Solenoid valve calibration method and device and engineering machinery

Abstract

The invention provides an electromagnetic valve calibration method and device and engineering machinery, and can be applied to the field of engineering machinery control. The method is applied to a control system of the engineering machinery, and comprises the following steps: when an electronic control hydraulic system of the engineering machinery is in a pressure building state, outputting a calibration current to a to-be-calibrated target electromagnetic valve in the electronic control hydraulic system; adjusting the size of the calibration current, and obtaining an actually measured minimum starting current capable of enabling the system pressure to suddenly drop; if deviation exists between the actually measured minimum starting current and the minimum starting control current of the target electromagnetic valve, the minimum starting control current is corrected to be the actually measured minimum starting current; wherein the initial value of the minimum starting control current is the theoretical starting current of the target electromagnetic valve. According to the method, test equipment does not need to be additionally installed, calibration of the electromagnetic valve in the hydraulic electric control system can be completed through components of the engineering machinery, and the calibration efficiency of the electromagnetic valve is effectively improved.

Description

Technical Field

[0001] The present application relates to the field of engineering machinery control, and in particular to a solenoid valve calibration method, device and engineering machinery. Background Art

[0002] With the continuous development of electronic control and intelligentization of engineering machinery products, engineering machinery has gradually switched from hydraulic control systems to electronic hydraulic systems. Among them, the most important hydraulic control component in the electronic hydraulic system is the electronic main valve. Since the electronic main valve is assembled from a large number of solenoid valves, and the solenoid valves themselves have problems such as processing accuracy, assembly accuracy or solenoid valve life, there is a slight gap between the pressure characteristic curve of each solenoid valve and the designed standard parameters, which leads to the difference between the actual opening current of the solenoid valve and the set theoretical starting current, which will eventually cause the composite controllability of the engineering machinery to be poor.

[0003] In order to improve the refined operability of engineering machinery, it is necessary to calibrate the minimum starting control current of the solenoid valve in the electronically controlled hydraulic system so that the minimum starting control current output by the engineering machinery is consistent with the actual minimum starting current of the solenoid valve. However, the existing solenoid valve calibration method not only has a complicated calibration process, but also requires the installation of additional test equipment on the engineering machinery to complete the calibration of the solenoid valve, resulting in low calibration efficiency. Summary of the invention

[0004] The present application provides a solenoid valve calibration method, device and engineering machinery to solve the technical problem of low efficiency of existing solenoid valve calibration.

[0005] According to the first aspect disclosed in the present application, the present application provides a solenoid valve calibration method, which is applied to a control system of an engineering machinery, comprising:

[0006] When the electronically controlled hydraulic system of the engineering machinery is in a pressure holding state, a calibration current is output to a target solenoid valve to be calibrated in the electronically controlled hydraulic system; wherein the pressure holding state means that the system pressure of the electronically controlled hydraulic system reaches a preset threshold value;

[0007] Adjusting the magnitude of the calibrated current to obtain the actually measured minimum starting current that can cause a sudden drop in the system pressure;

[0008] If there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve, the minimum starting control current is corrected to the measured minimum starting current; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

[0009] In a feasible implementation manner, the method further includes:

[0010] During the operation of the engineering machinery, obtaining a control output current output to the target solenoid valve, and receiving a feedback current returned by the target solenoid valve;

[0011] If there is a deviation between the feedback current and the controlled output current, the controlled output current is corrected based on the feedback current.

[0012] In a feasible implementation manner, the controlled output current is corrected based on the feedback current, including:

[0013] Acquiring a feedback deviation current value between the feedback current and the control output current;

[0014] If the feedback current is less than the control output current, the control output current is corrected to the sum of the control output current and the feedback deviation current value;

[0015] If the feedback current is greater than the control output current, the control output current is corrected to the difference between the control output current and the feedback deviation current value.

[0016] In a feasible implementation manner, correcting the minimum starting control current of the target solenoid valve to the measured minimum starting current includes:

[0017] Obtaining a starting deviation current value between the minimum starting control current and the measured minimum starting current;

[0018] If the minimum starting control current is greater than the measured minimum starting current, the minimum starting control current is corrected to the difference between the minimum starting control current and the starting deviation current value;

[0019] If the minimum starting control current is less than the actually measured minimum starting current, the minimum starting control current is corrected to the sum of the minimum starting control current and the starting deviation current value.

[0020] In a feasible implementation manner, adjusting the magnitude of the calibration current to obtain the measured minimum starting current that can cause a sudden drop in the system pressure includes:

[0021] The magnitude of the calibrated current is adjusted based on a binary search algorithm to obtain a measured minimum starting current that can cause a sudden drop in the system pressure.

[0022] In a feasible implementation manner, adjusting the magnitude of the calibrated current based on a binary search algorithm to obtain a measured minimum starting current that can cause a sudden drop in the system pressure includes:

[0023] outputting an initial calibration current to the target solenoid valve;

[0024] If the system pressure does not drop suddenly, the calibration current is increased based on the first step length, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly; wherein the first step length is a preset multiple of the initial calibration current;

[0025] Repeating the steps of reducing the calibration current based on the second step size when the system pressure suddenly drops, and outputting the updated calibration current to the target solenoid valve until the system pressure does not suddenly drop; increasing the calibration current based on the second step size when the system pressure does not suddenly drop, and outputting the updated calibration current to the target solenoid valve until the system pressure suddenly drops; wherein the second step size is halved with a preset step size as an initial value, and the second step size is not less than the unit current value;

[0026] When the second step length is equal to the unit current value and the system pressure drops suddenly again, it is determined that the current calibrated current is the actually measured minimum starting current.

[0027] In a feasible implementation manner, the method further includes:

[0028] The shutoff valve for controlling the oil return from the main valve in the electronically controlled hydraulic system is closed, so that the electronically controlled hydraulic system is in a pressure-holding state.

[0029] In a feasible implementation manner, before closing the cut-off valve for controlling oil return from the main valve in the electronically controlled hydraulic system, the method further includes:

[0030] When the engineering machinery is unloaded, the posture of the working device on the engineering machinery is adjusted so that each hydraulic cylinder of the electronically controlled hydraulic system is in a standard working state.

[0031] According to a second aspect disclosed in the present application, the present application provides a solenoid valve calibration device, which is applied to a control system of an engineering machinery, comprising:

[0032] a current calibration module, configured to output a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold; and to adjust the magnitude of the calibration current to obtain a measured minimum starting current that can cause a sudden drop in the system pressure;

[0033] A current correction module is used to correct the minimum starting control current to the measured minimum starting current if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

[0034] According to a third aspect disclosed in the present application, the present application provides an electronic device, including a processor, and a memory communicatively connected to the processor;

[0035] The memory stores computer-executable instructions;

[0036] The processor executes the computer-executable instructions stored in the memory to implement the method according to any one of the first aspects.

[0037] According to the fourth aspect disclosed in the present application, the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement any method in the first aspect.

[0038] According to a fifth aspect disclosed in the present application, the present application provides a computer program product, including a computer program, and when the computer program is executed, it is used to implement any one of the methods in the first aspect.

[0039] According to a fifth aspect disclosed in the present application, the present application provides an engineering machinery including an electronically controlled hydraulic system and a control system, wherein the control system includes the solenoid valve calibration device as described in the second aspect.

[0040] Compared with the prior art, this application has the following beneficial effects:

[0041] The present application provides a solenoid valve calibration method, device and engineering machinery, which outputs a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold; adjusts the magnitude of the calibration current to obtain the measured minimum starting current that can cause a sudden drop in the system pressure; if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve, the minimum starting control current is corrected to the measured minimum starting current; wherein the initial value of the minimum starting control current is a means of the theoretical starting current of the target solenoid valve, and the calibration of the solenoid valve in the hydraulic electronic control system can be completed by using the components of the engineering machinery itself without installing additional test equipment, thereby effectively improving the efficiency of the solenoid valve calibration. And through automatic calibration, recording the difference, and compensating for the deviation of the solenoid valve, the refined operability of the engineering machinery equipment is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] Figure 1A schematic diagram of a flow chart of a solenoid valve calibration method provided in an embodiment of the present application;

[0044] Figure 2 A schematic flow chart of another solenoid valve calibration method provided in an embodiment of the present application;

[0045] Figure 3 A schematic diagram of the relationship between the solenoid valve calibration current and the pump pressure change of the electronically controlled hydraulic system provided in the embodiment of the present application;

[0046] Figure 4 A schematic diagram of searching for the minimum starting current based on a binary search algorithm provided in an embodiment of the present application;

[0047] Figure 5 A schematic diagram of the structure of a solenoid valve calibration device provided in an embodiment of the present application;

[0048] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0049] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0050] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present application. Instead, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0051] Engineering machinery is an important part of the equipment industry. In general, all mechanical equipment required for earthwork construction, road construction and maintenance, mobile lifting and loading and unloading operations, and comprehensive mechanized construction projects required for various construction projects are called engineering machinery. Specifically, it includes earthmoving machinery, such as excavators (including crawler excavators and tire excavators), loaders (including tire loaders and crawler loaders), bulldozers (including tire bulldozers and crawler bulldozers), etc.; lifting machinery, such as cranes, crawler cranes, tower cranes, etc.; concrete machinery, such as concrete pump trucks, mixer trucks, etc.; road machinery, such as graders, rollers, pavers, etc.; aerial work machinery, such as aerial work platforms, aerial work platform vehicles, etc.; industrial vehicles, such as forklifts, tractors, etc.

[0052] With the continuous development of electronic control and intelligentization of engineering machinery products, engineering machinery has gradually switched from hydraulic control systems to electronic hydraulic systems. Among them, the most important hydraulic control component in the electronic hydraulic system is the electronic main valve. Since the electronic main valve is assembled from a large number of solenoid valves, and the solenoid valves themselves have problems such as processing accuracy, assembly accuracy or solenoid valve life, there is a slight gap between the pressure characteristic curve of each solenoid valve and the designed standard parameters, which leads to the difference between the actual opening current of the solenoid valve and the set theoretical starting current, which will eventually cause the composite controllability of the engineering machinery to be poor.

[0053] At the same time, after the solenoid valve has been used on engineering machinery for a certain period of time, its pressure characteristic curve will also have a certain probability of attenuation. Or after the engineering machinery is replaced with a new solenoid valve, due to different batches of solenoid valves and differences between old and new ones, the actual opening current of the solenoid valve will be different from the set theoretical starting current, resulting in poor composite operability of the engineering machinery.

[0054] In order to improve the refined operability of engineering machinery, it is necessary to calibrate the minimum starting control current of the solenoid valve in the electronically controlled hydraulic system so that the minimum starting control current output by the engineering machinery is consistent with the actual minimum starting current of the solenoid valve. However, the existing solenoid valve calibration method not only has a complicated calibration process, but also requires the installation of additional test equipment on the engineering machinery to complete the calibration of the solenoid valve, resulting in low calibration efficiency.

[0055] In response to the above technical problems, the present application proposes a solenoid valve calibration method, which does not require the installation of additional testing equipment and can complete the calibration of the solenoid valve in the hydraulic electronic control system by using the construction machinery's own components, effectively improving the efficiency of the solenoid valve calibration.

[0056] The technical solution of the electromagnetic valve calibration method provided by the present application is described in detail below through specific embodiments. It should be noted that the following embodiments may exist alone or in combination with each other, and the same or similar contents may not be described repeatedly in different embodiments.

[0057] It should be noted that the executor of the solenoid valve calibration method provided in the embodiment of the present application is the control system of the engineering machinery, and accordingly, the solenoid valve calibration device is also arranged in the control system of the engineering machinery.

[0058] Figure 1 A flow chart of a solenoid valve calibration method provided in an embodiment of the present application is shown in FIG. Figure 1 In some embodiments, the solenoid valve calibration method is applied to a control system of an engineering machinery, and the process specifically includes the following steps:

[0059] S101, when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state, outputting a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold value.

[0060] When the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state, the control system of the engineering machinery outputs a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system.

[0061] Specifically, due to the safety settings of the electronically controlled hydraulic system, when the system pressure reaches a certain threshold, the relief valve in the electronically controlled hydraulic system will be triggered to work to ensure the safety of the system pressure. Therefore, the maximum pressure of the electronically controlled hydraulic system in the pressure-holding state is the working pressure of the relief valve.

[0062] Specifically, the electronically controlled hydraulic system is a system that combines electrical control and hydraulic transmission. It uses electronic technology to monitor and control the parameters of the hydraulic system to achieve optimization and efficient control of the hydraulic system. The electronically controlled hydraulic system is mainly composed of an electrical control part and a hydraulic transmission part. The electrical control part includes controllers, sensors, actuators, solenoid valves, etc., which are responsible for receiving input signals, processing signals, and sending instructions to hydraulic components. The hydraulic transmission part includes hydraulic pumps, hydraulic cylinders, hydraulic motors, etc., which are responsible for converting hydraulic energy into mechanical energy and driving mechanical equipment to move.

[0063] S102, adjusting the magnitude of the calibrated current to obtain the actually measured minimum starting current that can cause a sudden drop in system pressure.

[0064] Among them, through the working principle of the electronically controlled hydraulic system and the changes in system pressure when the entire engineering machinery is working, it is found that when the entire electronically controlled hydraulic system is in a pressure-holding state, the current of the target solenoid valve to be calibrated is continuously increased. When the target solenoid valve is just started, that is, when the working device of the engineering machinery (such as the boom, dipper arm, bucket or rotation of the excavator) just moves, the system pressure of the electronically controlled hydraulic system will drop suddenly. At this time, the measured minimum starting current that just causes the system pressure to drop suddenly is the actual starting current of the target solenoid valve.

[0065] See also Figure 3 Taking a solenoid valve with a starting current of 700mA as an example, it can be seen that when the current output to the solenoid valve increases consistently, but the current is less than 700mA, the system pressure of the electronically controlled hydraulic system remains stable. When the current reaches 700mA, the system pressure of the electronically controlled hydraulic system suddenly decreases and plummets. At this time, the minimum starting current of the solenoid valve can be calibrated by the minimum current that can cause the system pressure to plummet.

[0066] S103, if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve, the minimum starting control current is corrected to the measured minimum starting current; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

[0067] Among them, in the control system of engineering machinery, the minimum starting control current used to control the start of the solenoid valve was originally set based on the theoretical starting current of the solenoid valve. However, due to the processing accuracy and assembly accuracy of the solenoid valve, there may be inconsistencies between the theoretical starting current and the actual starting current of the solenoid valve. The measured minimum starting current is the actual minimum starting current of the target solenoid valve obtained through calibration, and the currently set minimum starting control current of the target solenoid valve is compared with the measured minimum starting current. If there is a deviation, it means that the currently set minimum starting control current is inconsistent with the actual minimum starting current, and it needs to be corrected to be consistent with the actual minimum starting current to ensure that the control system of the engineering machinery can effectively control the start of the solenoid valve.

[0068] In this embodiment, the calibration of the solenoid valve in the hydraulic electric control system can be completed by using the components of the engineering machinery itself without installing additional test equipment, which effectively improves the efficiency of the solenoid valve calibration. And through automatic calibration, recording the difference, and compensating for the solenoid valve deviation, the refined operability of the engineering machinery equipment is improved.

[0069] exist Figure 1 Based on the embodiment shown, the following Figure 2 , the technical solution of the above-mentioned solenoid valve calibration method is further introduced.

[0070] Figure 2 A flow chart of another solenoid valve calibration method provided in the embodiment of the present application is shown in FIG. Figure 2 In some embodiments, the solenoid valve calibration method is applied to a control system of an engineering machinery, and the process specifically includes the following steps:

[0071] S201, when the engineering machinery is unloaded, adjusting the posture of the working device on the engineering machinery so that each hydraulic cylinder of the electronically controlled hydraulic system is in a standard working state.

[0072] Among them, when the construction machinery is unloaded, the operating handle is moved, and when the hinges of the working device are just able to move, the resistance and gravity overcome are considered to be the same, which is used as the mechanical benchmark for calibrating the starting point of each action. At the same time, the hydraulic cylinders of the electronically controlled hydraulic system are in a standard working state, and the hydraulic cylinders are prevented from being in a state of extreme extension or extreme retraction to ensure the accuracy of subsequent current calibration.

[0073] Specifically, the working device of construction machinery is a key component for performing engineering tasks, and is used to achieve operations such as excavation, loading, and lifting. For example, the excavation device is mainly used for excavation operations, such as the bucket, boom, and arm of the excavator; the handling device is mainly used to handle earth and stone and other construction materials, such as loaders and steering gears.

[0074] S202, closing the cut-off valve for controlling the oil return from the main valve in the electronically controlled hydraulic system, so that the electronically controlled hydraulic system is in a pressure-holding state.

[0075] Among them, after the shut-off valve is closed, the return oil path of the main valve is cut off, and the hydraulic oil in the system will generate pressure because it cannot flow back, causing the electronically controlled hydraulic system to enter a pressure-holding state.

[0076] Specifically, in an electronically controlled hydraulic system, the hydraulic pump will work according to the minimum flow rate even if there is no operation. When the hydraulic pump of the electronically controlled hydraulic system is working, its internal mechanical structure will continuously transport the oil from the low-pressure area to the high-pressure area, thereby generating pressure. In order to maintain this pressure, the hydraulic pump needs to have a certain flow input. Its functions are: 1. Prevent dry grinding: When the hydraulic pump is running without sufficient flow, its internal friction parts may wear due to lack of sufficient lubrication, and may even cause damage. Therefore, the setting of the minimum flow rate helps prevent this from happening. 2. Maintain system stability: In an electronically controlled hydraulic system, stable flow and pressure are important factors to ensure the normal operation of the system. The setting of the minimum flow rate helps maintain the stability of the hydraulic system and prevent system fluctuations or failures caused by insufficient flow.

[0077] Therefore, after closing the shut-off valve that controls the return oil of the main valve in the electronically controlled hydraulic system, even if the electronically controlled hydraulic system is not working, its hydraulic pump will work according to the minimum flow rate, causing the electronically controlled hydraulic system to gradually enter a pressure-holding state.

[0078] S203, when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state, outputting a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold.

[0079] S204, adjusting the magnitude of the calibrated current to obtain the actually measured minimum starting current that can cause a sudden drop in system pressure.

[0080] Preferably, the magnitude of the calibrated current is adjusted based on a binary search algorithm to obtain a measured minimum starting current that can cause a sudden drop in system pressure.

[0081] Specifically, the steps of the binary search algorithm to find the measured minimum starting current include:

[0082] Step 1: Output an initial calibration current to the target solenoid valve.

[0083] Wherein, an initial current value of a calibration current is set, and the calibration current is output to the target solenoid valve.

[0084] Step 2: If the system pressure does not drop suddenly, the calibration current is increased based on the first step length, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly; wherein the first step length is a preset multiple of the initial calibration current.

[0085] Among them, after the initial calibration current is output to the target solenoid valve, it is detected whether the system pressure of the electronically controlled hydraulic system drops suddenly. If the system pressure does not drop suddenly, the calibration current is gradually increased based on the first step length, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly.

[0086] Specifically, since the first step length is set to a preset multiple of the initial calibration current, for example, assuming that the initial calibration current is 256mA, the first step length can be set to one times the initial calibration current, that is, the first step length is also equal to 256mA, then the calibration current is increased for the first time, and the calibration current is updated to 512mA, and the calibration current is increased for the second time, and the calibration current is updated to 768mA, and so on, until the updated calibration current is output to the target solenoid valve and a sudden drop in the system pressure of the electronically controlled hydraulic system is detected.

[0087] Step 3, repeatedly executing the steps of reducing the calibrated current based on the second step size when the system pressure drops suddenly, and outputting the updated calibrated current to the target solenoid valve until the system pressure does not drop suddenly; increasing the calibrated current based on the second step size when the system pressure does not drop suddenly, and outputting the updated calibrated current to the target solenoid valve until the system pressure drops suddenly; wherein the second step size is halved gradually with the preset step size as the initial value, and the second step size is not less than the unit current value.

[0088] Among them, when a sudden drop in the system pressure of the electronically controlled hydraulic system is detected, the calibration current is reduced based on the second step length one by one, and the updated calibration current is output to the target solenoid valve until the system pressure does not drop suddenly. When the system pressure does not drop suddenly, the calibration current is increased based on the second step length one by one, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly. Since the second step length is halved one by one with the preset step length as the initial value, that is, the second step length will decrease one by one, so when the above steps are repeatedly executed, due to the gradual decrease of the second step length, the calibration current will gradually approach the measured minimum starting current of the target solenoid valve after multiple increases or decreases.

[0089] Specifically, since the second step length is halved gradually with the preset step length as the initial value, for example, assuming that the preset step length is 128mA, the initial value of the second step length is 128mA, after the second adjustment, the second step length is 64mA, and after the third adjustment, the second step length is 32mA. However, the second step length is not less than the unit current value, and when mA is the unit current, the second step length will eventually be no less than 1mA.

[0090] Step 4: When the second step length is equal to the unit current value and the system pressure drops sharply again, it is determined that the current calibrated current is the measured minimum starting current.

[0091] Among them, when the second step length is the minimum unit current, the calibrated current is updated again to cause a sudden drop in the system pressure of the electronically controlled hydraulic system. At this time, it is exactly the minimum current that allows the target solenoid valve to start, that is, the measured minimum starting current of the solenoid valve.

[0092] Among them, adjusting the size of the calibration current based on the binary search algorithm can quickly obtain the measured minimum starting current that can cause a sudden drop in system pressure, further improving the calibration efficiency of the solenoid valve.

[0093] See also Figure 4 Specifically, in order to quickly locate the current of the solenoid valve when it just starts to act, a binary fast search method is used. Taking 700mA current as an example, the details are as follows:

[0094] 1. Given a current of 256×1=256mA, the system pressure of the electronically controlled hydraulic system does not change (the working device does not move);

[0095] 2. Given a current of 256×2=512mA, the system pressure of the electronically controlled hydraulic system does not change (the working device does not move);

[0096] 3. Given 256×3=768mA, the system pressure of the electronically controlled hydraulic system drops suddenly (the working device is in action);

[0097] 4. Reduce the current by 128mA, and set the current to 768-128=640mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move).

[0098] 5. Increase the current by 64mA, and the given current is 640+64=704mA. The system pressure of the electronically controlled hydraulic system drops suddenly (the working device is in action);

[0099] 6. Reduce the current by 32mA, and the given current is 704-32=672mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move);

[0100] 7. Increase the current by 16mA, and set the current to 672+16=688mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move).

[0101] 8. Increase the current by 8mA, and set the current to 688+8=696mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move).

[0102] 9. Increase the current by 4mA, and the given current is 696+4=700mA. The system pressure of the electronically controlled hydraulic system drops suddenly (the working device is in action);

[0103] 10. Reduce the current by 2mA, and set the current to 700-2=698mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move).

[0104] 11. Increase the current by 1mA, and set the current to 698+1=699mA. The system pressure of the electronically controlled hydraulic system does not change (the working device does not move).

[0105] 12. Increase the current by 1mA, and the given current is 699+1=700mA. The system pressure of the electronically controlled hydraulic system drops suddenly (the working device is in action), and reaches 700mA for the second time.

[0106] The starting current that can cause a sudden drop in system pressure is 700mA. Stop searching and record this current value as the measured minimum starting current.

[0107] S205, if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve, the minimum starting control current is corrected to the measured minimum starting current; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

[0108] Preferably, the minimum starting control current of the target solenoid valve is corrected to the measured minimum starting current, including:

[0109] Step 1: Obtain a starting deviation current value between a minimum starting control current and an actually measured minimum starting current.

[0110] Step 2: If the minimum starting control current is greater than the measured minimum starting current, the minimum starting control current is corrected to the difference between the minimum starting control current and the starting deviation current value.

[0111] Step 3: If the minimum starting control current is less than the measured minimum starting current, the minimum starting control current is corrected to the sum of the minimum starting control current and the starting deviation current value.

[0112] The minimum starting control current is corrected according to the magnitude relationship between the minimum starting control current and the actually measured minimum starting current.

[0113] S206, during the operation of the engineering machinery, obtaining a control output current output to a target solenoid valve, and receiving a feedback current returned by the target solenoid valve.

[0114] Among them, during the operation of the construction machinery, the control current output by the control system to the target solenoid valve should be basically consistent with the feedback current returned by the solenoid valve.

[0115] However, if there is a deviation between the feedback current of the solenoid valve and the control output current, an abnormal situation may occur where the operation cannot be performed. For example, the starting current of the solenoid valve is 700mA, and the control system outputs a control current of 700mA to the solenoid valve, but the solenoid valve feedbacks that the control current it receives is only 600mA, which does not reach the starting current of the solenoid valve. At this time, the solenoid valve has an abnormal situation, which may cause the construction machinery to be unable to work.

[0116] Alternatively, the operator manipulates the handle in the hope of executing an action according to the current gear position, and the control system outputs the control current of the current gear position to the solenoid valve, but the solenoid valve feedbacks that the control current it receives exceeds or is lower than the control current of the current gear position, resulting in the action amplitude of the working device being too large or too small, and failing to act as expected by the operator, resulting in poor controllability of the engineering machinery and a low level of manipulation refinement. For example, the preset gear current of the solenoid valve is 1000mA, and the control system outputs a control current of 1000mA to the solenoid valve, but the solenoid valve feedbacks that the control current it receives is only 900mA or as high as 1100mA, which is inconsistent with the control current of the current gear position. At this time, the action amplitude of the working device of the engineering machinery will also be inconsistent with the operator's expectations, affecting the level of manipulation refinement of the engineering machinery.

[0117] S207: If there is a deviation between the feedback current and the controlled output current, the controlled output current is corrected based on the feedback current.

[0118] Among them, in emergency situations, such as the temporary inability to repair the solenoid valve of the engineering machinery and the need for the engineering machinery to continue emergency work, when there is a deviation between the feedback current and the control output current, the control output current of the target solenoid valve is corrected based on the feedback current to enable the solenoid valve to work in an emergency.

[0119] Preferably, the control output current is corrected based on the feedback current, including:

[0120] Step 1, obtaining a feedback deviation current value between a feedback current and a control output current;

[0121] Step 2: if the feedback current is less than the control output current, the control output current is corrected to the sum of the control output current and the feedback deviation current value;

[0122] Step 3: If the feedback current is greater than the control output current, the control output current is corrected to the difference between the control output current and the feedback deviation current value.

[0123] The controlled output current is corrected according to the magnitude relationship between the feedback current and the controlled output current.

[0124] In this embodiment, the control current of the target solenoid valve can be corrected in an emergency situation to maintain the normal operation of the engineering machinery.

[0125] Figure 5 is a schematic diagram of a solenoid valve calibration device provided in an embodiment of the present application, see Figure 5 The solenoid valve calibration device includes various functional modules for implementing the aforementioned solenoid valve calibration method, and any functional module can be implemented by software and / or hardware.

[0126] In some embodiments, the solenoid valve calibration device 500 is applied to a control system of an engineering machine, and specifically includes a current calibration module 501 and a current correction module 502. Among them:

[0127] The current calibration module 501 is used to output a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold value; and to adjust the magnitude of the calibration current to obtain a measured minimum starting current that can cause a sudden drop in the system pressure;

[0128] The current correction module 502 is used to correct the minimum starting control current to the measured minimum starting current if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

[0129] In some embodiments, the current correction module 502 is further configured to:

[0130] During the operation of the engineering machinery, a control output current output to a target solenoid valve is obtained, and a feedback current returned by the target solenoid valve is received;

[0131] If there is a deviation between the feedback current and the controlled output current, the controlled output current is corrected based on the feedback current.

[0132] In some embodiments, the current correction module 502 is further configured to:

[0133] Obtaining a feedback deviation current value between the feedback current and the control output current;

[0134] If the feedback current is less than the control output current, the control output current is corrected to the sum of the control output current and the feedback deviation current value;

[0135] If the feedback current is greater than the control output current, the control output current is corrected to the difference between the control output current and the feedback deviation current value.

[0136] In some embodiments, the current correction module 502 is further configured to:

[0137] Obtain the starting deviation current value between the minimum starting control current and the measured minimum starting current;

[0138] If the minimum starting control current is greater than the measured minimum starting current, the minimum starting control current is corrected to the difference between the minimum starting control current and the starting deviation current value;

[0139] If the minimum starting control current is less than the measured minimum starting current, the minimum starting control current is corrected to the sum of the minimum starting control current and the starting deviation current value.

[0140] In some embodiments, the current calibration module 501 is further used for:

[0141] The magnitude of the calibrated current is adjusted based on a binary search algorithm to obtain the measured minimum starting current that can cause a sudden drop in system pressure.

[0142] In some embodiments, the current calibration module 501 is further used for:

[0143] Output an initial calibration current to the target solenoid valve;

[0144] If the system pressure does not drop suddenly, the calibration current is increased based on the first step length, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly; wherein the first step length is a preset multiple of the initial calibration current;

[0145] Repeat the steps of reducing the calibration current based on the second step length when the system pressure suddenly drops, and outputting the updated calibration current to the target solenoid valve until the system pressure does not suddenly drop; increasing the calibration current based on the second step length when the system pressure does not suddenly drop, and outputting the updated calibration current to the target solenoid valve until the system pressure suddenly drops; wherein the second step length is halved with the preset step length as the initial value, and the second step length is not less than the unit current value;

[0146] When the second step length is equal to the unit current value and the system pressure drops sharply again, it is determined that the current calibrated current is the measured minimum starting current.

[0147] In some embodiments, the device 500 further includes a pressure control module 503, and the pressure control module 503 is specifically used to:

[0148] Close the shut-off valve that controls the oil return from the main valve in the electronically controlled hydraulic system to put the electronically controlled hydraulic system in a pressure-holding state.

[0149] In some embodiments, the device 500 further includes a posture adjustment module 504. Before closing the cut-off valve for controlling oil return from the main valve in the electronically controlled hydraulic system, the posture adjustment module 504 is specifically used to:

[0150] When the construction machinery is unloaded, adjust the posture of the working device on the construction machinery so that each hydraulic cylinder of the electronically controlled hydraulic system is in a standard working state.

[0151] The solenoid valve calibration device 500 provided in the embodiment of the present application is used to execute the technical solution provided in the aforementioned solenoid valve calibration method embodiment. Its implementation principle and technical effect are similar to those in the aforementioned method embodiment and will not be repeated here.

[0152] It should be noted that it should be understood that the division of the various modules of the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software called by processing elements, or all in the form of hardware, or some modules can be implemented in the form of software called by processing elements, and some modules can be implemented in the form of hardware. For example, the current calibration module can be a separately established processing element, or it can be integrated in a chip of the above device. In addition, it can also be stored in the memory of the above device in the form of program code, and called and executed by a processing element of the above device. The function of the above current calibration module. The implementation of other modules is similar. In addition, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed by an integrated logic circuit of hardware in the processor element or instructions in software form.

[0153] An embodiment of the present application also provides an engineering machine, including an electronically controlled hydraulic system and a control system, wherein the control system includes the aforementioned solenoid valve calibration device.

[0154] The above-mentioned construction machinery does not need to install additional test equipment, and can complete the calibration of the solenoid valve in the hydraulic electronic control system using its own components, which effectively improves the efficiency of solenoid valve calibration. And through automatic calibration, recording the difference, and compensating for the deviation of the solenoid valve, the refined operability of the construction machinery equipment is improved.

[0155] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application, see Figure 6The electronic device 600 includes a processor 601 and a memory 602 communicatively connected to the processor 601;

[0156] Memory 602 stores computer executable instructions;

[0157] The processor 601 executes the computer execution instructions stored in the memory 602 to implement the technical solution of the aforementioned solenoid valve calibration method.

[0158] In the above-mentioned electronic device 600, the memory 602 and the processor 601 are electrically connected directly or indirectly to realize data transmission or interaction. For example, these elements can be electrically connected to each other through one or more communication buses or signal lines, such as through a bus. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus. The memory 602 stores computer execution instructions for implementing the above-mentioned solenoid valve calibration method, including at least one software function module that can be stored in the memory 02 in the form of software or firmware. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602.

[0159] The memory 602 includes at least one type of readable storage medium, including but not limited to random access memory (RAM), read only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), and electrically erasable read-only memory (EEPROM). The memory 602 is used to store programs, and the processor 601 executes the programs after receiving the execution instruction. Furthermore, the software programs and modules in the above-mentioned memory 602 may also include an operating system, which may include various software components and / or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.

[0160] The processor 601 may be an integrated circuit chip having the ability to process signals. The above-mentioned processor 601 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), etc. The disclosed methods, steps and logic block diagrams in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor, or the processor 601 may be any conventional processor, etc.

[0161] The electronic device 600 is used to execute the technical solution provided by the aforementioned solenoid valve calibration method embodiment. Its implementation principle and technical effect are similar to those in the aforementioned method embodiment and will not be repeated here.

[0162] The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the technical solution of the aforementioned solenoid valve calibration method.

[0163] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0164] An exemplary readable storage medium is coupled to the processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (Application Specific Integrated Circuits, referred to as: ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in the control device of the solenoid valve calibration device.

[0165] An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, is used to implement the technical solution of the aforementioned solenoid valve calibration method.

[0166] In the above embodiments, those skilled in the art will appreciate that the implementation of the above method embodiments can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless network, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0167] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. The present application is intended to cover any modification, use or adaptation of the present application, which follows the general principles of the present application and includes common knowledge or customary techniques in the art that are not disclosed in the present application. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present application are indicated by the appended claims.

[0169] It should be understood that the present application is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A solenoid valve calibration method, characterized in that: Control systems used in construction machinery include: When the electronically controlled hydraulic system of the engineering machinery is in a pressure holding state, a calibration current is output to a target solenoid valve to be calibrated in the electronically controlled hydraulic system; wherein the pressure holding state means that the system pressure of the electronically controlled hydraulic system reaches a preset threshold value; Adjusting the magnitude of the calibrated current to obtain the actually measured minimum starting current that can cause a sudden drop in the system pressure; If there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve, the minimum starting control current is corrected to the measured minimum starting current; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

2. The method according to claim 1, characterized in that The method further comprises: During the operation of the engineering machinery, obtaining a control output current output to the target solenoid valve, and receiving a feedback current returned by the target solenoid valve; If there is a deviation between the feedback current and the controlled output current, the controlled output current is corrected based on the feedback current.

3. The method according to claim 2, characterized in that The control output current is corrected based on the feedback current, comprising: Acquiring a feedback deviation current value between the feedback current and the control output current; If the feedback current is less than the control output current, the control output current is corrected to the sum of the control output current and the feedback deviation current value; If the feedback current is greater than the control output current, the control output current is corrected to the difference between the control output current and the feedback deviation current value.

4. The method according to any one of claims 1 to 3, characterized in that: Correcting the minimum starting control current of the target solenoid valve to the actually measured minimum starting current includes: Obtaining a starting deviation current value between the minimum starting control current and the measured minimum starting current; If the minimum starting control current is greater than the measured minimum starting current, the minimum starting control current is corrected to the difference between the minimum starting control current and the starting deviation current value; If the minimum starting control current is less than the actually measured minimum starting current, the minimum starting control current is corrected to the sum of the minimum starting control current and the starting deviation current value.

5. The method according to any one of claims 1 to 3, characterized in that: Adjusting the magnitude of the calibrated current to obtain the measured minimum starting current that can cause a sudden drop in the system pressure includes: The magnitude of the calibrated current is adjusted based on a binary search algorithm to obtain a measured minimum starting current that can cause a sudden drop in the system pressure.

6. The method according to claim 5, characterized in that Adjusting the magnitude of the calibrated current based on a binary search algorithm to obtain a measured minimum starting current that can cause a sudden drop in the system pressure includes: outputting an initial calibration current to the target solenoid valve; If the system pressure does not drop suddenly, the calibration current is increased based on the first step length, and the updated calibration current is output to the target solenoid valve until the system pressure drops suddenly; wherein the first step length is a preset multiple of the initial calibration current; Repeating the steps of reducing the calibration current based on the second step size when the system pressure suddenly drops, and outputting the updated calibration current to the target solenoid valve until the system pressure does not suddenly drop; increasing the calibration current based on the second step size when the system pressure does not suddenly drop, and outputting the updated calibration current to the target solenoid valve until the system pressure suddenly drops; wherein the second step size is halved with a preset step size as an initial value, and the second step size is not less than the unit current value; When the second step length is equal to the unit current value and the system pressure drops suddenly again, it is determined that the current calibrated current is the actually measured minimum starting current.

7. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: The shutoff valve for controlling the oil return from the main valve in the electronically controlled hydraulic system is closed, so that the electronically controlled hydraulic system is in a pressure-holding state.

8. The method according to claim 7, characterized in that Before closing the cut-off valve for controlling oil return from the main valve in the electronically controlled hydraulic system, the method further comprises: When the engineering machinery is unloaded, the posture of the working device on the engineering machinery is adjusted so that each hydraulic cylinder of the electronically controlled hydraulic system is in a standard working state.

9. A solenoid valve calibration device, characterized in that: Control systems used in construction machinery include: a current calibration module, configured to output a calibration current to a target solenoid valve to be calibrated in the electronically controlled hydraulic system when the electronically controlled hydraulic system of the engineering machinery is in a pressure-holding state; wherein the pressure-holding state refers to the system pressure of the electronically controlled hydraulic system reaching a preset threshold; and to adjust the magnitude of the calibration current to obtain a measured minimum starting current that can cause a sudden drop in the system pressure; A current correction module is used to correct the minimum starting control current to the measured minimum starting current if there is a deviation between the measured minimum starting current and the minimum starting control current of the target solenoid valve; wherein the initial value of the minimum starting control current is the theoretical starting current of the target solenoid valve.

10. An engineering machine, characterized in that: The engineering machinery comprises an electronically controlled hydraulic system and a control system, and the control system comprises the solenoid valve calibration device as claimed in claim 9.

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