Cooperative control method and equipment for movable arm of electric excavator and medium

Abstract

The invention discloses a cooperative control method and device for a movable arm of an electric excavator and a medium. The method comprises the steps that a driving instruction of the excavator is determined, filtering processing is conducted on the driving instruction, and the demand flow of the movable arm is determined according to the driving instruction obtained after filtering processing; the original rotating speed of a motor of the movable arm is determined according to the required flow, and the original current of a brake valve of the movable arm is determined; whether the excavator is in a continuous flat ground state or not is determined according to the filtered driving instruction; if the excavator is in the continuous flat ground state, the motor actual rotating speed of the movable arm is determined, the motor rotating speed difference value is determined according to the motor actual rotating speed and the motor original rotating speed, and the motor rotating speed increment of the movable arm and the current increment of the brake valve are determined according to the motor rotating speed difference value; and the motor rotating speed of the movable arm is changed according to the motor rotating speed increment, and the original current of the brake valve is changed according to the current increment. The operation effect of the excavator is improved, and the operation efficiency is improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method, device and medium for cooperatively controlling an electric excavator boom. Background Art

[0002] With the continuous advancement of engineering construction, the performance requirements for excavators are also constantly increasing. Electric excavators are widely used in various complex construction environments, such as mining, construction sites, road construction, etc. In these environments, excavators need to face various complex geological conditions and operating requirements, such as large-scale excavation, precise loading, efficient transportation, etc. When facing complex and changeable construction environments, traditional excavators do not consider the impact of poor motor speed follow-up when the boom raising and lowering actions are frequently switched in the continuous leveling state and the boom motor frequently switches forward and reverse. The motor set speed is calculated unilaterally according to the driving instructions, but the actual motor speed cannot keep up with the set speed at this time, which will cause the pump oil supply to fail to meet the boom demand, resulting in a slow boom lifting speed, nodding and hitting the ground, and affecting the leveling effect. Summary of the invention

[0003] In order to solve the above problems, the present application proposes a collaborative control method for an electric excavator boom, including: determining a driving instruction of the excavator, filtering the driving instruction, and determining the required flow of the boom according to the filtered driving instruction; determining the original motor speed of the boom according to the required flow, and determining the original current of the brake valve of the boom; determining whether the excavator is in a continuous leveling state according to the filtered driving instruction; if the excavator is in a continuous leveling state, determining the actual motor speed of the boom, determining the motor speed difference according to the actual motor speed and the original motor speed, and determining the motor speed increment of the boom and the current increment of the brake valve according to the motor speed difference; changing the motor speed of the boom according to the motor speed increment, and changing the original current of the brake valve according to the current increment.

[0004] In one example, the required flow rate of the boom is determined based on the filtered driving instruction, specifically including: determining a preset rated voltage, determining a signal voltage based on the driving instruction, and determining an instruction percentage based on the rated voltage and the signal voltage; determining an opening of a main valve of the boom's cylinder based on the instruction percentage and the driving instruction, and determining the required flow rate based on the opening of the main valve of the cylinder.

[0005] In one example, the original speed of the motor of the boom is determined according to the required flow, and the original current of the brake valve of the boom is determined, which specifically includes: determining the hydraulic pump of the excavator and determining the pump displacement of the hydraulic pump, and determining the original speed of the motor according to the pump displacement and the required flow; determining the maximum cross-sectional area of ​​the brake valve, and determining the current threshold corresponding to the maximum cross-sectional area according to the original speed of the motor, so as to use the current threshold as the original current.

[0006] In one example, determining whether the excavator is in a continuous leveling state is performed based on the filtered driving instructions, specifically including: determining the boom raising and arm retraction instructions of the excavator, and determining the first instruction percentage of the boom raising and arm retraction instructions; determining other instructions of the excavator, and determining the second instruction percentage of the other instructions, the other instructions including boom lowering, arm flipping, bucket retraction, bucket flipping, rotation, and walking; determining a preset percentage threshold, and comparing the first instruction percentage and the second instruction percentage with the percentage threshold respectively; if the first instruction percentage is greater than the percentage threshold and the second instruction percentage is less than the percentage threshold, determining that the excavator is in a leveling state.

[0007] In one example, after determining that the excavator is in a leveling state, the method further includes: determining the interval time between multiple leveling states, and determining a preset time threshold, and comparing the interval time with the time threshold; if the interval time is less than the time threshold, determining that the excavator is in a continuous leveling state.

[0008] In one example, after determining whether the excavator is in a continuous leveling state according to the filtered driving instruction, the method further includes: if the excavator is not in a continuous leveling state, setting the motor speed increment to zero and setting the current increment to zero.

[0009] In one example, the method also includes: real-time monitoring of the actual speed of the motor of the boom, and real-time monitoring of the actual current of the brake valve; determining a speed feedback signal based on the actual speed of the motor and the original speed of the motor, and determining a current feedback signal based on the actual current of the brake valve and the original current of the brake valve; dynamically adjusting the motor and the current based on the speed feedback signal and the current feedback signal.

[0010] In one example, filtering the driving instruction specifically includes: preprocessing the driving instruction through a filter to reduce high-frequency noise of the driving instruction, and using an output signal of the filter as a processed driving instruction.

[0011] On the other hand, the present application also proposes a collaborative control device for an electric excavator boom, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the collaborative control device for the electric excavator boom can execute: determining the driving instructions of the excavator, filtering the driving instructions, and determining the required flow of the boom according to the filtered driving instructions; determining the original motor speed of the boom according to the required flow, and determining the original current of the brake valve of the boom; determining whether the excavator is in a continuous leveling state according to the filtered driving instructions; if the excavator is in a continuous leveling state, determining the actual motor speed of the boom, determining the motor speed difference according to the actual motor speed and the original motor speed, and determining the motor speed increment of the boom and the current increment of the brake valve according to the motor speed difference; changing the motor speed of the boom according to the motor speed increment, and changing the original current of the brake valve according to the current increment.

[0012] On the other hand, the present application also proposes a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured to: determine a driving instruction of an excavator, filter the driving instruction, and determine a required flow rate of a boom according to the filtered driving instruction; determine an original motor speed of the boom according to the required flow rate, and determine an original current of a brake valve of the boom; determine whether the excavator is in a continuous leveling state according to the filtered driving instruction; if the excavator is in a continuous leveling state, determine an actual motor speed of the boom, determine a motor speed difference according to the actual motor speed and the original motor speed, and determine a motor speed increment of the boom and a current increment of the brake valve according to the motor speed difference; change the motor speed of the boom according to the motor speed increment, and change the original current of the brake valve according to the current increment.

[0013] This application effectively reduces the impact of high-frequency noise on the system by filtering and processing driving instructions, and improves the stability and accuracy of control. At the same time, the required flow of the boom is determined according to the filtered driving instructions, which can more accurately match the actual operation requirements of the excavator and improve work efficiency. This application can intelligently identify whether the excavator is in a continuous leveling state, and adjust the motor speed and brake valve current according to the actual situation, thereby realizing the coordinated control of the excavator boom and dynamically adjusting the oil supply of the boom, which not only improves the operating efficiency of the excavator, but also reduces the operating difficulty of the operator. This application can significantly improve the operating efficiency of the excavator and reduce the labor intensity of the operator. According to the feedback signal of the actual motor speed, the set speed of the motor and the set current of the solenoid valve are dynamically adjusted, realizing the coordinated control of the motor and the hydraulic system, improving the operating effect of the excavator, and enhancing the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0015] Figure 1 A schematic flow chart of a coordinated control method of an electric excavator boom in an embodiment of the present application;

[0016] Figure 2 It is a schematic diagram of a cooperative control device for an electric excavator boom in an embodiment of the present application. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution of the present application will be clearly and completely described below in combination with the specific embodiments of the present application and the corresponding drawings. 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 making creative work are within the scope of protection of the present application.

[0018] The technical solutions provided by various embodiments of the present application are described in detail below in conjunction with the accompanying drawings.

[0019] like Figure 1 As shown, in order to solve the above problems, an embodiment of the present application provides a coordinated control method of an electric excavator boom, the method comprising:

[0020] S101, determining a driving instruction of an excavator, filtering the driving instruction, and determining a required flow rate of a boom according to the filtered driving instruction.

[0021] S102, determining the original rotation speed of the motor of the movable arm according to the required flow, and determining the original current of the brake valve of the movable arm.

[0022] The command input by the driver is filtered to remove the signal noise. Subsequently, the required flow rate of the boom is calculated based on the filtered driving command. The required flow rate is positively correlated with the command percentage of the boom mechanism: the higher the command percentage, the greater the required flow rate. Similarly, the original set speed of the boom motor is also positively correlated with the required flow rate: when the required flow rate increases, the original set speed of the motor also increases accordingly. In the electric excavator equipment of the boom motor, the hydraulic pump supplies oil to the boom, and the boom motor is the energy source of the hydraulic pump. The higher the motor speed, the higher the oil supply flow rate of the pump. The forward and reverse rotation of the motor can control the boom to perform the rising or falling operation. When the motor rotates forward, the boom performs the rising operation, and when the motor rotates reversely, the motor performs the falling operation. The boom brake valve controls the cross-sectional area of ​​the oil passage between the boom chamber and the pump. When the brake valve current is greater than a certain threshold, the cross-sectional area is the largest; when it is less than the current threshold, the lower the brake valve current, the smaller the cross-sectional area, and the smaller the hydraulic oil flow between the pump and the boom chamber.

[0023] In one embodiment, a predetermined rated voltage value is measured according to the received driving command to obtain the signal voltage of the command. A command percentage is obtained by the ratio of the signal voltage to the preset rated voltage. The command percentage and the driving command are used to further determine the opening of the main valve of the boom cylinder. The preset corresponding relationship table of "command percentage-boom cylinder main valve opening" is referred to in order to more accurately find the main valve opening value that matches the current command percentage. The main valve is the main valve that controls the opening of the hydraulic oil circuit from the pump to the actuator cylinder. The smaller the main valve opening, the less oil enters the cylinder from the pump, and the smaller the action speed of the actuator. If the main valve is closed, the actuator does not move. According to the determined main valve opening, refer to the preset corresponding relationship table of "boom cylinder main valve opening-boom required flow" to find and determine the required flow value corresponding to the current main valve opening.

[0024] In one embodiment, the positive correlation between the command percentage and the required flow is determined by a table lookup. The relationship between the required flow and the motor speed is directly calculated by a formula, which is n=Q / q, where n represents the motor speed, Q represents the pump flow, and q represents the pump displacement. The pump displacement q of a fixed displacement pump is a fixed value. Therefore, according to the formula n=Q / q, it can be concluded that the motor speed n is proportional to the pump flow Q. When the required flow increases, since the pump displacement remains unchanged, the motor speed will also increase accordingly, thereby meeting the flow demand of the boom actuator. In normal mode, the boom brake valve is in a normally open state, that is, the original set current of the boom brake valve is the current threshold corresponding to the maximum cross-sectional area. Determine the hydraulic pump of the excavator and its pump displacement. Then, according to the determined required flow and pump displacement, calculate the original speed of the motor. Subsequently, determine the maximum cross-sectional area of ​​the brake valve, and further determine the current threshold corresponding to the maximum cross-sectional area based on the previously obtained original motor speed. This current threshold will be set to the original current value.

[0025] S103: Determine whether the excavator is in a continuous leveling state according to the filtered driving instruction.

[0026] In normal operation, leveling operation involves the composite execution of the two actions of lifting the boom and retracting the dipper stick of the excavator. Continuous leveling operation means that this composite action is repeated many times, and after each action is completed, the tip of the bucket tooth returns to the starting position of the leveling operation through the adjustment of the boom lowering and the dipper stick turning outward. In order to determine whether the excavator is in a continuous leveling operation state, the filtered driving instructions are analyzed. When it is detected that the command percentages of the boom lifting and the dipper stick retracting (herein referred to as the first command percentage) simultaneously exceed the preset percentage threshold, and the command percentages of other actions (herein referred to as the second command percentage) are lower than the percentage threshold, the excavator is considered to be in a leveling operation state. If this leveling operation state occurs multiple times, and the interval time between each state is less than the set time threshold, the excavator is determined to be in a continuous leveling operation state.

[0027] In one embodiment, the boom lift and arm retraction commands of the excavator and their command percentages are determined and compared with a preset percentage threshold, such as 18%. If the command percentage exceeds this threshold, it can be considered that the main valve associated with the corresponding actuator has just been opened, and the excavator is considered to be in a leveling state; when it is lower than this threshold, the main valve remains closed. When the interval time between multiple leveling states is less than a set empirical value, such as 800ms, it is determined that the excavator is in a continuous leveling operation state.

[0028] In one embodiment, if the excavator is not in a continuous leveling state, the set speed increment of the boom motor and the set current increment of the boom brake valve are both zero.

[0029] S104. If the excavator is in a continuous leveling state, determine the actual motor speed of the boom, determine the motor speed difference according to the actual motor speed and the original motor speed, and determine the motor speed increment of the boom and the current increment of the brake valve according to the motor speed difference.

[0030] If the excavator is in a continuous leveling state, the set speed increment of the boom motor and the set current increment of the boom brake valve are calculated according to the difference between the set speed and the actual speed of the motor, that is, the boom motor speed difference.

[0031] When the motor speed difference is large, it means that the actual motor speed fails to keep up with the set speed. This is usually due to the frequent switching of the boom up and down, which causes the motor to change rapidly between forward and reverse rotation, and the speed change is large, which requires a certain amount of adjustment time. Although increasing the set speed of the boom motor may temporarily increase the speed difference, the speed closed-loop system in the motor control strategy will use the difference as input. The larger the difference, the stronger the motor's driving ability, which prompts the motor to increase the speed to the set value more quickly. Among them, the speed closed loop is a control strategy in the motor controller that aims to keep the actual speed of the motor consistent with the set speed. In short, by comparing the set speed with the current actual speed of the motor, and dynamically adjusting the motor's current or other related parameters based on the difference between the two, the motor's driving ability is changed to ensure that the actual speed can quickly follow and reach the set speed. This closed-loop algorithm may be implemented using PID or other intelligent algorithms. Although the specific details are not within the scope of this solution, its effect is significant: when there is a large difference between the actual speed and the set speed, the motor controller will actively enhance the motor's driving ability to accelerate the speed increase process.

[0032] The motor speed followability is the ability of the motor's actual speed to follow the set speed. The poor followability of the motor's actual speed is partly due to the fact that when the boom rises, its gravity exerts pressure on the pump, which in turn exerts a reverse drag on the motor, slowing down the increase in the motor speed. To this end, it is necessary to reduce the set current of the boom brake valve, that is, to set a negative current increment, so as to reduce the cross-sectional area of ​​the oil path from the pump to the boom chamber, thereby reducing the boom's pressure on the pump and the resulting reverse drag on the motor. When the motor speed difference increases, the absolute value of the negative increment of the boom brake valve set current also increases, which further reduces the reverse drag of the boom's gravity on the motor, allowing the motor speed to increase more rapidly and significantly improving the followability.

[0033] S105, changing the motor speed of the movable arm according to the motor speed increment, and changing the original current of the brake valve according to the current increment.

[0034] The calculated increment of the boom motor set speed is added to the original boom motor set speed to obtain the final boom motor set speed; at the same time, the calculated increment of the boom brake valve set current is added to the original boom brake valve set current to determine the final boom brake valve set current.

[0035] In one embodiment, the actual speed of the boom motor and the actual current of the brake valve are monitored in real time, and a speed feedback signal and a current feedback signal are calculated based on these real-time data and their respective original values, i.e., the original speed of the motor and the original current of the brake valve. Subsequently, the motor speed and the brake valve current are dynamically adjusted based on these feedback signals.

[0036] In one embodiment, the driving instruction is pre-processed by a filter to reduce high-frequency noise of the driving instruction, and the output signal of the filter is used as the processed driving instruction.

[0037] like Figure 2 As shown, the embodiment of the present application also provides a coordinated control device for an electric excavator boom, including:

[0038] at least one processor; and,

[0039] a memory communicatively connected to at least one processor; wherein,

[0040] The memory stores instructions that can be executed by at least one processor, and the instructions are executed by at least one processor to enable a cooperative control device of an electric excavator arm to perform:

[0041] Determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow rate of the boom according to the filtered driving instruction;

[0042] Determine the original speed of the motor of the movable arm according to the required flow rate, and determine the original current of the brake valve of the movable arm;

[0043] Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction;

[0044] If the excavator is in a continuous leveling state, the actual motor speed of the boom is determined, a motor speed difference is determined according to the actual motor speed and the original motor speed, and a motor speed increment of the boom and a current increment of the brake valve are determined according to the motor speed difference;

[0045] The motor speed of the boom is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment.

[0046] The embodiment of the present application further provides a non-volatile computer storage medium storing computer executable instructions, wherein the computer executable instructions are configured as follows:

[0047] Determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow rate of the boom according to the filtered driving instruction;

[0048] Determine the original speed of the motor of the movable arm according to the required flow rate, and determine the original current of the brake valve of the movable arm;

[0049] Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction;

[0050] If the excavator is in a continuous leveling state, the actual motor speed of the boom is determined, a motor speed difference is determined according to the actual motor speed and the original motor speed, and a motor speed increment of the boom and a current increment of the brake valve are determined according to the motor speed difference;

[0051] The motor speed of the boom is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment.

[0052] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0053] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0054] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0055] For the convenience of description, the above device is described in various units according to their functions. Of course, when implementing this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0056] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0057] The devices and media provided in the embodiments of the present application correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects as the corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0058] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0059] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0060] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0061] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0062] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0063] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0064] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0065] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0066] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A coordinated control method for an electric excavator boom, characterized in that: include: Determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow rate of the boom according to the filtered driving instruction; Determine the original speed of the motor of the movable arm according to the required flow rate, and determine the original current of the brake valve of the movable arm; Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction; If the excavator is in a continuous leveling state, the actual motor speed of the boom is determined, a motor speed difference is determined according to the actual motor speed and the original motor speed, and a motor speed increment of the boom and a current increment of the brake valve are determined according to the motor speed difference; The motor speed of the boom is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment.

2. The method according to claim 1, characterized in that Determining the required flow rate of the boom according to the filtered driving instruction specifically includes: determining a preset rated voltage, determining a signal voltage according to the driving command, and determining a command percentage according to the rated voltage and the signal voltage; The opening of the main valve of the cylinder of the boom is determined according to the instruction percentage and the driving instruction, and the required flow is determined according to the opening of the main valve of the cylinder.

3. The method according to claim 1, characterized in that Determining the original motor speed of the movable arm according to the required flow rate and determining the original current of the brake valve of the movable arm specifically includes: Determine the hydraulic pump of the excavator, determine the pump displacement of the hydraulic pump, and determine the original speed of the motor according to the pump displacement and the required flow rate; The maximum cross-sectional area of ​​the brake valve is determined, and a current threshold corresponding to the maximum cross-sectional area is determined according to the original rotation speed of the motor, so as to use the current threshold as the original current.

4. The method according to claim 1, characterized in that: Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction specifically includes: Determine a boom lift and arm retraction command of the excavator, and determine a first command percentage of the boom lift and arm retraction command; Determine other instructions of the excavator and determine a second instruction percentage of the other instructions, wherein the other instructions include boom lowering, arm turning outward, bucket retracting, bucket turning outward, rotation, and walking; Determine a preset percentage threshold, and compare the first instruction percentage and the second instruction percentage with the percentage threshold respectively; If the first instruction percentage is greater than the percentage threshold and the second instruction percentage is less than the percentage threshold, it is determined that the excavator is in a level ground state.

5. The method according to claim 4, characterized in that After determining that the excavator is in a level ground state, the method further includes: Determine the interval time of multiple level ground states, determine a preset time threshold, and compare the interval time with the time threshold; If the interval time is less than the time threshold, it is determined that the excavator is in a continuous leveling state.

6. The method according to claim 1, characterized in that After determining whether the excavator is in a continuous leveling state according to the filtered driving instruction, the method further includes: If the excavator is not in a continuous leveling state, the motor speed increment is set to zero, and the current increment is set to zero.

7. The method according to claim 1, characterized in that The method further comprises: Real-time monitoring of the actual speed of the motor of the movable arm and the actual current of the brake valve; Determine a speed feedback signal according to the actual speed of the motor and the original speed of the motor, and determine a current feedback signal according to the actual current of the brake valve and the original current of the brake valve; The motor and the current are dynamically adjusted according to the speed feedback signal and the current feedback signal.

8. The method according to claim 1, characterized in that The driving instruction is filtered, specifically comprising: The driving instruction is preprocessed by a filter to reduce high-frequency noise of the driving instruction, and an output signal of the filter is used as the processed driving instruction.

9. A coordinated control device for an electric excavator boom, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the cooperative control device of the electric excavator boom to perform: Determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow rate of the boom according to the filtered driving instruction; Determine the original speed of the motor of the movable arm according to the required flow rate, and determine the original current of the brake valve of the movable arm; Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction; If the excavator is in a continuous leveling state, the actual motor speed of the boom is determined, a motor speed difference is determined according to the actual motor speed and the original motor speed, and a motor speed increment of the boom and a current increment of the brake valve are determined according to the motor speed difference; The motor speed of the boom is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment.

10. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to: Determine a driving instruction of the excavator, filter the driving instruction, and determine a required flow rate of the boom according to the filtered driving instruction; Determine the original speed of the motor of the movable arm according to the required flow rate, and determine the original current of the brake valve of the movable arm; Determining whether the excavator is in a continuous leveling state according to the filtered driving instruction; If the excavator is in a continuous leveling state, the actual motor speed of the boom is determined, a motor speed difference is determined according to the actual motor speed and the original motor speed, and a motor speed increment of the boom and a current increment of the brake valve are determined according to the motor speed difference; The motor speed of the boom is changed according to the motor speed increment, and the original current of the brake valve is changed according to the current increment.

Images