Automatic regulation control method for rotating speed of hydraulic motor of electric loader

Abstract

The invention discloses a method for automatically adjusting and controlling the rotating speed of a hydraulic motor of an electric loader. The method comprises the steps that rotating speed threshold values of a main hydraulic motor in different working states are set; the working state of the loader and the rotating speed of the main hydraulic motor are monitored in real time, whether the actual rotating speed of the main hydraulic motor is within a rotating speed threshold value or not is judged, and the rotating speed of the main hydraulic motor is adjusted in real time; recording and collecting motion states of a bucket of the loader in different working states, and establishing a load model; based on the load model, the current working state of the loader and the target rotating speed of the main hydraulic motor under different movement states of the bucket are calculated; the actual rotating speed of the main hydraulic motor is compared with the target rotating speed, and the rotating speed of the main hydraulic motor is adjusted in real time till the actual rotating speed and the target rotating speed reach the allowable error range; it is ensured that the rotating speed of the main hydraulic motor is matched with the actual load requirement, and therefore the main hydraulic motor can always keep the optimal operation state under various operation conditions.

Description

Technical Field

[0001] The invention relates to the technical field of motor speed control, and in particular to an automatic adjustment and control method for the speed of a hydraulic motor of an electric loader. Background Art

[0002] In the operation of electric loaders, the hydraulic system plays a vital role, especially the speed regulation of the main hydraulic motor, which directly affects the working efficiency and overall performance of the loader. Electric loaders are usually used in a variety of working conditions, such as driving, loading, unloading and steering, and these working conditions have different load requirements on the hydraulic system.

[0003] Traditional electric loaders usually rely on manually set or fixed speeds when dealing with different working conditions, which has obvious shortcomings. First, the fixed speed may not meet the load requirements under different working conditions, resulting in low system efficiency and energy waste. For example, the bucket is heavily loaded in the loading state, while in the unloading state, the bucket position and logistics unloading speed will change. These factors will affect the load state of the bucket, and the speed required by the hydraulic motor will change accordingly.

[0004] Therefore, it is necessary to design an automatic adjustment control method for the speed of the hydraulic motor of the electric loader, aiming to optimize the speed control of the hydraulic motor through precise real-time monitoring and adjustment, thereby effectively improving the working efficiency of the electric loader, extending the service life of the equipment, improving operational safety, and enhancing the control performance of the overall system. Summary of the invention

[0005] The invention overcomes the shortcomings of the prior art and provides an automatic adjustment and control method for the rotation speed of a hydraulic motor of an electric loader.

[0006] To achieve the above object, the technical solution adopted by the present invention is a method for automatically adjusting and controlling the speed of a hydraulic motor of an electric loader, comprising the following steps:

[0007] Step S1, establishing a control system, and setting the speed threshold of the main hydraulic motor under different working conditions according to the working condition of the loader;

[0008] Step S2, real-time monitoring of the working state of the loader and the rotation speed of the main hydraulic motor, determining whether the actual rotation speed of the main hydraulic motor is within the rotation speed threshold under this working state, and adjusting the rotation speed of the main hydraulic motor in real time;

[0009] Step S3, recording and collecting the motion state of the bucket of the loader under different working states, establishing a load model based on the obtained working state and motion state, and determining the load force of the bucket;

[0010] Step S4: Calculate the target speed of the main hydraulic motor under the current working state of the loader and different movement states of the bucket based on the load model;

[0011] Step S5: According to the comparison between the actual rotation speed of the main hydraulic motor and the target rotation speed, the rotation speed of the main hydraulic motor is adjusted in real time until the actual rotation speed and the target rotation speed are within the allowable error range.

[0012] In a preferred embodiment of the present invention, in step S1, the working state of the loader includes: driving state, loading state, unloading state, and standby state.

[0013] In a preferred embodiment of the present invention, in step S2, it is determined whether the actual speed of the main hydraulic motor is within the speed threshold in this working state, and the speed of the main hydraulic motor is adjusted in real time. Specifically, if the actual speed of the main hydraulic motor is within the speed threshold range, it means that the current speed meets the working requirements and no adjustment is required, and the current state operation is continued;

[0014] If the actual speed exceeds or is lower than the speed threshold range, the control system will adjust the speed of the main hydraulic motor in real time according to the size and direction of the speed deviation, and monitor the changes in the actual speed of the main hydraulic motor until the actual speed returns to the speed threshold range.

[0015] In a preferred embodiment of the present invention, in step S3, the motion state of the bucket includes: bucket position, load, rotation angle, and logistics unloading speed.

[0016] In a preferred embodiment of the present invention, step S3 includes the following sub-steps:

[0017] Step S31, using sensors installed on the loader and the bucket to monitor parameter data of the bucket position, load, rotation angle, logistics unloading speed and parameter data of the hydraulic pump, and controlling the load balance of the bucket;

[0018] Step S32, analyzing the influence of bucket angle, bucket height, and logistics unloading speed on the load;

[0019] Step S33: Combine the influencing factors in step S32 to establish a load model, specifically, Calculate the load force of the bucket under different motion states, where m is the mass of the material, g is the acceleration of gravity, θ is the rotation angle of the bucket, h is the height of the bucket, H is the maximum height that the bucket can reach, φ represents the speed at which the material in the bucket is unloaded, and φ max Indicates the maximum unloading speed of logistics, is an influencing factor used to quantify the effect of unloading speed on bucket load.

[0020] In a preferred embodiment of the present invention, in step S31, the method for controlling the load balancing of the bucket includes the following steps:

[0021] Step S311, real-time monitoring of pressure change data on both sides of the bucket, and transmission to the control system to analyze the load distribution and tilt of the bucket;

[0022] Step S312: preset a balance threshold in the control system to determine whether both sides of the bucket are in a balanced state;

[0023] Step S313: The control system compares the processed data with a preset balance threshold to determine whether the two sides of the bucket are balanced. If the pressure difference between the two sides exceeds the threshold, it is determined to be an unbalanced state.

[0024] Step S314: The control system calculates the oil flow rate that needs to be adjusted for the hydraulic rods on both sides of the bucket, and dynamically generates an adjustment signal according to the pressure difference and a preset threshold value;

[0025] Step S315: The control system controls the operation of the auxiliary hydraulic motor through the calculated adjustment signal, and adjusts the oil flow of the hydraulic rods on both sides in real time to maintain the balance of the bucket.

[0026] In a preferred embodiment of the present invention, in step S4, the target speed of the main hydraulic motor under the current working state of the loader and different motion states of the bucket is calculated, including the following steps:

[0027] Step S41: Calculate the output power required by the main hydraulic motor according to the obtained load force F. Where, v represents the instantaneous speed of the bucket, and η represents the mechanical efficiency of the main hydraulic motor;

[0028] Step S42: Calculate the torque T of the main hydraulic motor based on the output power required by the main hydraulic motor, and ensure that the torque T of the main hydraulic motor does not exceed its maximum torque limit;

[0029] Step S43: Calculate the target speed of the main hydraulic motor based on the relationship between the output power of the main hydraulic motor and its torque and speed.

[0030] In a preferred embodiment of the present invention, in step S5, the actual speed of the main hydraulic motor is monitored in real time and transmitted to the control system for comparison with the target speed, and the difference between the actual speed and the target speed is calculated. Based on the calculated error, the control system generates an adjustment signal to adjust the speed of the main hydraulic motor until the actual speed and the target speed are within the error range.

[0031] A bucket for an electric loader comprises: a bucket body, hydraulic rods located on both sides of the bucket body, and a support frame rotatably mounted on the back of the bucket body;

[0032] One end of the hydraulic rod is rotatably mounted on the bucket body, and the other end is rotatably mounted on the arm of the loader, and the oil flow of the hydraulic rod is controlled by the control system inside the loader;

[0033] The support frame includes: a support plate, support legs distributed on one side of the support plate, and a connecting column fixed on the other side of the support plate; the connecting column is rotatably connected to the bucket body, and the support legs are provided with connecting holes for installing the loader support arm, and the bucket body is driven to move through the loader support arm.

[0034] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0035] (1) The present invention provides an automatic adjustment and control method for the speed of a hydraulic motor of an electric loader. By recording the motion state of the bucket and establishing a load model, the load force of the bucket in different operating states and motion states is accurately calculated, and the target speed of the hydraulic motor under this load is determined accordingly. This ensures that the speed of the main hydraulic motor matches the actual load requirement, so that the main hydraulic motor can always maintain the best operating state under various operating conditions, thereby improving work efficiency and system stability and reducing energy waste.

[0036] (2) The present invention sets a speed threshold value for the main hydraulic motor under different working conditions and compares the actual speed with the set speed threshold value. The control system ensures that the main hydraulic motor always operates within the set speed threshold value under different working conditions, thereby avoiding energy waste caused by excessively high or low speeds. This allows the electric loader to work efficiently under various working conditions, thereby enhancing the adaptability of the system.

[0037] (3) The present invention helps to reduce the tilt and swing of the bucket during operation by controlling the load balance of the bucket, avoids severe vibration caused by uneven load, and can significantly improve the stability of the loader under various operating conditions. At the same time, it can also reduce the additional burden on the main hydraulic motor caused by the load imbalance of the bucket, thereby reducing energy consumption and improving energy utilization efficiency.

[0038] (4) The present invention provides the main power of the loader through the main hydraulic motor, and the auxiliary hydraulic motor assists the main hydraulic motor, thereby reducing the fluctuation and burden of the main motor under high load conditions, reducing energy waste, improving the energy efficiency of the overall system, and enhancing the stability of the system.

[0039] (5) The present invention preliminarily adjusts the speed of the main hydraulic motor according to a preset speed threshold, which not only enables the motor speed to quickly adapt to complex and changeable working conditions, but also lays a solid foundation for accurate comparison and adjustment in the subsequent step S5, effectively narrowing the initial gap between the actual speed and the target speed, avoiding system fluctuations caused by large-scale adjustments, and improving the accuracy of the adjustment. The target speed of the main hydraulic motor is calculated using the load model, and the speed of the main hydraulic motor is further adjusted to ensure that the speed of the main hydraulic motor matches the actual load demand, thereby further improving the accuracy of the adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 It is a flow chart of a method for automatically adjusting and controlling the speed of a hydraulic motor of an electric loader according to the present invention;

[0042] Figure 2 is a front view schematic diagram of the bucket of the present invention;

[0043] Figure 3 It is a schematic diagram of the structure of the bucket of the present invention;

[0044] In the figure: 1. bucket body; 2. hydraulic rod; 3. support plate; 4. support leg; 5. connecting column; 6. connecting hole. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0047] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0048] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0049] like Figure 1 As shown, a method for automatically adjusting and controlling the speed of a hydraulic motor of an electric loader comprises the following steps:

[0050] Step S1, establishing a control system, according to the working state of the loader, wherein the working state of the loader includes: driving state, loading state, unloading state, and standby state, setting the speed threshold of the main hydraulic motor in different working states, which needs to be set according to the characteristics and requirements of each working state. For example, in the loading state, the motor needs to provide a higher speed to cope with a larger load, while in the standby state, the speed can be set to a lower value to save energy;

[0051] The preset speed threshold makes a preliminary adjustment to the speed of the main hydraulic motor, which not only enables the motor speed to quickly adapt to complex and changeable working conditions, but also lays a solid foundation for the precise comparison and adjustment in the subsequent step S5, effectively narrowing the initial gap between the actual speed and the target speed.

[0052] Step S2, real-time monitoring of the working state of the loader and the rotation speed of the main hydraulic motor, determining whether the actual rotation speed of the main hydraulic motor is within the rotation speed threshold under this working state, and adjusting the rotation speed of the main hydraulic motor in real time;

[0053] It should be noted that it is necessary to judge whether the actual speed of the main hydraulic motor is within the speed threshold under this working state, and adjust the speed of the main hydraulic motor in real time. Specifically, if the actual speed of the main hydraulic motor is within the speed threshold range, it means that the current speed meets the working requirements and no adjustment is required, and the current state operation is continued;

[0054] If the actual speed exceeds or is lower than the speed threshold range, the control system will make real-time adjustments to the speed of the main hydraulic motor according to the size and direction of the speed deviation, mainly deciding whether to increase or decrease the motor speed based on the positive or negative error (i.e. whether the actual speed is higher or lower than the target speed), and monitor changes in the actual speed of the main hydraulic motor until the actual speed returns to the speed threshold range.

[0055] Step S3, recording the motion state of the bucket of the collection loader under different working states, establishing a load model based on the obtained working state and motion state, and determining the load force of the bucket, wherein the motion state of the bucket includes: bucket position, load, rotation angle, and logistics unloading speed;

[0056] This is mainly because the bucket position, load, rotation angle and logistics unloading speed will directly affect the bucket load state. The bucket position and rotation angle affect the center of gravity and distribution of the material, which directly affects the uniformity and stability of the load. At the same time, the size of the load determines the power required by the hydraulic system. A larger load requires the main hydraulic motor to output more power. Changes in the unloading speed affect the smoothness of the material flow, thereby affecting the dynamic characteristics of the load.

[0057] Step S4: Calculate the target speed of the main hydraulic motor under the current working state of the loader and different movement states of the bucket based on the load model;

[0058] Step S5: According to the comparison between the actual rotation speed of the main hydraulic motor and the target rotation speed, the rotation speed of the main hydraulic motor is adjusted in real time until the actual rotation speed and the target rotation speed are within the allowable error range.

[0059] In summary, in the present invention, a control system is established, and the working states of the loader are divided, which generally include driving, loading, unloading and standby states. For each state, the control system will preset a corresponding speed threshold according to the actual operation requirements and load conditions; for example, in the loading state, the speed threshold will be set to be higher to meet the increased hydraulic power requirements; and in the standby state, the speed threshold will be lower to reduce energy consumption. Through these speed thresholds, the control system can provide a clear reference standard for the actual operation of the hydraulic motor, ensuring that the motor can operate efficiently under various working conditions;

[0060] The control system monitors the working status of the loader and the actual speed of the main hydraulic motor in real time. The monitored data will be compared with the preset speed threshold. This process includes comparing the difference between the actual speed and the set threshold, and deciding whether adjustment is needed; if the actual speed is within the preset threshold range, the control system will control the main hydraulic motor to maintain the current speed without adjustment; if the actual speed exceeds or falls below the threshold range, the control system will automatically adjust. The real-time adjustment mechanism ensures that the hydraulic motor can respond quickly to changes in load, thereby avoiding energy waste or efficiency loss caused by speed deviation;

[0061] Because the bucket's position, load, rotation angle and logistics unloading speed will directly affect the bucket's load state, and the bucket's position and rotation angle affect the center of gravity and distribution of the material, which directly affects the uniformity and stability of the load; at the same time, the size of the load determines the power required by the hydraulic system. A larger load requires the main hydraulic motor to output more power, and changes in the unloading speed affect the smoothness of the material flow, thereby affecting the dynamic characteristics of the load. Therefore, a load model related to the bucket's position, load, rotation angle and logistics unloading speed is established to accurately calculate the bucket's load force under different operating conditions. The establishment of the load model is crucial to the subsequent target speed calculation, because the speed of the hydraulic motor needs to be adjusted according to the output of the load model to ensure that the main hydraulic motor can maintain the best operating state under actual load conditions, and the best operating state means that the speed of the main hydraulic motor can accurately match the actual load requirements;

[0062] The control system calculates the target speed of the main hydraulic motor based on the load model, calculates the required output power through the load force, and then calculates the torque of the main hydraulic motor based on the power to ensure that it does not exceed the maximum torque limit of the main hydraulic motor. The target speed is calculated based on the relationship between power and torque. In this process, it ensures that the main hydraulic motor can provide sufficient power when handling the actual load, while avoiding overload operation. By calculating the target speed, the control system can determine the optimal speed required under different working conditions and load conditions;

[0063] The control system monitors the actual speed of the main hydraulic motor in real time and compares it with the calculated target speed. If a gap is found between the actual speed and the target speed, the system will generate an adjustment signal and adjust the speed of the main hydraulic motor in real time according to the adjustment signal. The adjustment process aims to adjust the actual speed to be close to the target speed to ensure that the error is within the allowable range. The precise adjustment process not only improves the working efficiency of the hydraulic motor, but also enhances the system's adaptability to load changes, thereby optimizing the performance of the entire loader. The allowable range of error is determined by conducting experiments under different loads and working conditions, analyzing the range of actual errors, and performing statistical analysis on the test data to find out the common error range and use it as a reference for the error range.

[0064] In the present invention, step S3 includes the following sub-steps:

[0065] Step S31, using sensors installed on the loader and the bucket to monitor parameter data of the bucket position, load, rotation angle, logistics unloading speed and parameter data of the hydraulic pump, and controlling the load balance of the bucket;

[0066] Step S32, analyzing the influence of bucket angle, bucket height, and logistics unloading speed on the load;

[0067] Step S33: Combine the influencing factors in step S32 to establish a load model, specifically, Calculate the load force of the bucket under different motion states, where m is the mass of the material, g is the acceleration of gravity, θ is the rotation angle of the bucket, h is the height of the bucket, H is the maximum height that the bucket can reach, φ represents the speed at which the material in the bucket is unloaded, and φ max Indicates the maximum unloading speed of logistics, is an influencing factor used to quantify the effect of unloading speed on bucket load.

[0068] Because, in actual situations, the material distribution in the bucket is uneven, and the uneven distribution of materials will lead to an unbalanced load on the bucket, which will cause load fluctuations in the motor during operation. When the bucket is tilted or moved, the center of gravity of the material will shift, which will cause changes in the pressure in the hydraulic system, and thus affect the load of the main hydraulic motor. The main hydraulic motor must constantly adjust the speed to adapt to this load fluctuation, so that the speed of the motor is frequently adjusted up and down, which not only increases the mechanical wear of the motor, but may also lead to a decrease in energy efficiency and increase the load of the main hydraulic motor, because the efficiency of the motor usually decreases when it is running in an unstable working state;

[0069] like Figure 2 and Figure 3 Therefore, it is necessary to control the load balance of the bucket. In step S31, the load balance method of the bucket is controlled, comprising the following steps:

[0070] Step S311, real-time monitoring of pressure change data on both sides of the bucket, and transmission to the control system to analyze the load distribution and tilt of the bucket;

[0071] Pressure sensors are installed on both sides of the bucket to measure the pressure data in the bucket in real time, which can reflect the load distribution of the bucket. The pressure sensors transmit real-time pressure data to the control system and digitally process these signals to form a data stream that can be used for analysis, providing basic data for load balancing.

[0072] Step S312, preset a balance threshold in the control system to determine whether the two sides of the bucket are in a balanced state, wherein the balance threshold sets the threshold of the load difference according to actual operation experience and industry standards, for example, setting the load difference on both sides of the bucket not exceeding 10% as the balance threshold, and setting the balance threshold enables the control system to clearly define the allowable deviation range of the load;

[0073] Step S313: The control system compares the processed data with a preset balance threshold to determine whether the two sides of the bucket are balanced. If the pressure difference between the two sides exceeds the threshold, it is determined to be an unbalanced state.

[0074] The real-time collected pressure data is compared with the preset balance threshold. The control system will analyze the difference in pressure data on both sides to determine whether it exceeds the set threshold. If the pressure difference exceeds the preset threshold, the system determines that the bucket load is unbalanced. If it is within the threshold range, the load balance is good. Through data comparison and judgment, the system can promptly detect the imbalance problem of bucket load;

[0075] Step S314, the control system calculates the oil flow rate that needs to be adjusted for the hydraulic rods 2 on both sides of the bucket, and dynamically generates an adjustment signal according to the pressure difference and a preset threshold value;

[0076] Step S315, the control system controls the operation of the auxiliary hydraulic motor through the calculated adjustment signal, and adjusts the oil flow of the hydraulic rods 2 on both sides in real time to keep the bucket balanced;

[0077] Specifically, the calculated adjustment signal is transmitted to the flow control valve that controls the oil flow of the hydraulic rods 2 on both sides of the bucket. The oil flow of the hydraulic rods 2 on both sides of the bucket is adjusted according to the adjustment signal to change the operating state of the hydraulic rods 2, thereby balancing the load of the bucket.

[0078] It should be noted that, by setting up an auxiliary hydraulic motor and controlling the load balance of the bucket through it, the auxiliary hydraulic motor reduces the burden of the main hydraulic motor by accurately controlling the load balance of the bucket. The auxiliary motor is responsible for adjusting the oil flow of the hydraulic rods 2 on both sides of the bucket to ensure that the load of the bucket is evenly distributed under various operating conditions, so that the main hydraulic motor can operate under more stable working conditions, avoiding power fluctuations caused by uneven loads, reducing energy waste of the main hydraulic motor, and making it operate in a more efficient state, thereby improving the energy utilization efficiency of the entire hydraulic system;

[0079] The setting of the auxiliary hydraulic motor helps to extend the service life of the main hydraulic motor. By sharing the task of load adjustment, the auxiliary hydraulic motor reduces the additional stress on the main hydraulic motor when the load is unbalanced.

[0080] In addition, by controlling the balance of the bucket load, the vibration and tilt caused by load imbalance can be effectively reduced, allowing the loader to maintain higher stability during operation. The stability is directly converted into smooth operation of the main hydraulic motor under stable load, further enhancing the overall safety and operational reliability of the system and reducing the risk of accidents caused by equipment instability.

[0081] It should be noted that the bucket includes: a bucket body 1, hydraulic rods 2 located on both sides of the bucket body 1, and a support frame rotatably mounted on the back of the bucket body 1, and pressure sensors are installed on both sides of the inside of the bucket body 1 to measure the pressure data in the bucket in real time;

[0082] One end of the hydraulic rod 2 is rotatably mounted on the bucket body 1, and the other end is rotatably mounted on the arm of the loader, and the oil flow of the hydraulic rod 2 is controlled by a control system inside the loader;

[0083] The support frame includes: a support plate 3, support legs 4 distributed on one side of the support plate 3, and a connecting column 5 fixed on the other side of the support plate 3; the connecting column 5 is rotatably connected to the bucket body 1, and the support legs 4 are provided with connecting holes 6 for installing the loader arm, and the bucket body 1 is driven to move by the loader arm.

[0084] In the present invention, in step S4, the target speed of the main hydraulic motor under the current working state of the loader and different motion states of the bucket is calculated, including the following steps:

[0085] Step S41: Calculate the output power required by the main hydraulic motor according to the obtained load force F. Where, v represents the instantaneous speed of the bucket, and η represents the mechanical efficiency of the main hydraulic motor;

[0086] Step S42: Calculate the torque T of the main hydraulic motor based on the output power required by the main hydraulic motor. Wherein, ω is the angular velocity of the main hydraulic motor, and ensures that the torque T of the main hydraulic motor does not exceed its maximum torque limit;

[0087] Step S43: Calculate the target speed of the main hydraulic motor based on the relationship between the output power of the main hydraulic motor and its torque and speed. n represents the target speed of the main hydraulic motor.

[0088] The target speed of the main hydraulic motor is calculated using the load model, and the speed of the main hydraulic motor is further adjusted to ensure that the speed of the main hydraulic motor matches the actual load requirement, thereby further improving the accuracy of the adjustment.

[0089] In the present invention, in step S5, the actual speed of the main hydraulic motor is monitored in real time and transmitted to the control system for comparison with the target speed, and the difference between the actual speed and the target speed is calculated. According to the calculated error, the control system generates an adjustment signal to adjust the speed of the main hydraulic motor until the actual speed and the target speed are within the error range;

[0090] If the actual speed is lower than the target speed, the system will increase the input signal of the motor to increase the speed; if the actual speed is higher than the target speed, the system will reduce the input signal to lower the speed. The error can be a positive value (the actual speed is higher than the target speed) or a negative value (the actual speed is lower than the target speed) to adjust the speed.

[0091] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, and the technical scope must be determined according to the scope of the claims.

Claims

1. A method for automatically adjusting and controlling the speed of a hydraulic motor of an electric loader, characterized in that: The following steps are involved: Step S1, establishing a control system, and setting the speed threshold of the main hydraulic motor under different working conditions according to the working condition of the loader; Step S2, real-time monitoring of the working state of the loader and the rotation speed of the main hydraulic motor, determining whether the actual rotation speed of the main hydraulic motor is within the rotation speed threshold under this working state, and adjusting the rotation speed of the main hydraulic motor in real time; Step S3, recording and collecting the motion state of the bucket of the loader under different working states, establishing a load model based on the obtained working state and motion state, and determining the load force of the bucket; Step S4: Calculate the target speed of the main hydraulic motor under the current working state of the loader and different movement states of the bucket based on the load model; Step S5: According to the comparison between the actual rotation speed of the main hydraulic motor and the target rotation speed, the rotation speed of the main hydraulic motor is adjusted in real time until the actual rotation speed and the target rotation speed are within the allowable error range.

2. The automatic adjustment and control method for the speed of the hydraulic motor of an electric loader according to claim 1 is characterized in that: In step S1, the working states of the loader include: driving state, loading state, unloading state, and standby state.

3. The automatic adjustment and control method for the speed of the hydraulic motor of an electric loader according to claim 1 is characterized in that: In step S2, it is determined whether the actual speed of the main hydraulic motor is within the speed threshold in this working state, and the speed of the main hydraulic motor is adjusted in real time. Specifically, if the actual speed of the main hydraulic motor is within the speed threshold range, it means that the current speed meets the working requirements and no adjustment is required, and the current state operation is continued; If the actual speed exceeds or is lower than the speed threshold range, the control system will adjust the speed of the main hydraulic motor in real time according to the size and direction of the speed deviation, and monitor the changes in the actual speed of the main hydraulic motor until the actual speed returns to the speed threshold range.

4. The automatic adjustment and control method for the speed of the hydraulic motor of an electric loader according to claim 1 is characterized in that: In step S3, the movement state of the bucket includes: bucket position, load, rotation angle, and logistics unloading speed.

5. A method for automatically adjusting and controlling the speed of a hydraulic motor of an electric loader according to claim 1 or 4, characterized in that: In the step S3, the following sub-steps are included: Step S31, using sensors installed on the loader and the bucket to monitor parameter data of the bucket position, load, rotation angle, logistics unloading speed and parameter data of the hydraulic pump, and controlling the load balance of the bucket; Step S32, analyzing the influence of bucket angle, bucket height, and logistics unloading speed on the load; Step S33: Combine the influencing factors in step S32 to establish a load model, specifically, Calculate the load force of the bucket under different motion states, where m is the mass of the material, g is the acceleration of gravity, θ is the rotation angle of the bucket, h is the height of the bucket, H is the maximum height that the bucket can reach, φ represents the speed at which the material in the bucket is unloaded, and φ max Indicates the maximum unloading speed of logistics, is an influencing factor used to quantify the effect of unloading speed on bucket load.

6. The automatic adjustment and control method for the speed of the hydraulic motor of an electric loader according to claim 5 is characterized in that: In step S31, the method for controlling the load balancing of the bucket includes the following steps: Step S311, real-time monitoring of pressure change data on both sides of the bucket, and transmission to the control system to analyze the load distribution and tilt of the bucket; Step S312: preset a balance threshold in the control system to determine whether both sides of the bucket are in a balanced state; Step S313: The control system compares the processed data with a preset balance threshold to determine whether the two sides of the bucket are balanced. If the pressure difference between the two sides exceeds the threshold, it is determined to be an unbalanced state. Step S314: The control system calculates the oil flow rate that needs to be adjusted for the hydraulic rods on both sides of the bucket, and dynamically generates an adjustment signal according to the pressure difference and a preset threshold value; Step S315: The control system controls the operation of the auxiliary hydraulic motor through the calculated adjustment signal, and adjusts the oil flow of the hydraulic rods on both sides in real time to maintain the balance of the bucket.

7. The automatic adjustment and control method for the speed of the hydraulic motor of an electric loader according to claim 1 is characterized in that: In step S4, the target speed of the main hydraulic motor under the current working state of the loader and different movement states of the bucket is calculated, including the following steps: Step S41: Calculate the output power required by the main hydraulic motor according to the obtained load force F. Where, v represents the instantaneous speed of the bucket, and η represents the mechanical efficiency of the main hydraulic motor; Step S42: Calculate the torque T of the main hydraulic motor based on the output power required by the main hydraulic motor, and ensure that the torque T of the main hydraulic motor does not exceed its maximum torque limit; Step S43: Calculate the target speed of the main hydraulic motor based on the relationship between the output power of the main hydraulic motor and its torque and speed.

8. The method for automatically adjusting and controlling the speed of the hydraulic motor of an electric loader according to claim 1 is characterized in that: In step S5, the actual speed of the main hydraulic motor is monitored in real time and transmitted to the control system for comparison with the target speed, and the difference between the actual speed and the target speed is calculated. Based on the calculated error, the control system generates an adjustment signal to adjust the speed of the main hydraulic motor until the actual speed and the target speed are within the error range.

9. A bucket for an electric loader, comprising: A bucket body, hydraulic rods located on both sides of the bucket body, and a support frame rotatably mounted on the back of the bucket body; characterized in that: One end of the hydraulic rod is rotatably mounted on the bucket body, and the other end is rotatably mounted on the arm of the loader, and the oil flow of the hydraulic rod is controlled by a control system inside the loader; The support frame includes: a support plate, support legs distributed on one side of the support plate, and a connecting column fixed on the other side of the support plate; the connecting column is rotatably connected to the bucket body, and the support legs are provided with connecting holes for installing a loader support arm, and the bucket body is driven to move by the loader support arm.

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