Control method for improving operation responsiveness of working device of loading machine
By updating the preset curve of the loader's electronic control handle and setting the action control parameters, the problem of poor loader operation responsiveness is solved, and the effect of different operators obtaining an ideal operating experience on the same machine is achieved.
Patent Information
- Application Number
- CN202411961211.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-30
- Publication Date
- 2025-04-22
AI Technical Summary
The operating responsiveness of the working devices of existing loaders makes it difficult for different operators to obtain an ideal operating experience when operating on the same loader.
By updating the preset curve of the opening/pilot PWM calculation value of the electronic control handle, and setting the action control parameters and incremental step length, personalized adjustments to the loader operation can be achieved, so that different operators can obtain an ideal operating experience without changing their operating habits.
It realizes that different operators have an ideal operating experience on the same loader, improving operational responsiveness and operational convenience.
Smart Images
Figure CN119861619A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of loader control, and in particular to a control method for improving the operational responsiveness of a loader working device. Background Art
[0002] Currently, most loaders on the market use a pilot hydraulic handle to drive the boom and bucket hydraulic cylinder to extend and retract, thereby controlling the movement of the working device to achieve the shoveling and unloading of materials.
[0003] After the pilot hydraulic handle leaves the factory, its valve core has been finalized, so the corresponding relationship between the output pressure of each oil port and the offset angle of the handle in each direction has been solidified. Therefore, when the handle is operated, the response state of the boom bucket cylinder on the machine working device is also finalized and cannot be adjusted. In addition, the corresponding relationship between the operating torque in each direction of the handle and its offset angle in each direction has also been solidified. The operator needs to adjust his operating force, operating method, etc. to adapt to the characteristics of the handle in order to achieve consistency in the response state of the working device. Summary of the invention
[0004] In view of the problems existing in the prior art, the purpose of the present invention is to provide a control method for improving the responsiveness of a loader working device, which enables different operators to get an ideal operating experience on the same loader without changing their own operating habits.
[0005] To achieve the above object, the technical solution adopted by the present invention is:
[0006] A control method for improving the operational responsiveness of a loader working device comprises the following steps:
[0007] Step 1: Update the preset curve of the electric control handle opening / pilot PWM calculation value according to the operator's operating habits; and set the action control parameters and incremental step length;
[0008] Step 2: When the operator operates the loader to work, the ECU controller collects the real-time opening of the electric control handle, and calculates the theoretical duty cycle Target_PWM of this operation cycle in combination with the preset curve updated in step 1;
[0009] Step 3: Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle and the action control parameter to obtain the actual output duty cycle of this operation cycle;
[0010] Step 4: Use the actual output duty cycle of this operation cycle to drive the proportional valve group to drive the loader.
[0011] The motion control parameters include a reference threshold value Duty1 of the start area, a reference threshold value Duty2 of the acceleration area, a reference threshold value Duty3 of the stop area, and a reference threshold value Duty4 of the deceleration area, wherein Duty1<Duty2, Duty3<Duty4;
[0012] The incremental steps include incremental steps ΔD1, ΔD2, ΔD3 during the acceleration period and incremental steps ΔD4, ΔD5, ΔD6 during the deceleration period, wherein ΔD1<ΔD2<ΔD3, ΔD4<ΔD5<ΔD6.
[0013] The step 3 is as follows:
[0014] Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle. When Target_PWM≥Last_PWM, it is judged that this time is the action acceleration period, otherwise it is judged that this time is the action deceleration period;
[0015] During the action acceleration period, the actual output duty cycle of this operation cycle is calculated by combining the relationship between the theoretical duty cycle Target_PWM of this operation cycle, the actual output duty cycle Last_PWM of the previous operation cycle, the reference threshold Duty1 of the start area, and the reference threshold Duty2 of the acceleration area, and the incremental step lengths ΔD1, ΔD2, and ΔD3 of the acceleration period;
[0016] During the deceleration period, the actual output duty cycle of this operation cycle is calculated by combining the relationship between the actual output duty cycle Last_PWM of the previous operation cycle and the reference threshold Duty3 of the stop zone and the reference threshold Duty4 of the deceleration zone, and the incremental step sizes ΔD4, ΔD5 and ΔD6 of the deceleration period.
[0017] The actual output duty cycle calculation of this cycle during the acceleration period of the action is as follows:
[0018] If the theoretical duty cycle Target_PWM of this operation cycle is less than the reference threshold Duty1 of the start area, the actual output duty cycle of this cycle is Target_PWM;
[0019] If the actual output duty cycle Last_PWM of the previous operation cycle is less than the start-up zone reference threshold Duty1, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the start-up zone reference threshold Duty1, then the actual output duty cycle of this cycle is the start-up zone reference threshold Duty1;
[0020] If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the start area, and the theoretical duty cycle Target_PWM of the current operation cycle is less than the reference threshold Duty2 of the acceleration area, then the actual output duty cycle response change rate of the current cycle shall not exceed ΔD1; if Target_PWM-Last_PWM≤ΔD1, the actual output duty cycle of the current cycle is Target_PWM, otherwise the actual output duty cycle of the current cycle is Last_PWM+ΔD1;
[0021] If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the start area and less than the reference threshold Duty2 of the acceleration area, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the reference threshold Duty2 of the acceleration area, then the actual output duty cycle response change rate of this cycle shall not exceed ΔD2; if Target_PWM-Last_PWM≤ΔD2, then the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM+ΔD2;
[0022] If the actual output duty cycle Last_PWM of the previous operation cycle and the theoretical duty cycle Target_PWM of the current operation cycle are both greater than or equal to the acceleration zone reference threshold Duty2, the actual output duty cycle response change rate of the current cycle shall not exceed ΔD3; if Target_PWM-Last_PWM≤ΔD3, the actual output duty cycle of the current cycle is Target_PWM, otherwise the actual output duty cycle of the current cycle is Last_PWM+ΔD3.
[0023] The actual output duty cycle calculation of this cycle during the deceleration period of the action is as follows:
[0024] If the actual output duty cycle Last_PWM of the previous operation cycle is less than the reference threshold Duty3 of the stop zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD4; if Last_PWM-Target_PWM≤ΔD4, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD4;
[0025] If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty3 of the stop zone and less than the reference threshold Duty4 of the deceleration zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD5; if Last_PWM-Target_PWM≤ΔD5, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD5;
[0026] If the actual output duty cycle Last_PWM of the previous operating cycle is greater than or equal to the deceleration zone reference threshold Duty4, the actual output duty cycle response change rate of this cycle shall not exceed ΔD6; if Last_PWM-Target_PWM≤ΔD6, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD6.
[0027] The preset curves include a boom raising preset curve, a boom lowering preset curve, a bucket recovering preset curve and a bucket eversion preset curve;
[0028] Correspondingly, the action control parameters include boom raising control parameters, boom lowering control parameters, bucket recovery control parameters, and bucket overturning control parameters; specifically, the boom raising control parameters include a boom raising starting area reference threshold Boomup Duty1, a boom raising acceleration area reference threshold Boomup Duty2, a boom raising stopping area reference threshold Boomup Duty3, and a boom raising deceleration area reference threshold Boomup Duty4; the boom lowering control parameters include a boom lowering starting area reference threshold Boomdown Duty1, a boom lowering acceleration area reference threshold Boomdown Duty2, a boom lowering stopping area reference threshold Boomdown Duty3, and a boom lowering deceleration area reference threshold Boomdown Duty4; the bucket recovery control parameters include a bucket recovery starting area reference threshold Bucketcrowd Duty1, a bucket recovery acceleration area reference threshold Bucketcrowd Duty2, a bucket recovery stopping area reference threshold Bucketcrowd Duty3, and a bucket recovery deceleration area reference threshold Bucketcrowd Duty4. Duty4; bucket overturn control parameters include bucket overturn start area reference threshold Bucketump Duty1, bucket overturn acceleration area reference threshold Bucketump Duty2, bucket overturn stop area reference threshold Bucketump Duty3, bucket overturn deceleration area reference threshold Bucketump Duty4;
[0029] The incremental step length includes the boom raising incremental step length, the boom lowering incremental step length, the bucket recovery incremental step length, and the bucket overturning incremental step length; the boom raising incremental step length includes the acceleration period incremental step lengths ΔBoomup D1, ΔBoomup D2, ΔBoomup D3 and the deceleration period incremental step lengths ΔBoomup D4, ΔBoomup D5, ΔBoomup D6; the boom lowering incremental step length includes the acceleration period incremental step lengths ΔBoomdown D1, ΔBoomdown D2, ΔBoomdown D3 and the deceleration period incremental step lengths ΔBoomdown D4, ΔBoomdown D5, ΔBoomdown D6; the bucket recovery incremental step length includes the acceleration period incremental step lengths ΔBucketcrowd D1, ΔBucketcrowd D2, ΔBucketcrowd D3 and the deceleration period incremental step lengths ΔBucketcrowdD4, ΔBucketcrowd D5, ΔBucketcrowd D6; the bucket overturning incremental step length includes the acceleration period incremental step length ΔBucketump D1, ΔBucketump D2, ΔBucketump D3 and the incremental step size during the deceleration period ΔBucketump D4, ΔBucketump D5, ΔBucketump D6.
[0030] The updating of the preset curve is realized by: adjusting the point status on the initial curve through the central control screen, etc., and writing it into the ECU controller for updating; or directly importing a new preset curve through a transmission medium, triggering the ECU controller to update and save the new preset curve;
[0031] The motion control parameters and incremental step length are adjusted, calibrated or directly imported through the central control screen.
[0032] After adopting the above scheme, the present invention adjusts the preset curve, and adjusts the control parameters and the incremental step size, so that different operators can get an ideal operating experience on the same machine without changing their own operating habits. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] Figure 1 is a flow chart of the method of the present invention;
[0034] Figure 2 It is a schematic diagram of the preset curve;
[0035] Figure 3 The figure is a flow chart for calculating the actual output duty cycle of the current cycle of boom lifting of the present invention. DETAILED DESCRIPTION
[0036] like Figure 1As shown, the present invention discloses a control method for improving the operational responsiveness of a loader working device, which comprises the following steps:
[0037] Step 1: Update the preset curve of the electric control handle opening / pilot PWM calculation value according to the operator's operating habits; and set the action control parameters and incremental step size.
[0038] The update of the preset curve can be achieved in the following ways: adjust the point status on the initial curve through the central control screen, etc., and write it into the ECU controller for update; or directly import the new preset curve through the transmission medium, triggering the ECU controller to update and save the new preset curve. Figure 2 As shown, the initial state of the preset curve (i.e., the initial curve) is obtained by reverse deduction based on two pairs of characteristic relationships: the proportional relationship between the opening of the pilot hydraulic handle and the output pressure, and the characteristic relationship between the outlet pressure of the electric proportional valve and the driving current. This ensures that the initial effect of the present invention is completely consistent with the standard effect of the hydraulic pilot handle.
[0039] The motion control parameters include the reference threshold value Duty1 in the start area, the reference threshold value Duty2 in the acceleration area, the reference threshold value Duty3 in the stop area, and the reference threshold value Duty4 in the deceleration area, where Duty1 < Duty2 and Duty3 < Duty4. The incremental step size includes the incremental step size ΔD1, ΔD2, ΔD3 in the acceleration period and the incremental step size ΔD4, ΔD5, ΔD6 in the deceleration period, where ΔD1 < ΔD2 < ΔD3 and ΔD4 < ΔD5 < ΔD6. The motion control parameters can be adjusted, calibrated, or directly imported through the central control screen.
[0040] Step 2: When the operator operates the loader, the ECU controller collects the real-time opening of the electric control handle and calculates the theoretical duty cycle Target_PWM of this operation cycle in combination with the preset curve updated in step 1.
[0041] The opening of the electric control handle needs data preprocessing, which specifically refers to data conversion. Because the actual output of the opening of the electric control handle is a hexadecimal CAN bus message, the CAN bus message needs to be processed into decimal data that can participate in the control, and the data interval needs to be scaled according to the control accuracy requirements (for example, [0-1000] is enlarged to [32767-65534], etc.). The duty cycle obtained according to the preset curve is not necessarily an integer or a finite decimal, and the data type of the output value is not necessarily the same as the input data type of the next control algorithm, so fitting calculations are required in the middle to standardize the data range and unify the data format (the data types include uint8, uint6, double, etc., which are related to the programming platform).
[0042] Step 3: Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle and the action control parameters to obtain the actual output duty cycle of this operation cycle.
[0043] Specifically, the theoretical duty cycle Target_PWM of the current operation cycle is compared with the actual output duty cycle Last_PWM of the previous operation cycle. When Target_PWM≥Last_PWM, it is determined that this time is the action acceleration period, otherwise it is determined that this time is the action deceleration period.
[0044] During the action acceleration period, the actual output duty cycle of this operation cycle is calculated through the relationship between the theoretical duty cycle Target_PWM of this operation cycle, the actual output duty cycle Last_PWM of the previous operation cycle, the reference threshold Duty1 of the start area, and the reference threshold Duty2 of the acceleration area, and combined with the incremental step sizes ΔD1, ΔD2, and ΔD3 of the acceleration period.
[0045] During the deceleration period, the actual output duty cycle of this operation cycle is calculated by combining the relationship between the actual output duty cycle Last_PWM of the previous operation cycle and the reference threshold Duty3 of the stop zone and the reference threshold Duty4 of the deceleration zone, and the incremental step sizes ΔD4, ΔD5 and ΔD6 of the deceleration period.
[0046] Step 4: Use the actual output duty cycle of this operation cycle to drive the proportional valve group to drive the loader.
[0047] In step 3, the actual output duty cycle of this cycle during the action acceleration period is calculated as follows:
[0048] 1.1. If the theoretical duty cycle Target_PWM of this operation cycle is less than the reference threshold Duty1 of the start zone, the actual output duty cycle of this cycle is Target_PWM, which can eliminate the hysteresis phenomenon at the moment of action start.
[0049] 1.2. If the actual output duty cycle Last_PWM of the previous operation cycle is less than the start-up zone reference threshold Duty1, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the start-up zone reference threshold Duty1, then the actual output duty cycle of this cycle is the start-up zone reference threshold Duty1.
[0050] 1.3. If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the startup zone, and the theoretical duty cycle Target_PWM of the current operation cycle is less than the reference threshold Duty2 of the acceleration zone, then the actual output duty cycle response change rate of the current cycle (the change rate is compared with the actual output duty cycle of the previous cycle) shall not exceed ΔD1. Furthermore, if Target_PWM-Last_PWM≤ΔD1, the actual output duty cycle of the current cycle is Target_PWM, otherwise the actual output duty cycle of the current cycle is Last_PWM+ΔD1.
[0051] 1.4. If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the start area and less than the reference threshold Duty2 of the acceleration area, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the reference threshold Duty2 of the acceleration area, then the actual output duty cycle response change rate of this cycle shall not exceed ΔD2. Furthermore, if Target_PWM-Last_PWM≤ΔD2, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM+ΔD2.
[0052] 1.5. If the actual output duty cycle Last_PWM of the previous operation cycle and the theoretical duty cycle Target_PWM of the current operation cycle are both greater than or equal to the acceleration zone reference threshold Duty2, the actual output duty cycle response change rate of the current cycle shall not exceed ΔD3. Furthermore, if Target_PWM-Last_PWM≤ΔD3, the actual output duty cycle of the current cycle is Target_PWM, otherwise the actual output duty cycle of the current cycle is Last_PWM+ΔD3.
[0053] In step 3, the actual output duty cycle of this cycle during the deceleration period of the action is calculated as follows:
[0054] 2.1. If the actual output duty cycle Last_PWM of the last running cycle is less than the reference threshold value Duty3 of the stop zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD4. Furthermore, if Last_PWM-Target_PWM≤ΔD4, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD4;
[0055] 2.2. If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the stop zone reference threshold Duty3 and less than the deceleration zone reference threshold Duty4, the actual output duty cycle response change rate of this cycle shall not exceed ΔD5. Furthermore, if Last_PWM-Target_PWM≤ΔD5, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD5;
[0056] 2.3. If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold value Duty4 of the deceleration zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD6. Furthermore, if Last_PWM-Target_PWM≤ΔD6, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD6.
[0057] As described above, the present invention adjusts the preset curve, and adjusts the control parameters and the incremental step size, so that different operators can get an ideal operating experience on the same machine without changing their own operating habits.
[0058] The operation actions of the loader during operation in the present invention include boom raising, boom lowering, bucket recovery and bucket external rotation. Therefore, the preset curve includes a boom raising preset curve, a boom lowering preset curve, a bucket recovery preset curve and a bucket external rotation preset curve. The action control parameters include a boom raising control parameter, a boom lowering control parameter, a bucket recovery control parameter and a bucket external rotation control parameter; the incremental step size includes a boom raising incremental step size, a boom lowering incremental step size, a bucket recovery incremental step size and a bucket external rotation incremental step size.
[0059] Specifically, the boom raising control parameters include a boom raising starting area reference threshold Boomup Duty1, a boom raising acceleration area reference threshold Boomup Duty2, a boom raising stopping area reference threshold Boomup Duty3, and a boom raising deceleration area reference threshold Boomup Duty4. The boom lowering control parameters include a boom lowering starting area reference threshold BoomdownDuty1, a boom lowering acceleration area reference threshold Boomdown Duty2, a boom lowering stopping area reference threshold BoomdownDuty3, and a boom lowering deceleration area reference threshold Boomdown Duty4. The bucket recovery control parameters include a bucket recovery starting area reference threshold Bucketcrowd Duty1, a bucket recovery acceleration area reference threshold Bucketcrowd Duty2, a bucket recovery stopping area reference threshold Bucketcrowd Duty3, and a bucket recovery deceleration area reference threshold Bucketcrowd Duty4. The bucket overturn control parameters include the reference threshold value Bucketump Duty1 of the bucket overturn start area, the reference threshold value Bucketump Duty2 of the bucket overturn acceleration area, the reference threshold value Bucketump Duty3 of the bucket overturn stop area, and the reference threshold value Bucketump Duty4 of the bucket overturn deceleration area. The incremental step length of the boom raising includes the incremental step lengths ΔBoomup D1, ΔBoomup D2, ΔBoomup D3 during the acceleration period and the incremental step lengths ΔBoomup D4, ΔBoomup D5, ΔBoomup D6 during the deceleration period. The incremental step length of the boom lowering includes the incremental step lengths ΔBoomdown D1, ΔBoomdown D2, ΔBoomdown D3 during the acceleration period and the incremental step lengths ΔBoomdown D4, ΔBoomdown D5, ΔBoomdown D6 during the deceleration period. The incremental step length of bucket recovery includes the incremental step length of acceleration period ΔBucketcrowd D1, ΔBucketcrowd D2, ΔBucketcrowd D3 and the incremental step length of deceleration period ΔBucketcrowdD4, ΔBucketcrowd D5, ΔBucketcrowd D6. The incremental step length of bucket overturning includes the incremental step length of acceleration period ΔBucketump D1, ΔBucketump D2, ΔBucketump D3 and the incremental step length of deceleration period ΔBucketump D4, ΔBucketump D5, ΔBucketump D6.
[0060] When performing boom raising, boom lowering, bucket retracting, and bucket flipping actions, the specific control parameters correspond to the parameters in step 3. The following description takes boom raising as an example.
[0061] A control method for improving the responsiveness of a loader working device boom lifting operation comprises the following steps:
[0062] Step 1. Update the preset boom lifting curve of the electric control handle opening / pilot PWM calculation value according to the operator's operating habits; and set the boom lifting action control parameters and the boom lifting increment step.
[0063] Step 2: When the operator operates the loader, the ECU controller collects the real-time opening of the electric control handle and calculates the theoretical duty cycle Target_PWM of this operation cycle in combination with the preset curve updated in step 1.
[0064] Step 3: Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle and the action control parameters to obtain the actual output duty cycle of this operation cycle.
[0065] Figure 3 In the table, 1 indicates ΔBoomup_D1, 2 indicates ΔBoomup_D2, 3 indicates ΔBoomup_D3, 4 indicates ΔBoomup_D4, 5 indicates ΔBoomup_D5, and 6 indicates ΔBoomup_D6; 7 indicates Boomup_Duty1, 8 indicates Boomup_Duty2, 9 indicates Boomup_Duty3, 10 indicates Boomup_Duty4, 11 indicates Target_PWM, and 12 indicates Last_PWM. Figure 3 As shown, the specific calculation in step 3 is as follows:
[0066] 1. When Target_PWM≥Last_PWM, it is judged that this is the boom lifting acceleration period.
[0067] 1.1. If Target_PWM<Boomup_Duty1, the actual output duty cycle of this operation cycle is Target_PWM and responds and outputs immediately, which can eliminate the hysteresis phenomenon at the moment of action start.
[0068] 1.2. If Last_PWM<Boomup_Duty1, and Target_PWM≥Boomup_Duty1, the actual output duty cycle of this operation cycle is Boomup_Duty1 and responds and outputs immediately, which can avoid setbacks caused by pressure shock.
[0069] 1.3. If Last_PWM≥Boomup_Duty1, and Target_PWM<Boomup_Duty2, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D1. If Target_PWM-Last_PWM≤ΔBoomup_D1, the theoretical duty cycle Target_PWM value is immediately set as the set value and immediately responds and outputs in this cycle, otherwise the Last_PWM+ΔBoomup_D1 value is set as the set value and immediately responds and outputs in this cycle, which can ensure that the boom lifting action can be carried out smoothly and quickly.
[0070] 1.4. If Boomup_Duty1≤Last_PWM<Boomup_Duty2, and Target_PWM≥Boomup_Duty2, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D2. If Target_PWM-Last_PWM≤ΔBoomup_D2, the current cycle immediately responds and outputs with the theoretical duty cycle Target_PWM value as the set value, otherwise the current cycle immediately responds and outputs with the Last_PWM+ΔBoomup_D2 value as the set value.
[0071] 1.5 If Boomup_Duty2≤Last_PWM2, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D3. If Target_PWM-Last_PWM≤ΔBoomup_D3, the theoretical duty cycle Target_PWM value is immediately set as the set value and the output is immediately responded, otherwise the Last_PWM+ΔBoomup_D3 value is set as the set value and the output is immediately responded, otherwise the output is immediately responded,
[0072] 2. When Target_PWM<Last_PWM, it is judged that this is the boom lifting deceleration period.
[0073] 2.1. If Last_PWM<Boomup_Duty3, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D4. If Last_PWM-Target_PWM≤ΔBoomup_D4, the theoretical duty cycle Target_PWM value is immediately set as the set value and the output is immediately responded, otherwise the Last_PWM-ΔBoomup_D4 value is set as the set value and the output is immediately responded, otherwise the output is immediately responded,
[0074] 2.2 If Boomup_Duty4>Last_PWM≥Boomup_Duty3, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D5. If Last_PWM-Target_PWM≤ΔBoomup_D5, the theoretical duty cycle Target_PWM value is immediately set as the set value and the output is immediately responded to and output in this cycle, otherwise the Last_PWM-ΔBoomup_D5 value is set as the set value and the output is immediately responded to and output in this cycle.
[0075] 2.3 If Last_PWM≥Boomup_Duty4, the actual output duty cycle response change rate of this operation cycle shall not exceed ΔBoomup_D6. If Last_PWM-Target_PWM≤ΔBoomup_D6, the theoretical duty cycle Target_PWM value is immediately set as the set value and the output is immediately responded to and outputted in this cycle, otherwise the Last_PWM-ΔBoomup_D6 value is set as the set value and the output is immediately responded to and outputted in this cycle.
[0076] Step 4: Use the actual output duty cycle of this operation cycle to drive the proportional valve group to lift the loader's boom.
[0077] The above description is merely an embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any minor modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.
Claims
1. A control method for improving the operational responsiveness of a loader working device, characterized in that: The following steps are involved: Step 1: Update the preset curve of the electric control handle opening / pilot PWM calculation value according to the operator's operating habits; and set the action control parameters and incremental step length; Step 2: When the operator operates the loader to work, the ECU controller collects the real-time opening of the electric control handle, and calculates the theoretical duty cycle Target_PWM of this operation cycle in combination with the preset curve updated in step 1; Step 3: Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle and the action control parameter to obtain the actual output duty cycle of this operation cycle; Step 4: Use the actual output duty cycle of this operation cycle to drive the proportional valve group to drive the loader.
2. A control method for improving the operational responsiveness of a loader working device according to claim 1, characterized in that: The motion control parameters include a reference threshold value Duty1 of the start area, a reference threshold value Duty2 of the acceleration area, a reference threshold value Duty3 of the stop area, and a reference threshold value Duty4 of the deceleration area, wherein Duty1<Duty2, Duty3<Duty4; The incremental steps include incremental steps ΔD1, ΔD2, ΔD3 during the acceleration period and incremental steps ΔD4, ΔD5, ΔD6 during the deceleration period, wherein ΔD1<ΔD2<ΔD3, ΔD4<ΔD5<ΔD6.
3. A control method for improving the operational responsiveness of a loader working device according to claim 2, characterized in that: The step 3 is as follows: Compare the theoretical duty cycle Target_PWM of this operation cycle with the actual output duty cycle Last_PWM of the previous operation cycle. When Target_PWM≥Last_PWM, it is judged that this time is the action acceleration period, otherwise it is judged that this time is the action deceleration period; During the action acceleration period, the actual output duty cycle of this operation cycle is calculated by combining the relationship between the theoretical duty cycle Target_PWM of this operation cycle, the actual output duty cycle Last_PWM of the previous operation cycle, the reference threshold Duty1 of the start area, and the reference threshold Duty2 of the acceleration area, and the incremental step lengths ΔD1, ΔD2, and ΔD3 of the acceleration period; During the deceleration period, the actual output duty cycle of this operation cycle is calculated by combining the relationship between the actual output duty cycle Last_PWM of the previous operation cycle and the reference threshold Duty3 of the stop zone and the reference threshold Duty4 of the deceleration zone, and the incremental step sizes ΔD4, ΔD5 and ΔD6 of the deceleration period.
4. A control method for improving the operational responsiveness of a loader working device according to claim 3, characterized in that: The actual output duty cycle calculation of this cycle during the acceleration period of the action is as follows: If the theoretical duty cycle Target_PWM of this operation cycle is less than the reference threshold Duty1 of the start area, the actual output duty cycle of this cycle is Target_PWM; If the actual output duty cycle Last_PWM of the previous operation cycle is less than the start-up zone reference threshold Duty1, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the start-up zone reference threshold Duty1, then the actual output duty cycle of this cycle is the start-up zone reference threshold Duty1; If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the start area, and the theoretical duty cycle Target_PWM of this operation cycle is less than the reference threshold Duty2 of the acceleration area, then the actual output duty cycle response change rate of this cycle shall not exceed ΔD1; If Target_PWM-Last_PWM≤ΔD1, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM+ΔD1; If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty1 of the start area and less than the reference threshold Duty2 of the acceleration area, and the theoretical duty cycle Target_PWM of this operation cycle is greater than or equal to the reference threshold Duty2 of the acceleration area, then the actual output duty cycle response change rate of this cycle shall not exceed ΔD2; If Target_PWM-Last_PWM≤ΔD2, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM+ΔD2; If the actual output duty cycle Last_PWM of the previous operation cycle and the theoretical duty cycle Target_PWM of the current operation cycle are both greater than or equal to the acceleration zone reference threshold Duty2, the actual output duty cycle response change rate of the current cycle shall not exceed ΔD3; If Target_PWM-Last_PWM≤ΔD3, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM+ΔD3.
5. A control method for improving the operational responsiveness of a loader working device according to claim 3, characterized in that: The actual output duty cycle calculation of this cycle during the deceleration period of the action is as follows: If the actual output duty cycle Last_PWM of the previous operation cycle is less than the reference threshold Duty3 of the stop zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD4; if Last_PWM-Target_PWM≤ΔD4, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD4; If the actual output duty cycle Last_PWM of the previous operation cycle is greater than or equal to the reference threshold Duty3 of the stop zone and less than the reference threshold Duty4 of the deceleration zone, the actual output duty cycle response change rate of this cycle shall not exceed ΔD5; if Last_PWM-Target_PWM≤ΔD5, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD5; If the actual output duty cycle Last_PWM of the previous operating cycle is greater than or equal to the deceleration zone reference threshold Duty4, the actual output duty cycle response change rate of this cycle shall not exceed ΔD6; if Last_PWM-Target_PWM≤ΔD6, the actual output duty cycle of this cycle is Target_PWM, otherwise the actual output duty cycle of this cycle is Last_PWM-ΔD6.
6. A control method for improving the operational responsiveness of a loader working device according to claim 2, characterized in that: The preset curves include a boom raising preset curve, a boom lowering preset curve, a bucket recovering preset curve and a bucket eversion preset curve; Correspondingly, the action control parameters include boom raising control parameters, boom lowering control parameters, bucket recovery control parameters, and bucket overturning control parameters; specifically, the boom raising control parameters include a boom raising starting area reference threshold BoomupDuty1, a boom raising acceleration area reference threshold Boomup Duty2, a boom raising stopping area reference threshold Boomup Duty3, and a boom raising deceleration area reference threshold Boomup Duty4; the boom lowering control parameters include a boom lowering starting area reference threshold Boomdown Duty1, a boom lowering acceleration area reference threshold Boomdown Duty2, a boom lowering stopping area reference threshold Boomdown Duty3, and a boom lowering deceleration area reference threshold Boomdown Duty4; the bucket recovery control parameters include a bucket recovery starting area reference threshold Bucketcrowd Duty1, a bucket recovery acceleration area reference threshold Bucketcrowd Duty2, and a bucket recovery stopping area reference threshold Bucketcrowd Duty4. Duty3, Bucket recovery deceleration zone reference threshold BucketcrowdDuty4; Bucket overturn control parameters include bucket overturn start zone reference threshold Bucketump Duty1, bucket overturn acceleration zone reference threshold Bucketump Duty2, bucket overturn stop zone reference threshold Bucketump Duty3, bucket overturn deceleration zone reference threshold Bucketump Duty4; The incremental step length includes a boom raising incremental step length, a boom lowering incremental step length, a bucket recovery incremental step length, and a bucket overturning incremental step length; the boom raising incremental step length includes an acceleration period incremental step length ΔBoomup D1, ΔBoomup D2, ΔBoomupD3 and a deceleration period incremental step length ΔBoomup D4, ΔBoomup D5, ΔBoomup D6; the boom lowering incremental step length includes an acceleration period incremental step length ΔBoomdown D1, ΔBoomdown D2, ΔBoomdown D3 and a deceleration period incremental step length ΔBoomdown D4, ΔBoomdown D5, ΔBoomdown D6; the bucket recovery incremental step length includes an acceleration period incremental step length ΔBucketcrowd D1, ΔBucketcrowd D2, ΔBucketcrowd D3 and a deceleration period incremental step length ΔBucketcrowdD4, ΔBucketcrowd D5, ΔBucketcrowd D6; the bucket overturning incremental step length includes an acceleration period incremental step length ΔBucketump D1, ΔBucketump D2, ΔBucketump D3 and the incremental step size during the deceleration period ΔBucketump D4, ΔBucketump D5, ΔBucketump D6.
7. A control method for improving the operational responsiveness of a loader working device according to claim 1, characterized in that: The updating of the preset curve is realized by: adjusting the point status on the initial curve through the central control screen, etc., and writing it into the ECU controller for updating; or directly importing a new preset curve through a transmission medium, triggering the ECU controller to update and save the new preset curve; The motion control parameters and incremental step length are adjusted, calibrated or directly imported through the central control screen.