Steering control method, device, equipment, machine and medium based on proportional valve

Abstract

The embodiment of the invention provides a steering control method and device based on a proportional valve, equipment, a machine and a medium. The method comprises the steps that a to-be-steered first target angle is determined; according to the first target angle, a first preset mapping relation is inquired, and the first target displacement of the valve element is determined; the first preset mapping relation is used for representing the mapping relation between the target angle to be steered and the target displacement of the valve element; an actual angle is obtained, wherein the actual angle represents the angle obtained after the valve element in the current state is adjusted by the first target displacement amount; the displacement of the valve element is adjusted according to the deviation parameters; the deviation parameter comprises the deviation between the first target angle and the actual angle. According to the steering control method based on the proportional valve, responsiveness, following performance and control precision of steering control can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of proportional valve control, and specifically to a steering control method, device, equipment, machinery and medium based on a proportional valve. Background Art

[0002] Unmanned operation is the development direction and future of industries such as mining and large agricultural machinery. Compared with manual operation, unmanned systems react faster and more accurately, reduce the probability of accidents, and have extremely high safety and environmental adaptability; unmanned systems can operate autonomously when there is no one on duty or limited manpower, reducing labor costs; self-driving tractors can operate accurately in farmland, improving agricultural production efficiency and quality; all of this is inseparable from automatic steering control systems and algorithms, which are of great significance to the development and innovation of multiple industries.

[0003] In the prior art, the controller controls the output of the DC stepper motor by receiving the real-time vehicle running trajectory and wheel angle feedback signal from the GPS positioning system; after the DC stepper motor rotates, the hydraulic steering gear outputs the pilot hydraulic pressure which is transmitted to the flow amplifier through the hydraulic oil in the hydraulic pipeline, and then controls the wheel rotation through the mechanical structure.

[0004] The steering control accuracy, responsiveness and followability in the prior art cannot meet the requirements. Summary of the invention

[0005] In order to solve the above problems in the prior art, the embodiments of the present invention provide a steering control method, device, equipment, machine and medium based on a proportional valve to improve the steering control accuracy, responsiveness and followability.

[0006] According to a first aspect of an embodiment of the present application, a steering control method based on a proportional valve is provided, the method comprising:

[0007] determining a first target angle to be turned;

[0008] According to the first target angle, a first preset mapping relationship is queried to determine a first target displacement of the valve core; the first preset mapping relationship is used to characterize a mapping relationship between the target angle to be turned and the target displacement of the valve core;

[0009] Acquire an actual angle, where the actual angle represents an angle after the valve core in the current state is adjusted by a first target displacement amount;

[0010] The displacement of the valve core is adjusted according to the deviation parameter; the deviation parameter includes: the deviation between the first target angle and the actual angle.

[0011] In one embodiment, the deviation parameter further includes: an angle deviation change rate between the first target angle and the actual angle. According to the deviation parameter, adjusting the displacement of the valve core includes:

[0012] Determining an angle deviation change rate according to a deviation between the first target angle and the actual angle;

[0013] Determining a second target angle to be steered based on a deviation between the first target angle and the actual angle and a rate of change of the angle deviation;

[0014] According to the second target angle, query the first preset mapping relationship to determine the second target displacement of the valve core;

[0015] Based on the second target displacement, the valve core is adjusted.

[0016] In one embodiment, the deviation parameter further includes: a deviation between the first target displacement and the first actual displacement, a cumulative deviation, and a displacement deviation change rate between the first target displacement and the first actual displacement, the displacement deviation change rate being determined based on the deviation between the first target displacement and the first actual displacement, and adjusting the displacement of the valve core according to the deviation parameter includes:

[0017] The valve element is adjusted based on the deviation between the first target displacement amount and the first actual displacement amount, the accumulated deviation, and the displacement deviation change rate.

[0018] In one embodiment, the method further comprises:

[0019] A rectangular wave is applied to the valve core, and the rectangular wave is used to control the valve core to be in a vibrating state.

[0020] In one embodiment, the method further comprises:

[0021] Querying a second preset mapping relationship to determine a voltage signal corresponding to the adjustment displacement of the valve core; the second preset mapping relationship is used to characterize a mapping relationship between the adjustment displacement of the valve core and the voltage;

[0022] According to the voltage signal, the displacement change of the valve core is adjusted to adjust the displacement amount.

[0023] According to a second aspect of an embodiment of the present application, a steering control device based on a proportional valve is provided, the device comprising:

[0024] A first determining unit, used to determine a first target angle to be turned;

[0025] A second determination unit is used to query a first preset mapping relationship according to the first target angle to determine a first target displacement of the valve core; the first preset mapping relationship is used to represent a mapping relationship between the target angle to be turned and the target displacement of the valve core;

[0026] An acquisition unit, used for acquiring an actual angle, where the actual angle represents an angle after the valve core in the current state is adjusted by a first target displacement amount;

[0027] The adjustment unit is used to adjust the displacement of the valve core according to the deviation parameter; the deviation parameter includes: the deviation between the first target angle and the actual angle.

[0028] According to a third aspect of an embodiment of the present application, there is provided an electronic device, the electronic device comprising: a processor and a memory storing computer program instructions;

[0029] When the processor executes the computer program instructions, the steering control method based on the proportional valve is implemented as provided in the first aspect of the embodiment of the present application or any embodiment of the first aspect.

[0030] According to a fourth aspect of the embodiments of the present application, a construction machine is provided, and the construction machine includes the control device provided in the second aspect of the embodiments of the present application or the electronic device provided in the third aspect of the embodiments of the present application.

[0031] According to the fifth aspect provided by this embodiment, a chip is provided, including a processor and a data interface, and the processor reads and runs the program stored in the memory through the data interface to execute the steering control method based on a proportional valve provided in the first aspect of the embodiment of the present application or any embodiment of the first aspect.

[0032] According to the sixth aspect of the embodiments of the present application, a computer storage medium is provided, on which computer program instructions are stored. When the computer program instructions are executed by a processor, a steering control method based on a proportional valve as provided in the first aspect of the embodiments of the present application or any embodiment of the first aspect is implemented.

[0033] The steering control method, device, equipment, machinery and medium based on the proportional valve provided in the present embodiment determine the first target angle to be steered; according to the first target angle, query the first preset mapping relationship to determine the first target displacement of the valve core; obtain the actual angle of the wheel, the actual angle includes the angle after the valve core in the current state is adjusted by the first target displacement; according to the deviation parameter, adjust the displacement of the valve core; the deviation parameter includes: the deviation between the first target angle and the actual angle. The steering control method based on the proportional valve in the embodiment of the present application evolves the traditional "displacement-speed-current" control three-loop closed-loop control into a "steering angle-valve core displacement" double-loop closed-loop control, removes the current closed loop, directly obtains the valve core displacement adjustment amount through the steering angle, and adjusts the valve core displacement amount through the deviation parameter, which can improve the responsiveness, followability and control accuracy of the steering control. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0035] Figure 1 A structural diagram of some components of a steering system provided in an embodiment of the present application;

[0036] Figure 2 A flow chart of a steering control method based on a proportional valve provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of a rectangular wave provided in an embodiment of the present application;

[0038] Figure 4 A pilot pressure waveform diagram provided in an embodiment of the present application;

[0039] Figure 5 A structural block diagram of a steering control device based on a proportional valve provided in an embodiment of the present application;

[0040] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0041] Reference numerals:

[0042] 10: Electro-hydraulic proportional valve, 11: Valve core displacement sensor, 12: Steering controller. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] Unmanned operation is the development direction and future of industries such as mining and large agricultural machinery. Compared with manual operation, unmanned systems react faster and more accurately, reduce the probability of accidents, and have extremely high safety and environmental adaptability; unmanned systems can operate autonomously when there is no one on duty or limited manpower, reducing labor costs; self-driving tractors can operate accurately in farmland, improving agricultural production efficiency and quality; all of this is inseparable from automatic steering control systems and algorithms, which are of great significance to the development and innovation of multiple industries.

[0045] In the prior art, the controller controls the output of the DC stepper motor by receiving the real-time vehicle running track and wheel angle feedback signal from the GPS positioning system; after the DC stepper motor rotates, the hydraulic steering gear outputs the pilot hydraulic pressure which is transmitted to the flow amplifier through the hydraulic oil in the hydraulic pipeline, and then controls the wheel rotation through the mechanical structure. The steering control accuracy, responsiveness and followability in the prior art cannot meet the requirements.

[0046] The steering control method, device, equipment, machinery and medium based on proportional valve provided in the embodiment of the present application determine the first target angle to be steered; according to the first target angle, query the first preset mapping relationship to determine the first target displacement of the valve core; obtain the actual angle of the wheel, the actual angle includes the angle after the valve core in the current state is adjusted by the first target displacement; according to the deviation parameter, adjust the displacement of the valve core; the deviation parameter includes: the deviation between the first target angle and the actual angle. The steering control method based on proportional valve in the embodiment of the present application evolves the traditional "displacement-speed-current" control three-loop closed-loop control into a "steering angle-valve core displacement" double-loop closed-loop control, removes the current closed loop, directly obtains the valve core displacement adjustment through the steering angle, and adjusts the valve core displacement through the deviation parameter, thereby improving the responsiveness, followability and control accuracy of the steering control.

[0047] Exemplary Implementation Environment

[0048] The implementation environment of the embodiment of the present invention relates to a hydraulic steering system of an engineering machinery. The hydraulic steering system may include: a steering controller, an electro-hydraulic proportional valve, an electro-hydraulic steering gear, a steering cylinder, a steering mechanism and wheels. Figure 1 The structure diagram of some components of the steering system provided by the embodiment of the present invention. Figure 1 As shown, the steering controller 12 can receive signals from the steering angle sensor, the vehicle speed sensor, etc., and calculate the required steering angle and power assist; the electro-hydraulic proportional valve 10 adjusts the displacement of the valve core according to the signal sent by the steering controller, thereby controlling the flow and pressure of the hydraulic oil and realizing precise control of the steering cylinder; the voltage steering gear (not shown in the figure) converts the kinetic energy of the hydraulic oil into mechanical energy to provide steering assistance; the steering cylinder (not shown in the figure) converts the kinetic energy of the hydraulic oil into mechanical energy to push the steering rod or steering rack to move; the steering mechanism (not shown in the figure) may include a steering rod or a steering rack to transfer the mechanical energy of the steering cylinder to the wheel to realize the steering of the wheel; the wheel serves as the steering actuator and realizes the steering of the wheel according to the push of the steering mechanism.

[0049] The hydraulic steering system also needs to include signal feedback sensors: valve core displacement sensor 11 and wheel angle sensor, wherein the valve core displacement sensor 11 is used to monitor the position or movement of the steering valve core, and the wheel angle sensor is used to detect the position change of the steering wheel relative to the center line of the vehicle. The steering controller 12 can also determine the displacement of the valve core adjustment based on the steering angle.

[0050] Exemplary Methods

[0051] Figure 2 A flow chart of a proportional valve-based steering control method provided in an embodiment of the present application. In an exemplary embodiment, the method may include the following steps:

[0052] S220: Determine a first target angle to be turned.

[0053] The first target angle may be the rotation angle of the steering wheel. In practical applications, it may be measured by a steering angle sensor. The steering controller reads the angle data of the steering angle sensor through the CAN communication interface and converts the angle data of the sensor into an angle value, namely, the first target angle.

[0054] S240: According to the first target angle, query a first preset mapping relationship to determine a first target displacement of the valve core; the first preset mapping relationship is used to represent a mapping relationship between the target angle to be steered and the target displacement of the valve core.

[0055] In the embodiment of the present invention, the first preset mapping relationship can be determined in advance. x=k*θ, wherein x is the displacement of the valve core, θ is the first target angle, and k is the proportionality coefficient.

[0056] S260: obtaining the actual angle;

[0057] S280: adjusting the displacement of the valve core according to the deviation parameter; the deviation parameter includes: the deviation between the first target angle and the actual angle.

[0058] The actual angle includes the angle after the valve core in the current state is adjusted to the first target displacement. There is a certain deviation between the actual angle and the target angle. The displacement of the valve core is further adjusted by the deviation parameter to achieve the accuracy and followability of the valve core displacement adjustment.

[0059] The steering control method based on a proportional valve provided in an embodiment of the present invention obtains a first target angle to be steered, determines a first target displacement of the valve core adjustment based on a first preset mapping relationship, and after obtaining the actual angle, further adjusts the valve core displacement based on a deviation parameter between the first target angle and the actual angle. By adjusting the valve core by the deviation parameter, the responsiveness of the valve core can be improved, static errors can be eliminated, and the accuracy of the valve core displacement control can be ensured. The precise adjustment of the valve core displacement can also achieve precise control of the angle, ensuring the accuracy of the wheel angle control.

[0060] In one embodiment, the deviation parameter further includes: an angle deviation change rate between the first target angle and the actual angle. According to the deviation parameter, adjusting the displacement of the valve core includes:

[0061] Determining an angle deviation change rate according to a deviation between the first target angle and the actual angle;

[0062] Determining a second target angle to be steered based on a deviation between the first target angle and the actual angle and a rate of change of the angle deviation;

[0063] According to the second target angle, query the first preset mapping relationship to determine the second target displacement of the valve core;

[0064] Based on the second target displacement, the valve core is adjusted.

[0065] In practical applications, the angle deviation change rate is determined according to the deviation between the first target angle and the actual angle, including:

[0066] Determine the angle deviation e based on the first target angle and the actual angle θ (t) and the rate of change of angular deviation

[0067]

[0068] Determining a second target angle to be steered based on a deviation between the first target angle and the actual angle and a rate of change of the angle deviation may include:

[0069] The second target angle is determined according to the first formula, which is as follows:

[0070]

[0071] Among them, U θ (t) is the second target angle, e θ (t) is the angle deviation, K pθ is the angle scale factor, K Dθ is the angular differential coefficient. K pθ and K Dθ is a non-zero constant.

[0072] In this embodiment, the current steering angle of the vehicle is determined by the wheel angle sensor, and K in the first formula is pθ e θ (t) can adjust the angle deviation, and The angle change trend can be adjusted, and the rapidity and responsiveness of the angle control are improved by controlling the proportional differential link of the steering angle.

[0073] In one embodiment, the deviation between the first target displacement and the first actual displacement, the cumulative deviation, and the displacement deviation change rate between the first target displacement and the first actual displacement, the displacement deviation change rate being determined based on the deviation between the first target displacement and the first actual displacement, and adjusting the displacement of the valve core according to the deviation parameter may include:

[0074] The valve element is adjusted based on the deviation between the first target displacement amount and the actual first target displacement amount, the accumulated deviation, and the deviation change rate.

[0075] In practical applications, the valve core can be adjusted according to the second formula, which is as follows:

[0076]

[0077] Among them, U S (t) is the adjustment amount of the valve core, e s (t) is the deviation between the first target displacement and the actual first target displacement, K Ps is the valve core displacement proportionality coefficient, K Is is the valve core displacement integral coefficient, K Ds K is the differential coefficient of valve core displacement. Ps , K Is and K Ds is a non-zero constant.

[0078] In this embodiment, the valve core sensor monitors the current displacement of the valve core in real time and participates in the calculation of the control action. The proportional link in the second formula adjusts the deviation of the valve core displacement, and the differential link adjusts the change trend of the valve core displacement. The proportional differential link improves the responsiveness of the valve core, and the integral effect eliminates static errors and ensures the accuracy of the valve core displacement control. Furthermore, the precise control of the valve core displacement can achieve precise control of the wheel angle rotation speed and improve the steering accuracy.

[0079] In one embodiment, the method further comprises:

[0080] A rectangular wave is applied to the valve core, and the rectangular wave is used to control the valve core to be in a vibrating state.

[0081] The rectangular wave in the embodiment of the present invention is used to superimpose on the control signal of the valve core displacement, introducing the rectangular wave to prevent the valve core from being stuck in a certain position due to friction or viscosity effect, thereby improving the sensitivity and response speed of the valve core, effectively reducing the hysteresis effect, and improving the linearity of the system.

[0082] Figure 3 Schematic diagram of a rectangular wave provided by an embodiment of the present invention. Figure 3 As shown, the rectangular wave may be a waveform with a preset frequency and amplitude. For example, the rectangular wave may be a rectangular wave vibration with a frequency of 60 Hz and an amplitude of 0.4.

[0083] In practical applications, the parameters of the rectangular wave can be confirmed based on the waveform of the valve core displacement after adding the vibration and the waveform measured by the valve core displacement sensor, or the waveform of the pilot pressure. Figure 4 The pilot pressure waveform diagram provided by the embodiment of the present invention. Figure 4 As shown, the waveform of the pilot pressure is consistent with the frequency and waveform of the rectangular wave, indicating that the current rectangular wave is a valid rectangular wave.

[0084] In order to further avoid the disturbance of valve core displacement caused by valve core dead zone, the feedforward value can be added to the control signal to eliminate the nonlinearity in the control. Specifically, after applying the rectangular vibration wave, the feedforward value of 0.5° / S is added to stabilize the wheel angle. A large proportion of the total output of the controller is provided by the feedforward, which is the output value calibrated in advance, which greatly reduces the burden of system calculation and control pressure, and improves the rapidity of the steering system.

[0085] In one embodiment, the method further comprises:

[0086] Querying a second preset mapping relationship to determine a voltage signal corresponding to the adjustment displacement of the valve core; the second preset mapping relationship is used to characterize a mapping relationship between the adjustment displacement of the valve core and the voltage;

[0087] According to the voltage signal, the displacement change of the valve core is adjusted to adjust the displacement amount.

[0088] The electro-hydraulic proportional valve converts the input voltage signal into the displacement of the valve core through an actuator such as an electromagnet. The second preset mapping relationship is the corresponding relationship between the adjustment displacement of the valve core and the voltage signal, and the second preset mapping relationship can be determined by experimental calibration or a characteristic curve provided by the manufacturer.

[0089] In this embodiment, the adjustment displacement of the electro-hydraulic proportional valve is directly adjusted by the voltage signal. The voltage signal follows the valve core displacement calculation and directly acts on the proportional valve, so that the system obtains the maximum physical adjustment force and converts the electrical signal into the displacement of the valve core in the shortest time to obtain better followability.

[0090] Exemplary Devices

[0091] Accordingly, the embodiment of the present application also provides a steering control device based on a proportional valve. Figure 5 The structural block diagram of the steering control device based on the proportional valve provided in the embodiment of the present application, the device may include:

[0092] A first determining unit 510, configured to determine a first target angle to be turned;

[0093] A second determination unit 530 is used to query a first preset mapping relationship according to the first target angle to determine a first target displacement of the valve core; the first preset mapping relationship is used to represent a mapping relationship between the target angle to be turned and the target displacement of the valve core;

[0094] An acquisition unit 550 is used to acquire an actual angle, where the actual angle represents an angle after the valve core in the current state is adjusted by the first target displacement amount;

[0095] The adjustment unit 570 is used to adjust the displacement of the valve core according to a deviation parameter; the deviation parameter includes: a deviation between the first target angle and the actual angle.

[0096] The proportional valve-based steering control device provided in this embodiment belongs to the same application concept as the proportional valve-based steering control method provided in the above-mentioned embodiments of this application, and can execute the proportional valve-based steering control method provided in any of the above-mentioned embodiments of this application, and has the corresponding functional modules and beneficial effects of executing the proportional valve-based steering control method. For technical details not fully described in this embodiment, please refer to the specific processing content of the proportional valve-based steering control method provided in the above-mentioned embodiments of this application, and will not be repeated here.

[0097] The functions implemented by the above-mentioned first determination unit 510, the second determination unit 530, the acquisition unit 550 and the adjustment unit 570 may be implemented by the same or different processors respectively, which is not limited in the embodiment of the present application.

[0098] It should be understood that the first determination unit 510, the second determination unit 530, the acquisition unit 550 and the adjustment unit 570 in the above device can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device, wherein the processor can be a general-purpose processor, such as a CPU or a microprocessor, etc., and the memory can be a memory in the device or a memory outside the device. Alternatively, the unit in the device can be implemented in the form of a hardware circuit, and the functions of some or all of the units can be realized by designing the hardware circuit. The hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units are realized by designing the logical relationship of the components in the circuit; for another example, in another implementation, the hardware circuit can be implemented by PLD. Taking FPGA as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured through the configuration file, so as to realize the functions of some or all of the above units. All units of the above device may be implemented entirely in the form of a processor calling software, or entirely in the form of a hardware circuit, or partially in the form of a processor calling software and the rest in the form of a hardware circuit.

[0099] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a GPU, or a DSP; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0100] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0101] In addition, all or part of the units in the above device can be integrated together, or can be implemented independently. In one implementation, these units are integrated together and implemented in the form of a SOC. The SOC may include at least one processor for implementing any of the above methods or implementing the functions of each unit of the device. The type of the at least one processor may be different, for example, including a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0102] Exemplary Electronic Devices

[0103] Another embodiment of the present application also provides an electronic device, see FIG. Figure 6 As shown, the device includes:

[0104] Memory 600 and processor 610;

[0105] The memory 600 is connected to the processor 610 and is used to store programs;

[0106] The processor 610 is used to implement the steering control method based on the proportional valve disclosed in any of the above embodiments by running the program stored in the memory 600.

[0107] Specifically, the electronic device may further include: a bus, a communication interface 620 , an input device 630 and an output device 640 .

[0108] The processor 610, the memory 600, the communication interface 620, the input device 630 and the output device 640 are connected to each other via a bus.

[0109] A bus may include a pathway that transfers information between components of a computer system.

[0110] Processor 610 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or it can be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention, or it can be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0111] The processor 610 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0112] The memory 600 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 600 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0113] The input device 630 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0114] Output device 640 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0115] The communication interface 620 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0116] The processor 610 executes the program stored in the memory 600 and calls other devices, which can be used to implement each step of any of the proportional valve-based steering control methods provided in the above embodiments of the present application.

[0117] An embodiment of the present invention further provides an engineering machine, which includes the above-mentioned electronic device or the above-mentioned steering control device.

[0118] An embodiment of the present application also proposes a chip, which includes a processor and a data interface. The processor reads and runs a program stored in a memory through the data interface to execute the proportional valve-based steering control method introduced in any of the above embodiments. The specific processing process and its beneficial effects can be found in the above-mentioned embodiment introduction of the proportional valve-based steering control method.

[0119] Exemplary computer program products and storage media

[0120] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the proportional valve-based steering control method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0121] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0122] In addition, the embodiment of the present application may also be a storage medium on which a computer program is stored. The computer program is executed by a processor to execute the steps of the steering control method based on a proportional valve according to various embodiments of the present application described in any of the above embodiments of this specification, and specifically the following steps may be implemented:

[0123] S220: Determine a first target angle to be turned;

[0124] S240: According to the first target angle, query a first preset mapping relationship to determine a first target displacement of the valve core;

[0125] S260: obtaining the actual angle;

[0126] S280: Adjust the displacement of the valve core according to the deviation parameter.

[0127] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0128] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0129] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0130] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0131] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0132] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0133] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" 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 other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0134] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A steering control method based on a proportional valve, characterized in that: include: determining a first target angle to be turned; According to the first target angle, query a first preset mapping relationship to determine a first target displacement of the valve core; The first preset mapping relationship is used to represent the mapping relationship between the target angle to be turned and the target displacement of the valve core; Acquire an actual angle, where the actual angle represents an angle after the valve core in the current state is adjusted by the first target displacement amount; According to the deviation parameter, adjusting the displacement of the valve core; The deviation parameter includes: a deviation between the first target angle and the actual angle.

2. The steering control method based on a proportional valve according to claim 1, characterized in that: The deviation parameter further includes: an angle deviation change rate between the first target angle and the actual angle. The adjusting the displacement of the valve core according to the deviation parameter includes: Determining the angle deviation change rate according to a deviation between the first target angle and the actual angle; Determining a second target angle to be steered based on a deviation between the first target angle and the actual angle and a rate of change of the angle deviation; According to the second target angle, query the first preset mapping relationship to determine a second target displacement of the valve core; The valve core is adjusted based on the second target displacement.

3. The steering control method based on a proportional valve according to claim 1, characterized in that: The deviation parameter further includes: a deviation between the first target displacement and the first actual displacement, a cumulative deviation, and a displacement deviation change rate between the first target displacement and the first actual displacement, wherein the displacement deviation change rate is determined based on the deviation between the first target displacement and the first actual displacement. The adjusting the displacement of the valve core according to the deviation parameter includes: The valve element is adjusted based on a deviation between the first target displacement and the first actual displacement, a cumulative deviation, and a displacement deviation change rate.

4. The steering control method based on a proportional valve according to claim 1, characterized in that: The method further comprises: A rectangular wave is applied to the valve core, and the rectangular wave is used to control the valve core to be in a vibrating state.

5. The steering control method based on a proportional valve according to any one of claims 1 to 4, characterized in that: The method further comprises: Querying a second preset mapping relationship to determine a voltage signal corresponding to the adjustment displacement of the valve core; the second preset mapping relationship is used to characterize a mapping relationship between the adjustment displacement of the valve core and the voltage; According to the voltage signal, the displacement change of the valve core is adjusted to the adjusted displacement amount.

6. A steering control device based on a proportional valve, characterized in that: The device comprises: A first determining unit, used to determine a first target angle to be turned; A second determination unit is used to query a first preset mapping relationship according to the first target angle to determine a first target displacement of the valve core; the first preset mapping relationship is used to represent a mapping relationship between the target angle to be turned and the target displacement of the valve core; an acquisition unit, configured to acquire an actual angle, wherein the actual angle represents an angle after the valve core in a current state is adjusted by the first target displacement amount; The adjustment unit is used to adjust the displacement of the valve core according to a deviation parameter; the deviation parameter includes: a deviation between the first target angle and the actual angle.

7. An electronic device, characterized in that: It comprises a processor and a memory storing computer program instructions, and when the processor executes the computer program instructions, it implements the steering control method based on the proportional valve as described in any one of claims 1 to 5.

8. An engineering machine, characterized in that: Includes the steering control device according to claim 6 or the electronic device according to claim 7.

9. A chip, characterized in that: It comprises a processor and a data interface, wherein the processor reads and runs a program stored in a memory through the data interface to execute a steering control method based on a proportional valve as claimed in any one of claims 1 to 5.

10. A computer storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the steering control method based on a proportional valve as described in any one of claims 1 to 5 is implemented.

Images