An Adaptive PID-Regulated Oil Pump Control Method and System for Construction Machinery

Abstract

The present invention belongs to the technical field of new energy construction machinery, and particularly relates to a control method and system for an adaptive PID-regulated oil pump of construction machinery. The invention aims at a simulated voltage speed regulation system for an oil pump motor, adopts a PID control board to control the voltage output, optimizes the control by collecting usage information, avoids the long-term low-efficiency operation of the motor during use, enables the system to obtain the best control performance, and realizes the operation of the oil pump motor with the optimal efficiency.

Description

Technical Field

[0001] The present invention belongs to the technical field of new energy construction machinery, and particularly relates to a control method and system for an adaptive PID regulated oil pump of construction machinery. Background Art

[0002] Existing hydraulic motors of new energy construction machinery are directly controlled by a controller. During the actual use of the hydraulic motor, it is often desired that the rotational speed and flow rate of the hydraulic motor can be maintained at a certain optimal value. This can not only reduce energy consumption and improve the operating efficiency of the hydraulic motor, but also increase the service life of hydraulic components, prevent oil leakage in the hydraulic unit, and reduce the working intensity of the hydraulic unit. How to adopt advanced control theory to maximize the performance of flow regulation to achieve dual control of flow rate and motor rotational speed, and optimize the hydraulic motor control method to improve the operating efficiency of the hydraulic motor has become a problem to be solved.

[0003] Currently, the most widely used method for adjusting the hydraulic motor of new energy construction machinery is still direct control by the controller to continuously operate at a certain rotational speed. Most of these controllers are designed for construction machinery with determined parameters. When the operating flow rate and parameters are uncertain or the operating parameters change, there will be a mismatch between the controller control and the actual system, making it difficult for the system to achieve the desired hydraulic flow rate during design. Summary of the Invention

[0004] The purpose of the present invention is to provide a control method and system for an adaptive PID regulated oil pump of construction machinery, which can achieve the stability of the hydraulic system of construction machinery through the control board and improve the operating efficiency of the hydraulic motor.

[0005] The specific technical solutions adopted by the present invention are as follows:

[0006] A control method and system for an adaptive PID regulated oil pump of construction machinery, comprising:

[0007] Obtaining an adjustment signal of the controller, wherein the adjustment signal includes an input electro-hydraulic proportional multi-way valve analog signal, a real-time hydraulic oil temperature signal, and a real-time flow rate signal;

[0008] Matching the required motor rotational speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal, and calculating the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow rate signal, and outputting controller adjustment parameters based thereon;

[0009] According to the controller adjustment parameters, online real-time PID adjustment is performed on the output parameters through the controller to obtain a non-linear function, and the output of the controller is adaptively adjusted based on the output result of the non-linear function, and the output result is calibrated as an adaptive parameter;

[0010] Collect the adaptive parameters output by the acquisition controller, dynamically adjust the proportional gain in combination with them, and input the adjusted proportional gain into the non-linear function for the next execution of the operation.

[0011] In a preferred solution, the input electro-hydraulic proportional multi-way valve analog signal is a 0-5V signal output after the multi-way valve operates, supporting 6-channel analog input signals. The hydraulic oil temperature signal is the real-time temperature of the hydraulic oil, and the real-time flow signal is the current hydraulic flow rate, which is connected to the input end of the multi-way valve for real-time monitoring of the flow rate.

[0012] In a preferred solution, when the oil pump is working, obtain the proportional gain and the deviation value, where the deviation value is the difference between the expected output value and the actual output value of the oil pump;

[0013] Obtain the standard output function;

[0014] Input the proportional gain, the expected output value, and the actual output value into the standard output function together, and calibrate the output result as the output signal of the controller.

[0015] In a preferred solution, before the controller adjusts the adaptive parameters, set the initial values of the controller parameters K T , K L to 0, gradually increase K T、 K L , until the system shows equal-amplitude oscillation, record it as critical oscillation, and simultaneously record the critical oscillation gain K T crit and the critical oscillation period Tpcrit.

[0016] In a preferred solution, the step of matching the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal includes:

[0017] Obtain the opening degree-standard flow rate relationship table of the electro-hydraulic proportional multi-way valve, and match the required flow rate of the oil pump according to it;

[0018] Obtain the working state-standard speed relationship table of the construction machinery, and match the actual speed requirement of the oil pump according to it;

[0019] According to the hydraulic oil temperature signal, the real-time flow signal, as well as the actual flow requirement and actual speed requirement, match the change rates of the proportional gain and the deviation amount through a preset speed-temperature-flow rate relationship table.

[0020] In a preferred solution, when the oil pump is working, search in a preset database according to the real-time hydraulic oil temperature signal and the real-time flow signal to obtain the dynamic viscosity and density of the hydraulic oil;

[0021] Obtain the standard function, input the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrate the output result as the Reynolds number Re = Dvρ / μ when the hydraulic oil flows in the oil pipe;

[0022] Match the corresponding friction coefficient according to the Reynolds number, then calculate the frictional resistance loss of the hydraulic oil based on the friction coefficient, and adjust the output voltage of the controller according to the frictional resistance loss;

[0023] Among them, the output voltage of the controller is positively correlated with the frictional resistance loss.

[0024] In a preferred scheme, the step of matching the corresponding friction coefficient according to the Reynolds number includes:

[0025] When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re;

[0026] When the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25 。

[0027] In a preferred scheme, the controller adjustment parameters include a flow rate adjustment parameter and a temperature adjustment parameter;

[0028] Compare the flow rate adjustment parameter and the temperature adjustment parameter with the input value of the operator's control handle to control the hydraulic motor at this time;

[0029] If the temperature adjustment parameter exceeds the preset alarm threshold, the voltage output by the controller is reduced;

[0030] If the temperature adjustment parameter is normal, but the flow rate adjustment parameter is zero and the input value changes, the voltage output by the controller is reduced.

[0031] The present invention also provides a self-adaptive PID adjustment oil pump control system for construction machinery, which is applied to the above-mentioned self-adaptive PID adjustment oil pump control method for construction machinery, including:

[0032] An acquisition module for acquiring the adjustment signal of the controller, wherein the adjustment signal includes an input electro-hydraulic proportional valve analog signal, a real-time hydraulic oil temperature signal, and a real-time flow rate signal;

[0033] A control output module for matching the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional valve analog signal, calculating the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow rate signal, and outputting the controller adjustment parameter based on it;

[0034] An adaptive adjustment module, configured to adjust parameters according to the controller, perform online real-time PID adjustment on the output parameters through the controller to obtain a non-linear function, adaptively adjust the output of the controller with the output result of the non-linear function, and calibrate its output result as an adaptive parameter;

[0035] A dynamic optimization module, configured to collect the adaptive parameters output by the controller, dynamically adjust the proportional gain in combination therewith, and input the adjusted proportional gain into the non-linear function for the next execution of the operation.

[0036] And, an engineering machinery adaptive PID adjustment oil pump control board, comprising:

[0037] At least one controller;

[0038] And a memory communicatively connected to the at least one controller;

[0039] Wherein, the memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can execute the above-mentioned engineering machinery adaptive PID adjustment oil pump control method.

[0040] The technical effects achieved by the present invention are:

[0041] The present invention controls the oil pump motor through a simulated voltage speed regulation system, uses a PID control board voltage output for control, optimizes the control by collecting usage information, avoids the long-term low-efficiency operation of the motor during use, enables the system to obtain the best control performance, and realizes the operation of the oil pump motor with the optimal efficiency. Description of the Drawings

[0042] Figure 1 is the method flow chart of the present invention;

[0043] Figure 2 is the control board structure diagram of the present invention;

[0044] Figure 3 is the relationship table between the preset working state and the standard speed of the engineering machinery of the present invention;

[0045] Figure 4 is the preset temperature-flow relationship table of the present invention. Detailed Embodiments

[0046] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be made in conjunction with the accompanying drawings of the specification.

[0047] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein, and those skilled in the art may make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0048] Secondly, the so-called "one embodiment" or "embodiment" herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in a preferred embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments.

[0049] Please refer to Figure 1 As shown, the present invention provides a method for controlling an oil pump with adaptive PID adjustment for construction machinery, including:

[0050] S1. Obtain the adjustment signal of the controller, where the adjustment signal includes the input electro-hydraulic proportional multi-way valve analog signal, the real-time hydraulic oil temperature signal, and the real-time flow signal;

[0051] S2. Match the required motor speed and required flow of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal, and calculate the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow signal, and output the controller adjustment parameters based on them;

[0052] S3. According to the controller adjustment parameters, perform online real-time PID adjustment of the output parameters through the controller to obtain a non-linear function, and adaptively adjust the output of the controller with the output result of the non-linear function, and calibrate the output result as the adaptive parameter;

[0053] S4. Collect the adaptive parameters output by the controller, dynamically adjust the proportional gain in combination with them, and input the adjusted proportional gain into the non-linear function for the next execution of the operation.

[0054] As described in the above steps S1 - S4, due to the load changes during the operation of construction machinery and the changes in the external environment, the temperature and flow rate of the hydraulic oil will fluctuate, which in turn affects the working efficiency and stability of the oil pump. To better adapt to such changes, the present invention further introduces a dynamic monitoring and feedback mechanism to adjust the PID control parameters of the oil pump in real time to achieve more efficient and stable oil pump control. First, it is necessary to obtain the adjustment signals of the controller. These adjustment signals include the analog signal of the input electro - proportional multi - way valve, the real - time temperature signal of the hydraulic oil, and the real - time flow signal, which directly reflect the real - time state of the hydraulic system. Then, according to the analog signal of the electro - proportional multi - way valve, the required motor speed and required flow rate of the oil pump are matched. At the same time, in combination with the real - time temperature signal and real - time flow signal of the hydraulic oil, the proportional gain and the change rate of the deviation amount are calculated. The change rate of the deviation amount includes the change rate of the temperature deviation amount and the change rate of the flow deviation amount, which reflects the dynamic changes of the system. Then, based on the proportional gain and the change rate of the deviation amount, the controller adjustment parameters are output, and according to the controller adjustment parameters, the output parameters are adjusted online in real time by the controller through PID to obtain a non - linear function. Among them, the expression of the non - linear function is: , where is the output of the controller at the t - th sampling moment, is the deviation from the given value at the k - th sampling moment, is the control reaction speed, is the control stability effect. In addition, the function expression for dynamically adjusting the proportional gain is: , represents the proportional gain after dynamic adjustment. The output result of this non - linear function will be used to adaptively adjust the output of the controller to adapt to different working conditions.

[0055] In a preferred embodiment, the analog signal of the input electro - proportional multi - way valve is a 0 - 5V signal output after the multi - way valve acts, supporting 6 - channel analog input signals. The hydraulic oil temperature signal is the real - time temperature of the hydraulic oil, and the flow signal is the current hydraulic flow rate, which is connected to the input end of the multi - way valve for real - time monitoring of the flow rate.

[0056] In this embodiment, the analog signal of the input electro - proportional multi - way valve is a 0 - 5V voltage signal output after the multi - way valve acts. This voltage signal can support 6 - channel analog input, that is, it can process 6 different analog signals simultaneously. The hydraulic oil temperature signal refers to the current real - time temperature of the hydraulic oil, which can reflect the temperature condition of the hydraulic oil in real time. In addition, the real - time flow signal refers to the hydraulic flow rate in the current hydraulic system. The real - time flow signal is connected to the input end of the multi - way valve, which can monitor the size of the hydraulic flow rate in real time and plays a key role in ensuring the working efficiency and stability of the hydraulic system.

[0057] In a preferred embodiment, when the oil pump is working, a proportional gain and a deviation value are obtained, where the deviation value is the difference between the desired output value and the actual output value of the oil pump;

[0058] Obtain the standard output function;

[0059] Input the proportional gain, the desired output value, and the actual output value into the standard output function together, and calibrate its output result as the output signal of the controller.

[0060] In this embodiment, the expression of the standard output function is: ; In the formula, represents the proportional gain, which is reciprocal to the proportional band, —— integral time constant, represents the derivative time constant, represents the output signal of the PID controller, represents the difference between the desired output value and the actual output value of the oil pump. Based on the above formula, the output of the oil pump can be controlled more precisely to ensure that it is as close as possible to the desired output value. At the same time, the introduction of the integral time constant and the derivative time constant can, to a certain extent, predict the change trend of the system and make adjustments in advance, thereby further improving the stability and response speed of the system.

[0061] In a preferred embodiment, before the controller adjusts the adaptive parameters, the initial values of the controller parameters K T , K L are set to 0, and K T、 K L is gradually increased until the system exhibits equal-amplitude oscillation, which is recorded as critical oscillation, and at the same time, the critical oscillation gain K T crit and the critical oscillation period Tpcrit are recorded synchronously.

[0062] In this embodiment, before adjusting the adaptive parameters of the controller, it is first necessary to initialize the parameters KT and KL of the controller, set their initial values to 0, set K to a small initial value so that the system can operate stably. Then, it is necessary to gradually increase the values of KT and KL until the system exhibits the phenomenon of equal-amplitude oscillation. This equal-amplitude oscillation is defined as critical oscillation. When the system reaches the critical oscillation state, it is necessary to record the values of KT and KL at this time. These two values are calibrated as the critical oscillation gain KTcrit and the critical oscillation period Tpcrit. By continuously adjusting KT and KL, the oscillation of the system can be controlled within the minimum range, thereby making the operation of the system more stable.

[0063] In a preferred embodiment, the steps of matching the required motor speed and required flow rate of the oil pump according to the analog signal of the electro-hydraulic proportional multi-way valve include:

[0064] Obtain the opening degree - standard flow rate relationship table of the electro-hydraulic proportional multi-way valve, and match the required flow rate of the oil pump according to it;

[0065] Obtain the preset working state - standard speed relationship table of the construction machinery, and match the actual speed requirement of the oil pump according to it;

[0066] According to the hydraulic oil temperature signal, real-time flow rate signal, as well as the actual flow rate requirement and actual speed requirement, match the proportional gain and the change rate of the deviation amount through the preset speed - temperature - flow rate relationship table.

[0067] In this embodiment, in order to meet the requirement of the electro-hydraulic proportional multi-way valve for the precise matching between the analog signal and the speed and flow rate of the oil pump, first, obtain the relationship table between the opening degree of the electro-hydraulic proportional multi-way valve and the standard flow rate, so as to determine the specific flow rate required by the oil pump under various different opening degrees. Next, it is necessary to obtain the relationship table between the preset working state of the construction machinery and the standard speed (see Figure 3 ), so as to accurately match the actual speed required by the oil pump according to the working requirements of the construction machinery. In addition, it is also necessary to consider the hydraulic oil temperature signal and real-time flow rate signal, as well as the calculated actual flow rate requirement and actual speed requirement. Specifically, through the preset temperature - flow rate relationship table (see Figure 4 ), match the proportional gain and the change rate of the deviation amount. Generally speaking, we must comprehensively consider various factors, including the opening degree of the electro-hydraulic proportional multi-way valve, the preset working state of the construction machinery, the temperature and flow rate of the hydraulic oil, as well as the proportional gain and the change rate of the deviation amount, to ensure that the speed and flow rate of the oil pump can meet the requirements of the construction machinery.

[0068] In a preferred embodiment, when the oil pump is working, search in the preset database according to the real-time temperature signal and real-time flow rate signal of the hydraulic oil to obtain the dynamic viscosity and density of the hydraulic oil;

[0069] Obtain the standard function, input the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrate its output result as the Reynolds number when the hydraulic oil flows in the oil pipe;

[0070] Match the corresponding friction coefficient according to the Reynolds number, then calculate the frictional resistance loss of the hydraulic oil according to the friction coefficient, and adjust the output voltage of the controller according to the frictional resistance loss;

[0071] Among them, the output voltage of the controller is positively correlated with the frictional resistance loss.

[0072] In the above, during the operation of the oil pump, the real-time temperature signal and real-time flow signal of the hydraulic oil are monitored in real time. Through these real-time data, a search can be conducted in a pre-set database inside it to obtain the current dynamic viscosity and density of the hydraulic oil. Then, standard functions will be used to process the dynamic viscosity and density, that is, the searched dynamic viscosity and the density of the hydraulic oil are used as input values and sent into the standard function for calculation. The expression of the standard function is: Re = Dvρ / μ, where Re represents the Reynolds number, D represents the inner diameter of the pipeline, v represents the flow velocity of the hydraulic oil, ρ represents the density of the hydraulic oil, and μ represents the dynamic viscosity of the hydraulic oil. Based on the above formula calculation, the Reynolds number of the hydraulic oil flowing in the oil pipe can be obtained, so as to reflect the flow characteristics and flow state of the hydraulic oil, such as laminar flow or turbulent flow, etc. Subsequently, the oil pump will search for the corresponding friction coefficient in another pre-set database according to the calculated Reynolds number. Once a suitable friction coefficient is found, the oil pump can calculate the frictional resistance loss that the hydraulic oil may encounter during the flow process based on this coefficient. The steps of matching the friction coefficient corresponding to the Reynolds number include:

[0073] When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re; when the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25， , where the calculation function of the frictional resistance loss is: h f =λLv2 / 2Dg, h f represents the frictional resistance loss, λ represents the friction coefficient, and g represents the acceleration due to gravity. Finally, the oil pump will adjust the output voltage of the controller according to the calculated frictional resistance loss. This adjustment is dynamic, which means that as the frictional resistance loss changes, the output voltage of the controller will also be adjusted accordingly. It should be noted that there is a positive correlation between the output voltage of the controller and the frictional resistance loss, which means that when the frictional resistance loss increases, the voltage output by the controller will also increase accordingly to ensure that the oil pump system can maintain a stable and effective working state.

[0074] In a preferred embodiment, the controller adjustment parameters include flow adjustment parameters and temperature adjustment parameters;

[0075] Compare the flow adjustment parameters and temperature adjustment parameters with the input value of the operator's operating handle to control the hydraulic motor at this time;

[0076] If the temperature adjustment parameter exceeds the preset alarm threshold, the voltage output by the controller is reduced;

[0077] If the temperature adjustment parameter is normal, but the flow adjustment parameter is zero and the input value changes, the voltage output by the controller is reduced.

[0078] In this embodiment, the adjustment parameters of the controller are mainly divided into two categories, namely the flow rate adjustment parameter and the temperature adjustment parameter. The flow rate adjustment parameter and the temperature adjustment parameter are the basis for the controller to carry out adjustment and control. During the actual operation process, it is necessary to compare and analyze the flow rate adjustment parameter and the temperature adjustment parameter with the input value of the operator's operating handle controlling the hydraulic motor. If it is found during the comparison process that the temperature adjustment parameter has exceeded the preset alarm threshold, then the controller will immediately take action to adjust the output voltage to decrease it. This is to prevent equipment damage or other safety hazards that may be caused by excessive temperature. On the other hand, if it is found during the comparison process that the temperature adjustment parameter is within the normal range, but the flow rate adjustment parameter is zero and the input value is also changing, then the controller will also react to adjust the output voltage to decrease it. This is to ensure that the change of the input value will not affect the normal operation of the equipment when the flow rate is zero. Thus, the controller will dynamically adjust the output voltage according to the comparison results of the flow rate adjustment parameter and the temperature adjustment parameter with the operation input to ensure the stable operation and safety of the equipment, and to ensure the long-term stable operation of the equipment.

[0079] The present invention also provides a self-adaptive PID regulating oil pump control system for construction machinery, which is applied to the above-mentioned self-adaptive PID regulating oil pump control method for construction machinery, and includes:

[0080] An acquisition module, configured to acquire the adjustment signal of the controller, wherein the adjustment signal includes an input electro-hydraulic proportional multi-way valve analog signal, a real-time hydraulic oil temperature signal, and a real-time flow rate signal;

[0081] A control output module, configured to match the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal, and calculate the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow rate signal, and output the controller adjustment parameter based on it;

[0082] A self-adaptive adjustment module, configured to adjust the output parameter online in real time through the controller according to the controller adjustment parameter to obtain a non-linear function, and adaptively adjust the output of the controller with the output result of the non-linear function, and calibrate the output result as the self-adaptive parameter;

[0083] A dynamic optimization module, configured to collect the self-adaptive parameter output by the controller, and dynamically adjust the proportional gain in combination with it, and input the adjusted proportional gain into the non-linear function for the next execution of the operation.

[0084] In the above, the system includes an acquisition module, a control output module, an adaptive adjustment module, and a dynamic optimization module. The acquisition module is responsible for collecting various necessary signals, including but not limited to the adjustment signals of the controller, the analog signals of the input electro-hydraulic proportional multi-way valve, the real-time temperature signal of the hydraulic oil, and the real-time flow signal of the hydraulic oil. The control output module is responsible for determining the motor speed and flow rate required by the oil pump according to the analog signals of the input electro-hydraulic proportional multi-way valve. At the same time, the system will also calculate the proportional gain and the change rate of the deviation amount by combining the real-time temperature signal and the flow signal of the hydraulic oil, and adjust the adjustment parameters of the controller accordingly. The role of the adaptive adjustment module is to adjust the output parameters in real time online through PID according to the adjustment parameters of the controller, so as to obtain a non-linear function. The system will adaptively adjust the output of the controller according to the output result of this non-linear function, and calibrate these adjusted output results as adaptive parameters. The dynamic optimization module is responsible for collecting the adaptive parameters output by the controller, and dynamically adjusting the proportional gain in combination with these parameters. After the adjustment is completed, these new proportional gains will be input into the non-linear function for the next execution of the operation, so as to continuously optimize the system and improve the control effect.

[0085] As Figure 2 shown, a control board for an engineering machinery adaptive PID-regulated oil pump includes:

[0086] At least one controller;

[0087] And a memory communicatively connected to at least one controller;

[0088] Wherein, the memory stores a computer program executable by at least one controller, and the computer program is executed by at least one controller so that at least one controller can execute the above-mentioned control method for an engineering machinery adaptive PID-regulated oil pump.

[0089] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, device, article or method including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, device, article or method. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of another identical element in the process, device, article or method including that element.

[0090] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention. The structures, devices, and operation methods not specifically described and explained in the present invention, unless otherwise specified and limited, are implemented according to the conventional means in the art.

Claims

1. An adaptive PID regulation oil pump control method for construction machinery, characterized in that: Including: Obtain the adjustment signal of the controller, where the adjustment signal includes an input electro-hydraulic proportional multi-way valve analog signal, a real-time hydraulic oil temperature signal, and a real-time flow signal; Match the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal, and calculate the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow signal, and output the controller adjustment parameters based on them; According to the controller adjustment parameters, online and real-time PID adjust the output parameters through the controller to obtain a non-linear function, and adaptively adjust the output of the controller with the output result of this non-linear function, and calibrate its output result as the adaptive parameter; Collect the adaptive parameters output by the controller, and dynamically adjust the proportional gain in combination with it, and input the adjusted proportional gain into the non-linear function for the next execution of the operation; When the oil pump is working, obtain the proportional gain and the deviation value, where the deviation value is the difference between the expected output value and the actual output value of the oil pump; Obtain the standard output function, and the expression of the standard output function is: ; In the formula, represents the proportional gain, which is the reciprocal of the proportional band, —— integral time constant, represents the derivative time constant, represents the output signal of the PID controller, represents the difference between the desired output value and the actual output value of the oil pump, represents the change rate of the difference between the desired output value and the actual output value, represents the time interval; Input the proportional gain, the expected output value, and the actual output value into the standard output function together, and calibrate its output result as the output signal of the controller; The controller adjustment parameters include a flow adjustment parameter and a temperature adjustment parameter; Compare the flow adjustment parameter and the temperature adjustment parameter with the input value of the operator's operating handle to control the hydraulic motor at this time; If the temperature adjustment parameter exceeds the preset alarm threshold, the voltage output by the controller is reduced; If the temperature adjustment parameter is normal, but the flow adjustment parameter is zero and the input value changes, the voltage output by the controller is reduced.

2. The adaptive PID regulation oil pump control method for construction machinery according to claim 1, wherein: The input electro-hydraulic proportional multi-way valve analog signal is a 0-5V signal output after the multi-way valve acts, supporting 6-channel analog input signals. The hydraulic oil temperature signal is the real-time hydraulic oil temperature, and the real-time flow signal is the current hydraulic flow, which is connected to the input end of the multi-way valve for real-time flow monitoring.

3. An adaptive PID regulation oil pump control method for construction machinery according to claim 1, characterized in that: Before the controller adjusts the adaptive parameters, set the initial values of the controller parameters K T , K L to 0, and gradually increase K T , K L until the system exhibits equal-amplitude oscillation, record it as critical oscillation, and simultaneously record the critical oscillation gain K T crit and the critical oscillation period Tpcrit.

4. An adaptive PID regulation oil pump control method for construction machinery according to claim 1, characterized in that: The step of matching the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal includes: Obtain the opening degree-standard flow relationship table of the electro-hydraulic proportional multi-way valve, and match the required flow rate of the oil pump according to it; Obtain the working condition-standard speed relationship table of the construction machinery, and match the actual speed requirement of the oil pump according to it; According to the hydraulic oil temperature signal, the real-time flow signal, as well as the actual flow requirement and the actual speed requirement, match the proportional gain and the change rate of the deviation amount through a preset speed-temperature-flow relationship table.

5. The self - adaptive PID - regulated oil pump control method for construction machinery according to claim 1, wherein: When the oil pump is working, search in a preset database according to the real-time hydraulic oil temperature signal and the real-time flow signal to obtain the dynamic viscosity of the hydraulic oil and the density of the hydraulic oil; Obtain the standard function, input the dynamic viscosity and the density of the hydraulic oil into the standard function, and calibrate its output result as the Reynolds number when the hydraulic oil flows in the oil pipe; Match the corresponding friction coefficient according to the Reynolds number, then calculate the frictional resistance loss of the hydraulic oil based on the friction coefficient, and adjust the output voltage of the controller according to the frictional resistance loss; Among them, the output voltage of the controller is positively correlated with the head loss.

6. The adaptive PID adjustment oil pump control method for construction machinery according to claim 5, characterized in that: The step of matching the corresponding friction coefficient according to the Reynolds number includes: When the Reynolds number is less than or equal to 1000, the friction coefficient = 54 / Re; When the Reynolds number is between 1000 and 4000, the friction coefficient = 0.3164 / Re 0.25 .

7. An adaptive PID control oil pump control system for construction machinery, which is applied to the adaptive PID control oil pump control method for construction machinery described in any one of claims 1 to 6, and is characterized in that: Includes: An acquisition module for acquiring an adjustment signal of the controller, wherein the adjustment signal includes an input electro-hydraulic proportional multi-way valve analog signal, a real-time hydraulic oil temperature signal, and a real-time flow signal; A control output module for matching the required motor speed and required flow rate of the oil pump according to the electro-hydraulic proportional multi-way valve analog signal, calculating the proportional gain and the change rate of the deviation amount in combination with the real-time hydraulic oil temperature signal and the real-time flow signal, and outputting controller adjustment parameters based on the above; An adaptive adjustment module for online real-time PID adjustment of the output parameters through the controller according to the controller adjustment parameters to obtain a non-linear function, adaptively adjusting the output of the controller with the output result of the non-linear function, and calibrating the output result as an adaptive parameter; A dynamic optimization module for collecting the adaptive parameters output by the controller, dynamically adjusting the proportional gain in combination with the above, and inputting the adjusted proportional gain into the non-linear function for the next execution of the operation.

8. An adaptive PID-regulated oil pump control board for construction machinery, characterized in that: Includes: At least one controller; And a memory communicatively connected to the at least one controller; Among them, the memory stores a computer program executable by the at least one controller, and the computer program is executed by the at least one controller so that the at least one controller can execute the construction machinery adaptive PID adjustment oil pump control method according to any one of claims 1 to 6.

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