Inertia hydraulic loading self-adjusting control method, device, equipment, medium and product of large inertia closed system

Abstract

The application discloses a large-inertia closed system inertial hydraulic loading self-adjusting control method, device, equipment, medium and product, and the method comprises the following steps: S1, in the simulation starting or braking inertia loading stage of the test bench, based on the energy conservation principle, the target rotating speed of the closed system motor during the starting or braking inertia loading is obtained according to the output power of the closed system pump or the kinetic energy of the large-inertia equipment during braking as the inertia energy; S2, the target rotating speed of the closed system motor during the starting or braking inertia loading is taken as the input, the opening of the closed-loop control proportional servo valve is controlled, the rotating speed n1 of the closed system motor is controlled, and the rotating speed closed-loop control of the closed system motor during the starting or braking inertia loading is completed by taking n1 as the feedback, and the closed system hydraulic inertia loading self-adjusting is realized. The application can realize the closed system hydraulic inertia loading self-adjusting, does not need the load curve, and thus solves the problem of the inertia loading after the optimization of the closed system.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of performance testing of large-inertia hydraulic closed systems, in particular, to a large-inertia closed system inertia hydraulic loading self-adjusting control method, device, equipment, medium and product. BACKGROUND

[0002] With the development of society, there are more and more devices with large-inertia loads. Since hydraulic systems have the characteristics of high power density, most large-inertia loads adopt hydraulic closed systems for driving, such as walking machines, screw conveyors, etc. The performance of the closed system can best reflect the performance of the device, so the performance testing of the large-inertia closed system is particularly important.

[0003] The load inertia of the hydraulic closed system of the walking machine, screw conveyor, etc. is large. When braking, due to the inertia effect, high pressure is generated at the motor outlet (pump suction port) of the hydraulic closed system. When the pressure reaches a certain level, the pipes, pumps, motors and other elements of the walking closed system will be damaged, thereby affecting the reliability and service life of the entire device. However, the high pressure at the pump suction port cannot be too low, otherwise the device braking time will be too long, which will cause safety hazards. Therefore, the closed system motor speed, hydraulic elements, element set pressure, etc. need to be reasonably matched so that the pump suction port pressure during device braking is not too high or too low. However, this matching method requires that the test bench can realize the inertia load of the large-inertia closed system.

[0004] The existing inertia loading control method, whether it is a motor loading or a hydraulic motor loading, generally adopts torque closed-loop control, which needs to collect torque data in actual working conditions and then perform reproduction simulation on the test bench. However, for the optimized system to be tested, the performance testing under inertia load cannot be achieved by this torque closed-loop control, because the changes in the optimized system to be tested will affect the torque changes under inertia load. In other words, the torque changes of the optimized system to be tested are unknown, and the existing inertia loading control method needs to input a known torque curve to perform inertia loading. Therefore, a control method is needed to self-adjust the control of the inertia load. SUMMARY

[0005] The present application provides a large-inertia closed system inertia hydraulic loading self-adjusting control method to solve the technical problem that the existing inertia loading control method needs to input a known torque curve to perform inertia loading and cannot self-adjust the control of the inertia load.

[0006] The present application is achieved by the following solutions:

[0007] The application discloses a self-adjusting control method for a large-inertia closed system inertial hydraulic loading, which is applied to a large-inertia closed system hydraulic inertial loading test bench, and comprises a large-inertia equipment closed system and an inertial loading system, wherein the large-inertia equipment closed system comprises a closed pump and a closed system motor, the inertial loading system comprises a loading motor, a proportional servo valve and an accumulator, the closed system motor and the loading motor are drivingly connected through a shaft coupling, and the method comprises the following steps:

[0008] S1, in the simulation of a starting inertial loading or a braking inertial loading phase of the large-inertia closed system hydraulic inertial loading test bench, based on the energy conservation principle, the target rotating speed n0 of the closed system motor in the starting inertial loading or the braking inertial loading is obtained according to the output power of the closed pump of the closed system or the kinetic energy when the large-inertia equipment brakes;

[0009] S2, the target rotating speed n0 of the closed system motor in the starting inertial loading or the braking inertial loading is taken as input, the opening of the proportional servo valve is controlled through closed-loop control, the rotating speed n1 of the closed system motor is controlled, and the rotating speed closed-loop control of the closed system motor in the starting inertial loading or the braking inertial loading is completed through taking n1 as feedback, so that the closed system hydraulic inertial loading self-adjustment is realized.

[0010] Further, the step S1 specifically comprises the following steps:

[0011] S101, in the simulation of the starting inertial loading, the output power of the closed pump is calculated through the differential pressure ΔP1 of the closed pump and the flow Q, wherein the differential pressure ΔP1 of the closed pump is equal to the inlet and outlet pressure difference of the closed pump minus the fixed load when the large-inertia equipment starts;

[0012] S102, the energy output by the closed system is calculated according to the output power of the closed pump and a related coefficient integral;

[0013] S103, the target rotating speed n0 of the closed system motor in the starting inertial loading is calculated according to the kinetic energy theorem and the energy output by the closed system.

[0014] Further, the step S2 specifically comprises the following steps:

[0015] S201, the target rotating speed n0 of the closed system motor in the starting inertial loading is taken as input, the opening of the proportional servo valve is controlled through closed-loop control, the rotating speed n1 of the closed system motor is controlled, and the rotating speed closed-loop control of the closed system motor in the starting inertial loading is completed through taking n1 as feedback, so that the closed system hydraulic inertial loading self-adjustment is realized.

[0016] Further, the method further comprises the following steps:

[0017] S3, in the simulation of large inertia equipment normal working condition loading, the closed system motor inlet pressure is taken as feedback, and proportional servo valve is taken as pressure closed loop control to complete the normal working condition loading simulation of the cotton picker.

[0018] Further, the step S1 specifically comprises the steps of:

[0019] S111, in the simulation of braking inertia loading, the torque of reverse braking is calculated through the differential pressure ΔP2 and the flow Q of the closed pump, and then the power of the consumed inertia energy of the closed system is calculated through the speed n1 of the closed system motor and the torque of the reverse braking;

[0020] S112, the consumed inertia energy of the closed system is calculated by integration according to the power of the consumed inertia energy;

[0021] S113, the residual inertia energy of the large inertia equipment is calculated by comparing the consumed inertia energy of the closed system with the total inertia energy of the large inertia equipment;

[0022] S114, the target speed n0 of the closed system motor in the braking inertia loading is calculated according to the kinetic energy theorem and the residual inertia energy.

[0023] Further, the step S2 specifically comprises the steps of:

[0024] S211, the target speed n0 of the closed system motor in the braking inertia loading is taken as input, the opening of the proportional servo valve is controlled through closed loop control, the speed n1 of the closed system motor is controlled, and the speed n1 is taken as feedback to complete the speed closed loop control of the closed system motor in the braking inertia loading, so that the hydraulic inertia loading self-adjustment of the closed system is realized.

[0025] Another aspect of the present application also provides a large inertia closed system inertia hydraulic loading self-adjustment control device, which is applied to a large inertia closed system hydraulic inertia loading test bench, comprises a large inertia equipment closed system and an inertia loading system, the large inertia equipment closed system comprises a closed pump and a closed system motor, the inertia loading system comprises a loading motor, a proportional servo valve and an accumulator, the closed system motor and the loading motor are drivingly connected through a shaft coupling, and comprises:

[0026] A target speed obtaining module is configured to, in the simulation of starting inertia loading or braking inertia loading of the large inertia closed system hydraulic inertia loading test bench, obtain the target speed n0 of the closed system motor in the starting inertia loading or the braking inertia loading based on the energy conservation principle according to the output power of the closed pump of the closed system or the kinetic energy of the large inertia equipment in braking as inertia energy.

[0027] The self-adjusting rotating speed closed loop control module takes the target rotating speed n0 of the closed system motor during the starting inertia loading or the braking inertia loading as the input, controls the rotating speed n1 of the closed system motor by adjusting the opening of the proportional servo valve, and takes n1 as the feedback to complete the rotating speed closed loop control of the closed system motor during the starting inertia loading or the braking inertia loading, and realizes the self-adjusting of the closed system hydraulic inertia loading.

[0028] The application further provides an electronic device, which comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the self-adjusting control method for the large inertia closed system inertia hydraulic loading when executing the computer program.

[0029] The application further provides a storage medium, which comprises a stored program, and the program controls the device where the storage medium is located to execute the steps of the self-adjusting control method for the large inertia closed system inertia hydraulic loading when the program is executed.

[0030] The application further provides a computer program product, which comprises a computer program or computer executable instructions, and the computer program or computer executable instructions implement the steps of the self-adjusting control method for the large inertia closed system inertia hydraulic loading when executed by a processor.

[0031] The application has the following beneficial effects:

[0032] The application provides a self-adjusting control method, device, equipment, medium and product for large inertia closed system inertia hydraulic loading, which can move the large inertia equipment closed system to a hydraulic related test bench for normal working condition and inertia load test, can realize self-adjustment of the closed system hydraulic inertia loading, and thus solves the problem of inertia loading after optimization of the closed system. When a new product is designed, the system performance test can be completed without load curve, the research and development cycle is shortened, the experimental cost is low, a special test bench is not needed, and the loading method is simple.

[0033] In addition to the purposes, features and advantages described above, the application has other purposes, features and advantages. The application will be further described below with reference to the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings, which form a part of the present application, are intended to provide further understanding of the present application, and the illustrative embodiments of the present application and their description serve the purpose of explaining the present application. The accompanying drawings should not be construed as an inappropriate limitation on the present application.

[0035] Figure 1is a preferred embodiment of the application inertia hydraulic loading self-adjusting control method flow chart of large inertia closed system;

[0036] Figure 2 is a principle diagram of the inertia loading of the test bench large inertia equipment start-up;

[0037] Figure 3 is a preferred embodiment of the application inertia hydraulic loading self-adjusting control method principle diagram of large inertia closed system simulated start-up inertia loading;

[0038] Figure 4 is a principle diagram of the inertia loading of the test bench large inertia equipment braking;

[0039] Figure 5 is a preferred embodiment of the application inertia hydraulic loading self-adjusting control method principle diagram of large inertia closed system simulated braking inertia loading;

[0040] Figure 6 is a preferred embodiment of the application inertia hydraulic loading self-adjusting control device module diagram of large inertia closed system;

[0041] Figure 7 is a preferred embodiment of the application electronic device entity diagram;

[0042] Figure 8 is a preferred embodiment of the application internal structure diagram of computer equipment. DETAILED DESCRIPTION

[0043] The embodiments of the application are described in detail below with reference to the accompanying drawings, but the application can be implemented in various different ways as defined and covered by the following.

[0044] As shown in Figure 1 , the preferred embodiment of the application provides a large inertia closed system inertia hydraulic loading self-adjusting control method, applied to a large inertia closed system hydraulic inertia loading test bench, including a large inertia equipment closed system and an inertia loading system, the large inertia equipment closed system includes a closed pump, a closed system motor, the inertia loading system includes a loading motor, a proportional servo valve, an accumulator, the closed system motor and the loading motor are drivingly connected through a shaft coupling, including the steps of:

[0045] S1, in the large inertia closed system hydraulic inertia loading test bench simulating start-up inertia loading or braking inertia loading stage, based on the energy conservation principle, according to the output power of the closed system closed pump or the kinetic energy of the large inertia equipment braking as the inertia energy, respectively obtain the target speed n0 of the closed system motor during start-up inertia loading or braking inertia loading;

[0046] S2, taking the target rotating speed n0 of the closed system motor during the inertia loading or the inertia loading of the brake as input, controlling the rotating speed n1 of the closed system motor by closed loop control of the opening of the proportional servo valve, and taking n1 as feedback, respectively completing the rotating speed closed loop control of the closed system motor during the inertia loading or the inertia loading of the brake, and realizing the hydraulic inertia loading self-adjustment of the closed system.

[0047] The embodiment provides a large inertia closed system inertia hydraulic loading self-adjustment control method, which is mainly suitable for inertia load during starting and braking of a large inertia device, can move the closed system of the large inertia device to a hydraulic related test bench for normal working condition and inertia load test, solves the inertia loading problem of the optimized closed system based on energy conservation, can realize the hydraulic inertia loading self-adjustment of the closed system, and thus solves the inertia loading problem of the optimized closed system. When a new product is designed, system performance test can be completed without a load curve, the research and development period is shortened, experimental cost is low, a special related test bench is not needed, and the loading method is simple.

[0048] In the preferred embodiment of the application, the step S1 specifically comprises the steps of:

[0049] S101, calculating the output power of the closed pump by the closed pump pressure difference ΔP1 and the flow Q during the simulated inertia loading during starting, wherein the closed pump pressure difference ΔP1 is equal to the closed pump inlet and outlet pressure difference minus the fixed load during starting of the large inertia device.

[0050] S102, calculating the energy output by the closed system according to the output power of the closed pump and a related coefficient integral.

[0051] S103, calculating the target rotating speed n0 of the closed system motor during the inertia loading during starting according to the kinetic energy theorem and the energy output by the closed system.

[0052] Specifically, the step S2 specifically comprises the steps of:

[0053] S201, taking the target rotating speed n0 of the closed system motor during the inertia loading during starting as input, controlling the rotating speed n1 of the closed system motor by closed loop control of the opening of the proportional servo valve, and taking n1 as feedback, completing the rotating speed closed loop control of the closed system motor during the inertia loading during starting, and realizing the hydraulic inertia loading self-adjustment of the closed system, wherein the closed loop control can adopt PID control, fuzzy control or adaptive control, and the embodiment adopts PID control.

[0054] The embodiment is a large inertia closed system inertia hydraulic loading self-adjustment control method during simulated inertia loading during starting, and the working principle is as follows:

[0055] Starting working condition

[0056] The principle of the inertia loading of the test bench large inertia equipment is shown in Figure 2 When the starting begins, the proportional servo valve is fully opened, the closed system motor drives the loading motor to rotate, the proportional servo valve is adjusted to provide corresponding back pressure for the loading motor, thereby hindering the rotation of the closed system motor, and the inertia load during starting is simulated. The loading motor and the closed system motor are rigidly connected through a shaft coupling.

[0057] The specific flow of the whole method is shown in Figure 3 The flow mainly includes two parts, one part is the closed loop control of the speed, and the other part is the calculation of the target speed of the system (input speed). In the figure, ΔP1 is the closed pump inlet and outlet pressure difference - the fixed load during starting of the large inertia equipment (P1-P2 - the fixed load during starting of the large inertia equipment), Q is the real-time flow of the closed pump outlet, n1 is the actual speed of the closed system motor, n0 is the target speed of the closed system (input speed), and Δn is the difference between the actual speed n1 and the target speed n0.

[0058] The closed loop control of the speed is performed, the input is n0, the opening of the proportional servo valve is controlled through the PID control, the speed n1 of the closed system motor is controlled, n1 is taken as the feedback, and the closed loop flow of the speed is completed.

[0059] When the calculation of the target speed of the system is performed, the output power of the closed pump is calculated through the pressure difference and the flow of the closed pump of the closed system; then the output energy of the closed system (the output power of the closed pump x the relevant coefficient) is calculated by integration; finally, the target speed n0 of the closed system motor is obtained through the calculation of the output energy of the closed system (kinetic energy theorem).

[0060] According to the above steps, only the fixed load during starting of the large inertia equipment needs to be known, so that the inertia load required for the starting of the closed system of the test bench large inertia equipment can be adjusted in real time, the self-adjustment of the hydraulic inertia loading of the closed system starting is realized, and the problem of the inertia loading of the optimized closed system is solved.

[0061] In the preferred embodiment of the present application, the self-adjustment control method of the large inertia closed system inertia hydraulic loading further includes the steps of:

[0062] S3, in the simulation of the normal working condition loading of the large inertia equipment, the closed system motor inlet pressure is taken as the feedback, the proportional servo valve is used for pressure closed loop control, and the simulation of the normal working condition loading of the cotton picker is completed.

[0063] In the preferred embodiment of the present application, the step S1 specifically includes the steps of:

[0064] S111, when simulating the braking inertia loading, the torque (torque consumed by inertia) of reverse braking is calculated by the differential pressure ΔP and flow Q of the closed pump, and then the power consumed by the inertia of the closed system is calculated by the speed n1 of the closed system motor and the torque of the reverse braking;

[0065] S112, the consumed inertia energy of the closed system is calculated by integrating the power consumed by the inertia;

[0066] S113, the remaining inertia energy of the large inertia equipment is calculated by comparing the consumed inertia energy of the closed system with the total inertia energy of the large inertia equipment;

[0067] S114, the target speed n0 of the closed system motor during braking inertia loading is calculated according to the kinetic energy theorem and the remaining inertia energy.

[0068] Specifically, the step S2 specifically comprises the steps of:

[0069] S211, the target speed n0 of the closed system motor during braking inertia loading is input, the opening of the closed loop control proportional servo valve is controlled, the speed n1 of the closed system motor is controlled, and the speed closed loop control of the closed system motor during braking inertia loading is completed, and the hydraulic inertia loading self-adjustment of the closed system is realized.

[0070] The embodiment is a large inertia closed system inertia hydraulic loading self-adjustment control method during simulated starting inertia loading, and the working principle is as follows:

[0071] Braking condition

[0072] The principle of braking inertia loading of the test bench large inertia equipment is shown in Figure 4 When normally running, the closed system motor drags the loading motor to rotate. The proportional servo valve and the accumulator are connected to the oil suction port of the loading motor. When simulating the inertia load, the proportional servo valve is opened, so that the oil suction side pressure of the loading motor rises, so that the loading motor drags the closed system motor to rotate, and the rotating direction is consistent with the direction during normal rotation. The loading motor and the closed system motor are rigidly connected through the shaft coupling.

[0073] The specific flow of the whole method is shown in Figure 5As shown, the flow is mainly divided into two parts, one part is the closed loop control of the speed, one part is the target speed (input speed) calculation of the system. In the figure, ΔP2 is the closed pump motor inlet and outlet pressure difference (P2-P1), V is the real-time displacement of the closed system motor (when the cotton picker brake, the closed system motor will change from the current displacement to the maximum displacement), n1 is the actual speed of the closed system motor, n0 is the closed system input speed (target speed), Δn is the difference between the actual and target speed, P is the power consumed by the closed system inertia, Q0 is the total inertia of the large inertia device, Q1 is the inertia consumed by the closed system, and ΔQ is the remaining inertia of the large inertia device.

[0074] When the speed closed loop control is performed, the input is n0, the opening of the proportional servo valve is controlled through PID control, the speed n1 of the closed system motor is controlled, and the speed closed loop process is completed with n1 as the feedback.

[0075] When the target speed calculation of the system is performed, first, the reverse braking torque (inertia consuming torque) is calculated through the pressure difference of the closed system motor on both sides and the displacement, then the power consumed by the closed system inertia is calculated through the speed of the closed system motor and the reverse torque, then the consumption of the closed system inertia is calculated by integration, then the remaining inertia of the large inertia device is calculated by comparing the consumption of the inertia with the total inertia of the large inertia device, and finally the target speed of the closed system motor is calculated through the remaining inertia.

[0076] According to the above steps, only the total inertia of the large inertia device is known, and the inertia load required by the test bench for the closed system of the large inertia device can be adjusted in real time, and the closed system hydraulic inertia

[0077] As Figure 6 shown, another preferred embodiment of the application also provides a large inertia closed system inertia hydraulic loading self-adjusting control device, which is applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia device closed system and an inertia loading system, the large inertia device closed system comprising a closed pump and a closed system motor, the inertia loading system comprising a loading motor, a proportional servo valve and an accumulator, the closed system motor and the loading motor being drivingly connected through a shaft coupling, comprising:

[0078] The target speed obtaining module is configured to, in the simulation starting inertia loading or braking inertia loading phase of the large inertia closed system hydraulic inertia loading test bench, obtain the target speed n0 of the closed system motor in the starting inertia loading or braking inertia loading phase based on the energy conservation principle and according to the output power of the closed pump of the closed system or the kinetic energy as the inertia when the large inertia device brakes.

[0079] The self-adjusting rotating speed closed loop control module takes the target rotating speed n0 of the closed system motor during the starting inertia loading or the braking inertia loading as the input, controls the rotating speed n1 of the closed system motor by adjusting the opening of the proportional servo valve, and takes n1 as the feedback to complete the rotating speed closed loop control of the closed system motor during the starting inertia loading or the braking inertia loading, and realizes the self-adjusting of the hydraulic inertia loading of the closed system.

[0080] As shown in Figure 7 The preferred embodiment of the present application also provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method in the above embodiment when executing the computer program.

[0081] As shown in Figure 8 The preferred embodiment of the present application also provides a computer device, which can be a terminal or a living body detection server, and the internal structure diagram thereof can be as shown in Figure 8 The computer device includes a processor, a memory, and a network interface connected through a system bus. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operating system and the computer program in the non-volatile storage medium to run. The network interface of the computer device is used to communicate with other computer devices through a network connection. The computer program is executed by the processor to implement the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method.

[0082] Those skilled in the art can understand that Figure 8 The structure shown in the above embodiment is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. Specifically, the computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement.

[0083] The preferred embodiment of the present application also provides a storage medium, which includes a stored program, and when the program runs, controls the device where the storage medium is located to execute the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method in the above embodiment.

[0084] The preferred embodiments of the present application provide a computer program product or computer program, which includes computer instructions stored in a computer readable storage medium. The processor of the electronic device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the electronic device executes the inertia hydraulic loading self-adjusting control method of the inertia closed system described above in the embodiments of the present application, for example, as shown in the following. Figure 1 The inertia hydraulic loading self-adjusting control method of the inertia closed system is shown.

[0085] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0086] If the functions of the method of the embodiments are realized in the form of software function units and sold or used as independent products, they can be stored in one or more computer readable storage media. Based on this understanding, the part of the prior art or the part of the technical solution of the embodiments of the present application can be embodied in the form of a software product stored in a storage medium, including a number of instructions for causing a computing device (which can be a personal computer, a server, a mobile computing device, or a network device, etc.) to execute all or part of the steps of the method described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0087] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program codes. The solutions in the embodiments of the present application can be implemented in various computer languages, such as object-oriented programming languages Java and interpreted scripting language JavaScript.

[0088] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart and / or block diagram in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flowchart and / or block diagrams can represent a module, segment, or portion of code, which comprises one or more executable Figure 1 instructions for implementing the specified logical functions. It should also be noted that each block of the flowchart and / or block diagrams and that a flowchart and / or block diagram can represent a combination of

[0089] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the Figure 1 functionality specified in the flowchart block or blocks. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1

[0090] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks. Figure 1 The flowchart and / or block diagram in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to the present application. In this regard, each block in the flowchart and / or block diagrams can represent a module, segment, or portion of code, which comprises one or more executable Figure 1

[0091] While preferred embodiments of the application have been described, it should be apparent that a person of ordinary skill in the art can make modifications and variations to the described embodiments without departing from the scope and spirit of the application. It is intended that the scope of the application should include all such modifications and variations as can fall within the scope of the appended claims and their equivalents.

[0092] It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application cover the modifications and variations of this application provided they come within the scope of the appended claims and their equivalents.​​

Claims

1. A large inertia closed system inertia hydraulic loading self-adjusting control method applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia equipment closed system and an inertia loading system, the large inertia equipment closed system comprising a closed pump and a closed system motor, the inertia loading system comprising a loading motor, a proportional servo valve and an accumulator, the closed system motor and the loading motor being drivingly connected through a shaft coupling, characterized in that, The method comprises the steps of: S1, in the simulation of starting inertia loading or braking inertia loading of the large inertia closed system hydraulic inertia loading test bench, based on the energy conservation principle, the target rotating speed n0 of the closed system motor in the starting inertia loading or braking inertia loading is obtained according to the output power of the closed system pump or the kinetic energy of the large inertia equipment in braking as the inertia energy; S2, the target rotating speed n0 of the closed system motor in the starting inertia loading or braking inertia loading is taken as the input, the rotating speed n1 of the closed system motor is controlled through the closed loop control of the opening of the proportional servo valve, and the rotating speed closed loop control of the closed system motor in the starting inertia loading or braking inertia loading is completed, so that the closed system hydraulic inertia loading self-adjustment is realized.

2. The method of claim 1, wherein, The step S1 specifically comprises the steps of: S101, in the simulation of starting inertia loading, the output power of the closed system pump is calculated through the pressure difference ΔP1 and the flow Q of the closed system pump, wherein the pressure difference ΔP1 of the closed system pump is equal to the inlet and outlet pressure difference of the closed system pump minus the fixed load of the large inertia equipment in starting; S102, the energy output by the closed system is calculated according to the output power of the closed system pump and the related coefficient integral; S103, the target rotating speed n0 of the closed system motor in the starting inertia loading is calculated according to the kinetic energy theorem and the energy output by the closed system.

3. The method of claim 2, wherein, The step S2 specifically comprises the steps of: S201, the target rotating speed n0 of the closed system motor in the starting inertia loading is taken as the input, the rotating speed n1 of the closed system motor is controlled through the closed loop control of the opening of the proportional servo valve, and the rotating speed closed loop control of the closed system motor in the starting inertia loading is completed, so that the closed system hydraulic inertia loading self-adjustment is realized.

4. The method of claim 1, wherein, Further comprising the step of: S3, in the simulation of normal working condition loading of the large inertia equipment, the inlet pressure of the closed system motor is taken as the feedback, the proportional servo valve is used for pressure closed loop control, and the normal working condition loading simulation of the cotton picker is completed.

5. The method of claim 1, wherein, The step S1 specifically comprises the steps of: S111, in the simulation of braking inertia loading, the torque of reverse braking is calculated through the pressure difference ΔP2 and the flow Q of the closed system pump, and then the power of the inertia energy consumed by the closed system is calculated through the rotating speed n1 of the closed system motor and the torque of reverse braking; S112, the inertia energy consumed by the closed system is calculated according to the power integral; S113, the residual inertia energy of the large inertia equipment is calculated by comparing the inertia energy consumed by the closed system with the total inertia energy of the large inertia equipment; S114, the target rotating speed n0 of the closed system motor in the braking inertia loading is calculated according to the kinetic energy theorem and the residual inertia energy.

6. The method of claim 5, wherein, The step S2 specifically comprises the steps of: S211, the target rotating speed n0 of the closed system motor in the braking inertia loading is taken as the input, the rotating speed n1 of the closed system motor is controlled through the closed loop control of the opening of the proportional servo valve, and the rotating speed closed loop control of the closed system motor in the braking inertia loading is completed, so that the closed system hydraulic inertia loading self-adjustment is realized.

7. A large inertia closed system inertia hydraulic loading self-adjusting control device applied to a large inertia closed system hydraulic inertia loading test bench, comprising a large inertia equipment closed system and an inertia loading system, the large inertia equipment closed system comprising a closed pump and a closed system motor, the inertia loading system comprising a loading motor, a proportional servo valve and an accumulator, the closed system motor and the loading motor being drivingly connected through a shaft coupling, characterized in that, The method comprises the steps of: a target rotating speed obtaining module, configured to obtain a target rotating speed n0 of the motor of the closed system during the starting inertia loading or the braking inertia loading based on the energy conservation principle and according to the output power of the closed system pump or the kinetic energy of the large inertia equipment during braking as inertia energy; a self-adjusting rotating speed closed loop control module, configured to take the target rotating speed n0 of the motor of the closed system during the starting inertia loading or the braking inertia loading as input, control the rotating speed n1 of the motor of the closed system by adjusting the opening of the proportional servo valve in a closed loop, and complete the rotating speed closed loop control of the motor of the closed system during the starting inertia loading or the braking inertia loading by taking n1 as feedback, so as to realize the self-adjusting of the hydraulic inertia loading of the closed system. 8.An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, the processor implements the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method according to any one of claims 1 to 6 when executing the computer program. 9.A storage medium comprising a stored program, wherein the program, when executed, controls a device in which the storage medium is located to implement the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method according to any one of claims 1 to 6.

10. A computer program product comprising computer programs or computer executable instructions, characterized in that, the computer program or computer executable instructions, when executed by the processor, implement the steps of the large inertia closed system inertia hydraulic loading self-adjusting control method according to any one of claims 1 to 6.

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