and less than or equal to the preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and the preset speed threshold, then control to reduce the current control current of the hydraulic motor;

[0062] If the current control current of the hydraulic motor is greater than or equal to the preset minimum control current and less than the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to increase.

[0063] It can be understood that when the displacement of the hydraulic motor is inversely proportional to the control current, if the current control current of the hydraulic motor is greater than the preset minimum control current and less than the preset maximum control current or equal to the preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and the preset speed threshold, it means that the displacement of the hydraulic motor is small at this time. In order to avoid overspeed and impact when lowering with load, the current control current of the hydraulic motor can be reduced. When the displacement of the hydraulic motor is inversely proportional to the control current, if the current control current of the hydraulic motor is equal to the preset minimum control current or greater than the preset minimum control current and less than the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, it means that the displacement of the hydraulic motor is large at this time. In order to make full use of the system efficiency and improve the motor speed, the current control current of the hydraulic motor can be increased. Among them, the preset speed threshold, the preset maximum control current and the preset minimum control current can be set according to actual needs, and are not specifically limited here. It can be understood that the preset speed threshold is equivalent to determining a range in which the speed fluctuation of the hydraulic motor is allowed. By comparing the difference between the theoretical speed and the preset speed threshold or the sum of the theoretical speed and the preset speed threshold with the current speed of the hydraulic motor, speed fluctuations caused by too frequent control current adjustment can be effectively avoided.

[0064] In one embodiment, when the displacement of the hydraulic motor is proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result includes:

[0065] If the current control current of the hydraulic motor is greater than or equal to the preset minimum control current and less than the preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and the preset speed threshold, then control to increase the current control current of the hydraulic motor;

[0066] If the current control current of the hydraulic motor is greater than the preset minimum control current and less than or equal to the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to be reduced.

[0067] It can be understood that when the displacement of the hydraulic motor is proportional to the control current, if the current control current of the hydraulic motor is equal to the preset minimum control current or greater than the preset minimum control current and less than the preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and the preset speed threshold, it means that the displacement of the hydraulic motor is small. In order to reduce the vibration of the winch and avoid the overspeed and impact when lowering the load, the current control current of the hydraulic motor can be increased. When the displacement of the hydraulic motor is proportional to the control current, if the current control current of the hydraulic motor is greater than the preset minimum control current and less than the preset maximum control current or equal to the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, it means that the displacement of the hydraulic motor is large at this time. In order to make full use of the system efficiency and increase the motor speed, the current control current of the hydraulic motor can be reduced.

[0068] In one embodiment, controlling to reduce the current control current of the hydraulic motor comprises:

[0069] Controlling the current control current of the hydraulic motor to decrease to any value in a preset current range;

[0070] Control and increase the current control current of the hydraulic motor, including:

[0071] The current control current of the hydraulic motor is controlled to increase to any value in a preset current range.

[0072] Among them, a preset current interval can be pre-set, and when it is necessary to control the current control current of the hydraulic motor to be reduced, the current control current of the hydraulic motor is controlled to be reduced by any value in the preset current interval, such as controlling the current control current of the hydraulic motor to be reduced by the maximum value in the preset current interval, etc., and when it is necessary to control the current control current of the hydraulic motor to be increased, the current control current of the hydraulic motor is controlled to be increased by any value in the preset current interval, such as controlling the current control current of the hydraulic motor to be reduced by the minimum value in the preset current interval, etc. In this way, the current control current of the hydraulic motor can be quickly reduced or increased.

[0073] For example, the current control current of the hydraulic motor is I m, the maximum control current of the hydraulic motor is I max and the minimum control current is I min , the minimum current interval for increasing or decreasing is ΔI m , the allowable speed fluctuation range is Δn, the current speed of the hydraulic motor is n1, and the theoretical speed of the hydraulic motor is n.

[0074] (1) When the displacement of the hydraulic motor is inversely proportional to the control current, the theoretical speed of the hydraulic motor is compared with the current speed of the hydraulic motor, i.e., the actual speed. Then, the control current of the hydraulic motor is adjusted in real time according to the relationship between the two. The corresponding logic is as follows: Figure 3 As shown, including:

[0075] Determine the current control current I of the hydraulic motor m Is the maximum control current I of the hydraulic motor max and minimum control current I min within the range.

[0076] When I m =I max When the motor is at the minimum displacement, if n1≥n+Δn, the control current of the hydraulic motor is reduced, that is, I m =I m -ΔI m .

[0077] When I m =I min When the motor is at its maximum displacement, if n1≤n-Δn, increase the control current of the hydraulic motor, that is, I m =I m +ΔI m .

[0078] When I min m max When the motor displacement is between the minimum displacement and the maximum displacement, if n1≥n+Δn, the control current of the hydraulic motor is reduced, that is, I m =I m -ΔI m ; If n1≤n-Δn, increase the control current of the hydraulic motor, that is, I m =I m +ΔI m .

[0079] (2) When the displacement of the hydraulic motor is proportional to the control current, the theoretical speed of the hydraulic motor is compared with the current speed of the hydraulic motor, i.e., the actual speed. Then, the control current of the hydraulic motor is adjusted in real time according to the relationship between the two. The corresponding logic is as follows: Figure 4 As shown, including:​​

[0080] Determine the current control current I of the hydraulic motor m Is the maximum control current I of the hydraulic motor max and minimum control current I min within the range.

[0081] When I m =I min When the motor is at the minimum displacement, if n1≥n+Δn, the control current of the hydraulic motor is increased, that is, I m =I m +ΔI m .

[0082] When I m =I max When the motor is at its maximum displacement, if n1≤n-Δn, the control current of the hydraulic motor is reduced, that is, I m =I m -ΔI m .

[0083] When I min m max When the motor displacement is between the minimum displacement and the maximum displacement, if n1≥n+Δn, the control current of the hydraulic motor is increased, that is, I m =I m +ΔI m If n1≤n-Δn, then reduce the control current of the hydraulic motor, that is, I m =I m -ΔI m .

[0084] ​​In summary, in the motor displacement control method for engineering machinery provided in the above embodiments, firstly, various variables affecting the speed of the hydraulic motor are fully considered and various variables are associated with the calculated value of the theoretical speed of the hydraulic motor, so that the theoretical optimal speed matching the current state can be calculated in real time, avoiding the influence of different working conditions on the accuracy of the theoretical speed calculation result of the hydraulic motor; secondly, the actual output speed of the hydraulic motor is used as the control feedback variable to form a closed-loop control, which has higher control accuracy and faster response, that is, through the logical comparison of the actual speed and the theoretical speed, the current (or displacement) of the hydraulic motor can be automatically adjusted in real time, effectively avoiding the overspeed and instantaneous impact phenomena that exist in the prior art when lowering with load; secondly, when comparing the actual speed with the theoretical speed, the range in which the speed fluctuation of the hydraulic motor is allowed is given, effectively avoiding the speed fluctuation caused by too frequent control current adjustment; secondly, there is no need to select a switch for speed control under different loads, and the operation is simpler and smarter. In this way, the motor displacement control method for engineering machinery provided in this embodiment automatically adjusts the control current of the hydraulic motor according to the load conditions, effectively avoiding the overspeed and impact phenomena that exist in the prior art when lowering the load, and improving the safety of the engineering machinery.

[0085] In one embodiment, before obtaining the current rotation speed of the hydraulic motor, the method further includes:

[0086] In response to detecting that the operating handle of the engineering machine is triggered, the hydraulic motor is controlled to start according to a preset initial control current.

[0087] Among them, when it is detected that the operating handle of the construction machinery is triggered, it means that the user needs the hydraulic motor to work at this time, then the hydraulic motor is controlled to start according to the preset initial control current, thereby ensuring that the motor displacement control of the construction machinery can enter a closed loop, and at the same time can also speed up the response speed.

[0088] Based on the same inventive concept as the above embodiments, an embodiment of the present invention provides an electronic device, such as Figure 5 As shown, the electronic device includes: a processor 310 and a memory 311 storing a computer program; wherein, Figure 5 The processor 310 shown in the figure is not used to indicate that the number of the processor 310 is one, but is only used to indicate the positional relationship of the processor 310 relative to other devices. In actual applications, the number of the processor 310 may be one or more; similarly, Figure 5 The memory 311 shown in the figure has the same meaning, that is, it is only used to refer to the position relationship of the memory 311 relative to other devices. In practical applications, the number of memories 311 can be one or more. When the processor 310 runs the computer program, the motor displacement control method of the engineering machinery described above is implemented.

[0089] The electronic device may also include: at least one network interface 312. The various components in the electronic device are coupled together via a bus system 313. It is understood that the bus system 313 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 313 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, the bus system 313 is not used in the following examples. Figure 5 Various buses are labeled as bus system 313.

[0090] The memory 311 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. The nonvolatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory may be a disk memory or a tape memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM, SyncLink Dynamic Random Access Memory), and direct RAM bus random access memory (DRRAM, Direct Rambus Random Access Memory).The memory 311 described in the embodiments of the present invention is intended to include but is not limited to these and any other suitable types of memories.

[0091] The memory 311 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device. Examples of these data include: any computer program used to operate on the electronic device, such as an operating system and an application; contact data; phone book data; messages; pictures; videos, etc. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., which are used to implement various basic services and process hardware-based tasks. The application program may include various applications, such as a media player (Media Player), a browser (Browser), etc., which are used to implement various application services. Here, the program that implements the method of the embodiment of the present invention may be included in the application program.

[0092] Based on the same inventive concept as the aforementioned embodiment, an embodiment of the present invention provides a construction machinery, including the electronic device as described in the aforementioned embodiment.

[0093] Based on the same inventive concept as the above-mentioned embodiment, this embodiment further provides a computer storage medium, in which a computer program is stored. The computer storage medium may be a ferromagnetic random access memory (FRAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a flash memory, a magnetic surface memory, an optical disc, or a compact disc read-only memory (CD-ROM) or the like; it may also be various devices including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc. When the computer program stored in the computer storage medium is executed by the processor, the above-mentioned motor displacement control method of the engineering machinery is implemented. For the specific steps implemented when the computer program is executed by the processor, please refer to Figure 1 The description of the illustrated embodiment will not be repeated here.

[0094] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0095] In this document, the terms "comprises," "comprising," or any other variations thereof, are intended to cover a non-exclusive inclusion of elements other than those listed and may also include additional elements not expressly listed.

[0096] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for controlling motor displacement of an engineering machine, characterized in that: The method comprises: Acquire the current speed of the hydraulic motor and target variable information affecting the speed of the hydraulic motor; Determining the theoretical speed of the hydraulic motor according to the target variable information; The theoretical rotation speed is compared with the current rotation speed, and the current control current of the hydraulic motor is adjusted based on the comparison result.

2. The method according to claim 1, characterized in that The target variables include engine speed, control current of the main pump, electrical override pressure of the hydraulic motor, single rope tension of the steel wire rope wound on the drum of the hoisting mechanism of the engineering machinery, and the number of layers of the steel wire rope.

3. The method according to claim 1, characterized in that Determining the theoretical speed of the hydraulic motor according to the target variable information includes: According to the formula Calculate the theoretical speed n of the hydraulic motor; where n p represents the engine speed, I represents the control current of the main pump, y represents the number of layers of the wire rope, ΔP represents the electrical override control pressure, T represents the single rope tension, and a, b, c, d, and e are constants.

4. The method according to claim 3, characterized in that When the displacement of the hydraulic motor is inversely proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result comprises: If the current control current of the hydraulic motor is greater than a preset minimum control current and less than or equal to a preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and a preset speed threshold, then control to reduce the current control current of the hydraulic motor; If the current control current of the hydraulic motor is greater than or equal to the preset minimum control current and less than the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to increase.

5. The method according to claim 3, characterized in that: When the displacement of the hydraulic motor is proportional to the control current, adjusting the current control current of the hydraulic motor based on the obtained comparison result comprises: If the current control current of the hydraulic motor is greater than or equal to a preset minimum control current and less than a preset maximum control current, and the current speed is greater than or equal to the sum of the theoretical speed and a preset speed threshold, then control to increase the current control current of the hydraulic motor; If the current control current of the hydraulic motor is greater than the preset minimum control current and less than or equal to the preset maximum control current, and the current speed is less than or equal to the difference between the theoretical speed and the preset speed threshold, the current control current of the hydraulic motor is controlled to be reduced.

6. The method according to claim 4 or 5, characterized in that: The controlling reduces the current control current of the hydraulic motor, including: Controlling the current control current of the hydraulic motor to decrease to any value in a preset current range; The controlling increases the current control current of the hydraulic motor, including: The current control current of the hydraulic motor is controlled to increase to any value in a preset current range.

7. The method according to claim 1, characterized in that Before obtaining the current speed of the hydraulic motor, the method further includes: In response to detecting that the operating handle of the engineering machine is triggered, the hydraulic motor is controlled to start according to a preset initial control current.

8. An electronic device, characterized in that: include: A processor and a memory storing a computer program, wherein when the processor runs the computer program, the motor displacement control method for an engineering machine according to any one of claims 1 to 7 is implemented.

9. An engineering machine, characterized in that: Comprising an electronic device according to claim 8.

10. A computer-readable storage medium, characterized in that: A computer program is stored, and when the computer program is executed by a processor, the motor displacement control method of the construction machinery according to any one of claims 1 to 7 is implemented.

Images