Motor rotating speed correction method and device, controller and overhead working truck

Abstract

The invention provides a motor rotating speed correction method and device, a controller and an overhead working truck, and relates to the technical field of machinery. The method is applied to the overhead working truck, the overhead working truck adopts a battery as a power source, and the method comprises the following steps: acquiring boom angle information of the overhead working truck executing a preset action and an actual voltage value of the battery; determining a voltage compensation coefficient of the battery according to the actual voltage value; determining an angle compensation coefficient of the boom according to the boom angle information; and correcting the rotating speed of the motor of the overhead working truck according to the voltage compensation coefficient and the angle compensation coefficient. Through dual compensation of voltage and angle, the energy use efficiency of the motor is optimized, and it is ensured that the action speed of the overhead working truck can meet the operation requirement.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a motor speed correction method, device, controller and aerial work vehicle. Background Art

[0002] Aerial work vehicles are mechanical equipment specially used for aerial work, usually used for maintenance, installation, cleaning, inspection and other work, especially in difficult-to-reach places. It is equipped with a liftable platform or work basket and a retractable boom, which can lift the operator to a certain height for aerial work.

[0003] At present, aerial work vehicles can be divided into electric aerial work vehicles and diesel aerial work vehicles according to different power sources. Among them, electric aerial work vehicles use a powertrain of batteries, motors and hydraulic pumps. The movement speed of aerial work vehicles depends on the flow rate of the hydraulic pump and the opening of the main valve. After the vehicle is offline, the main valve is often calibrated by current to make the vehicle movement speed meet the factory requirements.

[0004] However, in actual use, there are cases where the vehicle's movement speed cannot meet the operation requirements. In order to minimize the occurrence of this situation, it is necessary to automatically correct the motor speed. Summary of the invention

[0005] The embodiments of the present application provide a motor speed correction method, device, controller and aerial work vehicle, which are used to automatically correct the motor speed, thereby maintaining operating efficiency and stability.

[0006] In a first aspect, an embodiment of the present application provides a motor speed correction method, which is applied to an aerial work vehicle, wherein the aerial work vehicle uses a battery as a power source, and the method comprises:

[0007] Obtain the boom angle information and the actual battery voltage value of the aerial work vehicle when performing a preset action;

[0008] Determine the voltage compensation coefficient of the battery according to the actual voltage value;

[0009] According to the boom angle information, determine the boom angle compensation coefficient;

[0010] The rotation speed of the motor of the aerial work vehicle is corrected according to the voltage compensation coefficient and the angle compensation coefficient.

[0011] In a possible implementation manner, determining the angle compensation coefficient of the boom according to the boom angle information includes:

[0012] According to the boom angle information, determine the actual angle change value of the boom of the aerial work vehicle within a preset time period, where the preset time period is a preset time period in the action time period of the aerial work vehicle performing a preset action;

[0013] If the actual angle change value is outside the preset standard angle change range, determining a first angle difference between the actual angle change value and the standard angle change value within the standard angle change range;

[0014] An angle compensation coefficient is determined according to the first angle difference.

[0015] In a possible implementation manner, before determining a first angle difference between the actual angle change value and a standard angle change value within the standard angle change range, the method further includes:

[0016] Determine the maximum time, the shortest time, the first limit angle and the second limit angle for the boom to perform the preset action, the first limit angle being the maximum angle value reached by the boom to perform the preset action, and the second limit angle being the minimum angle value reached by the boom to perform the preset action;

[0017] Determining a second angle difference of the boom according to the first limit angle and the second limit angle;

[0018] Determine the maximum standard angle change value of the boom within the preset time period according to the second angle difference, the shortest time and the preset time period;

[0019] Determine the minimum standard angle change value of the boom within the preset time period according to the second angle difference, the maximum time and the preset time period;

[0020] The preset standard angle variation range is determined according to the maximum standard angle variation value and the minimum standard angle variation value.

[0021] In a possible implementation, determining the angle compensation coefficient according to the first angle difference includes:

[0022] When the actual angle change value is less than the minimum standard angle change value, determining the angle compensation coefficient according to the first angle difference value, the minimum standard angle change value and the preset time length;

[0023] When the actual angle change value is greater than the maximum standard angle change value, the angle compensation coefficient is determined according to the first angle difference, the maximum standard angle change value and the preset time length.

[0024] In a possible implementation, the speed of the motor of the aerial work vehicle is corrected according to the voltage compensation coefficient and the angle compensation coefficient, including:

[0025] Determine a second duty cycle after voltage compensation correction according to the first duty cycle and the voltage compensation coefficient, wherein the first duty cycle is a duty cycle corresponding to a required speed when the aerial work vehicle performs a preset action;

[0026] Determine a target duty cycle according to the angle compensation coefficient and the second duty cycle;

[0027] According to the target duty cycle, the speed of the motor of the aerial work vehicle is corrected.

[0028] In a possible implementation manner, determining the target duty cycle according to the angle compensation coefficient and the second duty cycle includes:

[0029] Determine a third duty cycle after angle compensation correction according to the angle compensation coefficient and the second duty cycle;

[0030] Determining whether the target speed corresponding to the third duty cycle meets the required speed;

[0031] If the target speed corresponding to the third duty cycle does not meet the required speed, a new third duty cycle is determined according to the third duty cycle and the angle compensation coefficient, and a step of determining whether the target speed corresponding to the third duty cycle meets the required speed is performed;

[0032] If the target speed corresponding to the third duty cycle meets the required speed, the third duty cycle is determined as the target duty cycle.

[0033] In a possible implementation, the speed of the motor of the aerial work vehicle is corrected according to the target duty cycle, including:

[0034] According to the target duty cycle, determining the input voltage value of the motor corresponding to the target duty cycle;

[0035] According to the input voltage value, the actual voltage value of the battery is adjusted to correct the speed of the motor of the aerial work vehicle.

[0036] In a second aspect, an embodiment of the present application provides a motor speed correction device, which is applied to an aerial work vehicle, wherein the aerial work vehicle uses a battery as a power source, and comprises:

[0037] An acquisition module is used to obtain the boom angle information and the actual voltage value of the battery when the aerial work vehicle performs a preset action;

[0038] A first determination module, used to determine a voltage compensation coefficient of the battery according to an actual voltage value;

[0039] A second determination module is used to determine an angle compensation coefficient of the boom according to the boom angle information;

[0040] The correction module is used to correct the rotation speed of the motor of the aerial work vehicle according to the voltage compensation coefficient and the angle compensation coefficient.

[0041] In a possible implementation manner, the second determining module is specifically configured to:

[0042] According to the boom angle information, determine the actual angle change value of the boom of the aerial work vehicle within a preset time period, where the preset time period is a preset time period in the action time period of the aerial work vehicle performing a preset action;

[0043] If the actual angle change value is outside the preset standard angle change range, determining a first angle difference between the actual angle change value and the standard angle change value within the standard angle change range;

[0044] An angle compensation coefficient is determined according to the first angle difference.

[0045] In a possible implementation manner, the second determining module is further configured to:

[0046] Determine the maximum time, the shortest time, the first limit angle and the second limit angle for the boom to perform the preset action, the first limit angle being the maximum angle value reached by the boom to perform the preset action, and the second limit angle being the minimum angle value reached by the boom to perform the preset action;

[0047] Determining a second angle difference of the boom according to the first limit angle and the second limit angle;

[0048] Determine the maximum standard angle change value of the boom within the preset time period according to the second angle difference, the shortest time and the preset time period;

[0049] Determine the minimum standard angle change value of the boom within the preset time period according to the second angle difference, the maximum time and the preset time period;

[0050] The preset standard angle variation range is determined according to the maximum standard angle variation value and the minimum standard angle variation value.

[0051] In a possible implementation manner, the second determining module is further configured to:

[0052] When the actual angle change value is less than the minimum standard angle change value, determining the angle compensation coefficient according to the first angle difference value, the minimum standard angle change value and the preset time length;

[0053] When the actual angle change value is greater than the maximum standard angle change value, the angle compensation coefficient is determined according to the first angle difference, the maximum standard angle change value and the preset time length.

[0054] In a possible implementation manner, the correction module is specifically configured to:

[0055] Determine a second duty cycle after voltage compensation correction according to the first duty cycle and the voltage compensation coefficient, wherein the first duty cycle is a duty cycle corresponding to a required speed when the aerial work vehicle performs a preset action;

[0056] Determine a target duty cycle according to the angle compensation coefficient and the second duty cycle;

[0057] According to the target duty cycle, the speed of the motor of the aerial work vehicle is corrected.

[0058] In a possible implementation manner, the correction module is further used to:

[0059] Determine a third duty cycle after angle compensation correction according to the angle compensation coefficient and the second duty cycle;

[0060] Determining whether the target speed corresponding to the third duty cycle meets the required speed;

[0061] If the target speed corresponding to the third duty cycle does not meet the required speed, a new third duty cycle is determined according to the third duty cycle and the angle compensation coefficient, and a step of determining whether the target speed corresponding to the third duty cycle meets the required speed is performed;

[0062] If the target speed corresponding to the third duty cycle meets the required speed, the third duty cycle is determined as the target duty cycle.

[0063] In a possible implementation manner, the correction module is further used to:

[0064] According to the target duty cycle, determining the input voltage value of the motor corresponding to the target duty cycle;

[0065] According to the input voltage value, the actual voltage value of the battery is adjusted to correct the speed of the motor of the aerial work vehicle.

[0066] In a third aspect, an embodiment of the present application provides a controller, including: a memory, a processor;

[0067] Memory stores computer-executable instructions;

[0068] The processor executes the computer-executable instructions stored in the memory, so that the processor executes the above first aspect and / or various possible implementations of the first aspect.

[0069] In a fourth aspect, an embodiment of the present application provides an aerial work vehicle, including a boom, a battery, a motor, and a controller;

[0070] An arm, used to perform preset actions;

[0071] Batteries, used to drive the motor;

[0072] The motor is used to drive the aerial work vehicle to perform preset actions;

[0073] A controller is used to execute the first aspect and / or various possible implementation methods of the first aspect as described above.

[0074] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the first aspect above and / or various possible implementations of the first aspect.

[0075] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the above first aspect and / or various possible implementation methods of the first aspect.

[0076] The motor speed correction method, device, controller and aerial work vehicle provided in the embodiments of the present application obtain the boom angle information and the actual voltage value of the battery when the aerial work vehicle performs a preset action, and then determine the voltage compensation coefficient of the battery according to the actual voltage value of the battery, and determine the angle compensation coefficient of the boom according to the boom angle information, and finally adjust the output speed of the motor by combining the voltage compensation coefficient and the angle compensation coefficient to ensure that the motor can output a stable speed according to the current working conditions, so that the motor speed can be automatically adjusted with the change of battery voltage during the aerial work process, thereby maximizing the battery utilization efficiency, and through the correction of the angle compensation coefficient, the motor speed can be accurately adjusted according to different boom angles to optimize the operating performance of the aerial work vehicle. Therefore, correcting the motor speed based on these two compensation coefficients can effectively solve the impact of battery voltage fluctuations and load changes on the motor speed, improve the performance, stability and battery utilization efficiency of the aerial work vehicle, thereby improving the overall work efficiency and extending the service life of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] 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.

[0078] Figure 1 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 1 ;

[0079] Figure 2 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 2 ;

[0080] Figure 3 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 3 ;

[0081] Figure 4 A schematic diagram of the structure of a motor speed correction device provided in an embodiment of the present application;

[0082] Figure 5 A schematic diagram of the structure of a controller provided in an embodiment of the present application;

[0083] Figure 6 A schematic diagram of the structure of the aerial work vehicle provided in an embodiment of the present application.

[0084] 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

[0085] 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.

[0086] It should be noted that in the embodiments of the present application, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present application, but it does not mean that the applicant has or will necessarily use the solution.

[0087] In the prior art, electric aerial work vehicles use batteries as their main power source. Common battery types include lithium batteries and lead-acid batteries. Batteries provide power to motors to drive various functions and operations of aerial work vehicles. Diesel-powered aerial work vehicles use diesel engines as their main power source. Diesel engines generate power by burning diesel to drive hydraulic pumps and other mechanical components to achieve various functions of aerial work vehicles. Among them, for electric aerial work vehicles, a powertrain of batteries, motors, and hydraulic pumps is used. After the aerial work vehicle is offline, the main valve current needs to be calibrated so that the vehicle's movement speed meets factory requirements.

[0088] However, in actual use, changes in battery power and load will cause changes in battery voltage drop, which will cause changes in the actual motor speed and, in turn, the main pump flow rate. If the motor speed is not compensated in time, the vehicle movement speed will change when the main valve opening remains the same, and may not meet the operating requirements.

[0089] Based on this, the motor speed correction method provided by the present application is based on the consideration that the battery voltage drop will affect the actual speed of the motor, and the pump flow is directly related to the motor speed, so the motor speed is compensated and corrected. Considering the actual use process, when the battery power changes, the battery voltage will usually change. Therefore, if the actual voltage value of the battery is obtained in real time and the voltage compensation coefficient is calculated, it can be used to adjust the performance of the motor to compensate for the impact of voltage fluctuations on the motor output. On the other hand, when the load changes, the angle of the boom will usually change. If the angle information of the boom is obtained at the same time, the current operating state can be understood, so as to determine whether the current operation meets the factory standard. When it does not meet the standard, the angle compensation coefficient is calculated according to the boom angle information. The coefficient can also be used to adjust the performance of the motor to ensure the stability and accuracy of the boom at different angles. Therefore, the motor speed is corrected in combination with the voltage compensation coefficient and the angle compensation coefficient. In this way, it is ensured that the motor speed can meet the needs of different actions, thereby ensuring that the vehicle action speed meets the operation requirements.

[0090] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0091] Figure 1 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 1 .like Figure 1 As shown, the method is applied to an aerial work vehicle, the aerial work vehicle uses a battery as a power source, and the method includes:

[0092] S101, obtaining boom angle information and actual battery voltage value of the aerial work vehicle when performing a preset action.

[0093] Among them, the boom angle information may refer to the angle data of the boom of the aerial work vehicle when performing a specific action. These angle data change over time and can be obtained through sensors to determine the current position and posture of the boom.

[0094] The actual voltage value of the battery is the voltage level currently output by the battery. Since the actual voltage value may vary due to factors such as the battery power, load conditions, and ambient temperature, the speed compensation can be performed in a targeted manner by obtaining the actual voltage value.

[0095] In this embodiment, the preset action may refer to the boom action in aerial operations, such as main boom amplitude change, lower boom amplitude change, flying boom amplitude change, etc. By setting an inclination sensor on the boom, the angle change can be obtained and calculated in real time.

[0096] S102: Determine a voltage compensation coefficient of the battery according to the actual voltage value.

[0097] The voltage compensation coefficient may refer to a coefficient used to adjust the motor control parameters, with the purpose of compensating for the effect of battery voltage variation on motor performance. By applying the voltage compensation coefficient, it is possible to ensure that the motor can maintain stable performance under different voltage conditions.

[0098] In this embodiment, since the battery voltage decreases as the battery power decreases and the battery voltage drop increases as the load increases, the Coef V =V S / V C Calculate the voltage compensation coefficient, where V S is the rated voltage of the battery of the aerial work vehicle; V C is the actual voltage value of the battery; Coef V is the voltage compensation coefficient.

[0099] It is understandable that the rated voltage value of the battery is usually the rated voltage of the battery under the optimal working condition. By calculating the ratio of the actual voltage value to the rated voltage value, the voltage compensation coefficient can be obtained. The calculated voltage compensation coefficient is applied to the controller of the aerial work vehicle and the drive signal of the motor, such as the duty cycle, is adjusted to compensate for the impact of voltage changes and ensure the stability and efficiency of the motor under different voltage conditions.

[0100] S103: Determine an angle compensation coefficient of the boom according to the boom angle information.

[0101] Among them, similar to the voltage compensation coefficient, the angle compensation coefficient can refer to a coefficient used to adjust the motor control parameters, the purpose of which is to compensate for the impact of the arm angle change on the motor load and performance. By applying the angle compensation coefficient, it can be ensured that the motor can still maintain stable performance at different arm angles.

[0102] In this embodiment, the real-time angle information of the boom is used to determine the change in the angle of the boom over time during the execution of a preset action, and to determine whether the movement speed of the boom meets the standard. Accordingly, the calculated angle compensation coefficient is applied to the controller of the aerial work vehicle to adjust the drive signal of the motor, thereby further correcting the motor speed.

[0103] As an example, the corresponding angle compensation coefficient can be calculated through a preset angle-time relationship model or historical experience data. The preset angle-time relationship model can record the angle and time data of the boom when performing various preset actions in actual operation through sensors. These data can be collected through multiple experiments and tests under different operating conditions. Then, using the collected data, a mathematical model of the angle change over time, such as a linear model, a nonlinear model, etc., is established through methods such as statistical analysis and curve fitting.

[0104] As another example, the actual movement speed of the boom may be calculated based on the boom angle information, and the movement speed of the boom may be calculated based on historical data, thereby calculating a corresponding angle compensation coefficient.

[0105] S104, correcting the rotation speed of the motor of the aerial work vehicle according to the voltage compensation coefficient and the angle compensation coefficient.

[0106] In this embodiment, the voltage compensation coefficient and the angle compensation coefficient may be used to adjust the input voltage, current or duty cycle of a pulse width modulation (PWM) signal of the motor to change the rotation speed of the motor.

[0107] The motor speed correction method provided in the embodiment of the present application can optimize the performance of the motor under different working conditions through voltage and angle compensation, improve the influence of battery power and load on the movement speed, can adjust the motor performance in real time, reduce operational risks, improve operation safety, and improve the overall efficiency and response speed of the aerial work vehicle.

[0108] Figure 2 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 2 .like Figure 2 As shown, in this embodiment Figure 1 Based on the embodiment, steps S103 and S104 are described in detail, which specifically include the following steps:

[0109] S201, determining the maximum time, the shortest time, the first limit angle and the second limit angle for the boom to perform a preset action.

[0110] The first limit angle is the maximum angle value reached when the boom performs a preset action, and the second limit angle is the minimum angle value reached when the boom performs a preset action.

[0111] In this embodiment, the preset action may refer to an action of adjusting the height of the working platform by raising or lowering the boom, including the main boom luffing up and the main boom luffing down, wherein the main boom luffing up refers to the process of the main boom moving from a lower position to a higher position; the main boom luffing down refers to the process of the main boom moving from a higher position to a lower position. The angle of the main boom can be adjusted accordingly through the controller so that it can reach a higher working height and return to a lower height.

[0112] S202: Determine a second angle difference of the boom according to the first limit angle and the second limit angle.

[0113] The second angle difference may refer to the difference between the first limit angle and the second limit angle, reflecting the angle change range of the arm when performing a preset action.

[0114] S203: Determine a maximum standard angle change value of the boom within a preset time period according to the second angle difference, the shortest time and a preset time period.

[0115] The preset duration may refer to a selected period of time in the total duration of the aerial work vehicle performing the preset action. In this embodiment, the preset duration may be set according to actual needs, such as 1 second, 2 seconds, etc., and subsequent angle calculations are calculated based on the preset duration.

[0116] S204: Determine a minimum standard angle change value of the boom within a preset time period according to the second angle difference, the maximum time and the preset time period.

[0117] S205. Determine a preset standard angle change range according to the maximum standard angle change value and the minimum standard angle change value.

[0118] As an example, the preset duration (unit time period) is set to T prd , determine the first limit angle Angle of the main arm from the historical operation data of the aerial work vehicle max , the second limit angle of the main arm luffing is Angle min , the longest time T max , shortest time T min , then the second angle difference of the arm Angle diff =Angle max -Angle min .

[0119] Then through The maximum standard angle change value of the boom within the preset time can be calculated by The calculation can obtain the minimum standard angle change value of the arm within the preset time. tmax Angle is the maximum standard angle change value;tmin is the minimum standard angle change value.

[0120] Therefore, the preset standard angle variation range is [Angle tmin ,Angle tmax ].

[0121] S206: Determine the actual angle change value of the boom of the aerial work vehicle within a preset time period according to the boom angle information.

[0122] The preset duration is the preset duration of the action duration for the aerial work vehicle to perform the preset action.

[0123] In this embodiment, when the control handle of the aerial work vehicle is adjusted to its maximum position, the main arm angle value at this time is Angle s , and start timing. When the timing time is equal to the preset time T prd When the main arm angle is Angle e , then the actual angle change value of the arm within the preset time is Angle d =Angle e -Angle s .

[0124] S207: If the actual angle change value is outside the preset standard angle change range, determine a first angle difference between the actual angle change value and the standard angle change value within the standard angle change range.

[0125] In this embodiment, if the actual angle change value Angle d Beyond the preset standard angle variation range [Angle tmin ,Angle tmax ], the difference between the actual angle change value and the standard angle change value within the range is calculated.

[0126] S208. Determine an angle compensation coefficient according to the first angle difference.

[0127] It should be noted that if Angle tmin ≤Angle d ≤Angle tmax , it means that the action speed meets the standard; otherwise, it means that the action speed is too fast or too slow, and further compensation is needed for the motor speed.

[0128] In one possible implementation, when the actual angle change value is less than the minimum standard angle change value, the angle compensation coefficient is determined based on the first angle difference, the minimum standard angle change value and the preset duration; when the actual angle change value is greater than the maximum standard angle change value, the angle compensation coefficient is determined based on the first angle difference, the maximum standard angle change value and the preset duration.

[0129] In this embodiment, if Angle d <Angle tmin , indicating that the actual speed is too small, then the first angle difference Angle t =Angle tmin -Angle d , angle compensation coefficient Coef a =Angle t / Angle tmin / T prd .

[0130] Correspondingly, if Angle d >Angle tmax , indicating that the actual speed is too large, then the first angle difference Angle t =Angle d -Angle tmax , angle compensation coefficient Coef a =Angle t / Angle tmax / T prd .

[0131] S209: Determine a second duty cycle after voltage compensation correction according to the first duty cycle and the voltage compensation coefficient.

[0132] The first duty cycle is the duty cycle corresponding to the required speed when the aerial work vehicle performs a preset action. Usually, the first duty cycle is proportional to the required speed of the motor. By combining the first duty cycle and the voltage compensation coefficient, the second duty cycle is corrected. If the battery voltage is low, the duty cycle needs to be increased to compensate for the speed loss caused by insufficient voltage.

[0133] In this embodiment, Duty t =Speed t / Speed max Calculate the first duty cycle, where Speed t The required speed for the aerial work vehicle to perform the preset action; Speed max Duty is the maximum speed the motor can reach; t is the duty cycle corresponding to the required speed. Calculate the second duty cycle after voltage compensation correction, where Coef V is the voltage compensation coefficient; Duty v is the second duty cycle.

[0134] S210: Determine a target duty cycle according to the angle compensation coefficient and the second duty cycle.

[0135] Among them, the target duty cycle can refer to further adjusting the duty cycle according to the angle compensation coefficient on the basis of the second duty cycle, so as to determine the final duty cycle, ensuring that at different working angles, the motor can provide sufficient speed to meet the load requirements.

[0136] In this embodiment, the angle compensation coefficient Coef can be calculated by the above steps: a And the second duty cycle Duty v , if Angle d <Angle tmin , then the target duty cycle ; If Angle d >Angle tmax , then the target duty cycle .

[0137] S211. Correct the rotation speed of the motor of the aerial work vehicle according to the target duty cycle.

[0138] In this embodiment, the input signal of the motor is controlled by the target duty cycle finally determined. The adjustment of the target duty cycle allows the motor speed to be corrected according to the changes in the battery voltage and the arm angle, ensuring that the motor can provide a stable and appropriate speed in various working conditions.

[0139] The motor speed correction method provided in the embodiment of the present application can accurately adjust the motor speed by analyzing the angle changes and voltage changes of the boom in detail, taking into account the maximum and minimum angle changes of the boom, and the impact of voltage changes on motor performance, so that the aerial work vehicle can dynamically adapt to different operating conditions, and by dynamically adjusting the angle compensation coefficient and duty cycle, it can flexibly respond to different working conditions and make real-time corrections, so that the aerial work vehicle can adapt to a wider range of application scenarios.

[0140] Figure 3 Schematic diagram of the process of the motor speed correction method provided in the embodiment of the present application Figure 3 .like Figure 3 As shown, in this embodiment Figure 2 Based on the embodiment, steps S210 and S211 are described in detail, which specifically include the following steps:

[0141] S301 . Determine a third duty cycle after angle compensation correction according to the angle compensation coefficient and the second duty cycle.

[0142] In this embodiment, if Angle d <Angle tmin , then you can Calculate the third duty cycle after angle compensation correction, where Duty ais the third duty cycle; if Angle d >Angle tmax , then you can Calculate the third duty cycle after angle compensation correction.

[0143] It should be noted that in the above embodiment, the third duty cycle corrected by angle compensation is used as the target duty cycle, so as to correct the speed of the motor to meet the required speed. However, in actual work, it may happen that the speed corresponding to the third duty cycle corrected by angle compensation still cannot meet the required speed, that is, the action speed after compensation correction is still too fast or too slow, and the third duty cycle needs to be further iterated.

[0144] S302: Determine whether the target speed corresponding to the third duty cycle meets the required speed.

[0145] In this embodiment, the third duty cycle can be converted into a motor speed to evaluate whether it reaches the speed required for operation, that is, whether the angle change value of the main arm within the preset time length meets the standard angle change range. If the speed meets the required speed, it means that the control parameters are appropriate. If it does not meet the required speed, further adjustment is required.

[0146] S303: If the target speed corresponding to the third duty cycle does not meet the required speed, determine a new third duty cycle according to the third duty cycle and the angle compensation coefficient, and execute the step of determining whether the target speed corresponding to the third duty cycle meets the required speed.

[0147] In this embodiment, if Angle d <Angle tmin , then you can Calculate the new third duty cycle; if Angle d >Angle tmax , then you can Calculate the new third duty cycle and determine whether the target speed corresponding to the new third duty cycle meets the required speed, so as to perform data iteration.

[0148] It can be understood that, through the feedback loop, the third duty cycle is continuously adjusted to gradually approach the required speed, thereby ensuring that the motor runs at an appropriate speed.

[0149] S304: If the target speed corresponding to the third duty cycle meets the required speed, determine the third duty cycle as the target duty cycle.

[0150] In this embodiment, if the adjusted third duty cycle can meet the required speed, this duty cycle is confirmed as the target duty cycle. At this time, the target duty cycle is the final motor control signal, which can ensure that the motor speed meets the working requirements. The controller will adjust the motor speed according to the target duty cycle.

[0151] S305. Determine the input voltage value of the motor corresponding to the target duty cycle according to the target duty cycle.

[0152] In this embodiment, the target duty cycle affects the voltage value required by the motor. The higher the duty cycle, the greater the voltage received by the motor and the faster the motor speed. Conversely, the lower the duty cycle, the slower the motor speed. The controller calculates the required input voltage by using the relationship between the target duty cycle and the motor input voltage.

[0153] As an example, if the rated voltage of the motor is 12V and the target speed is 50% of the rated speed, in order for the motor to reach the target speed, the target duty cycle is 50%, and the average voltage input to the motor is 6V.

[0154] S306. According to the input voltage value, the actual voltage value of the battery is adjusted to correct the rotation speed of the motor of the aerial work vehicle.

[0155] In this embodiment, the battery voltage usually fluctuates with usage (such as discharge, load change, etc.). In order to ensure that the motor operates at the expected speed, the actual voltage of the battery can be adjusted according to the input voltage value of the motor corresponding to the target duty cycle to ensure that the output voltage of the battery matches the input voltage required by the motor, thereby ensuring the stable operation of the motor.

[0156] The motor speed correction method provided in the embodiment of the present application not only improves the speed accuracy of the aerial work vehicle through precise control and real-time adjustment of the angle compensation coefficient, duty cycle, and voltage, but also optimizes the battery utilization efficiency and motor performance, ensuring the safe and stable operation of the equipment, while improving the operating efficiency and energy utilization efficiency.

[0157] Figure 4 A schematic diagram of the structure of the motor speed correction device provided in the embodiment of the present application is shown in FIG. Figure 4 As shown, the motor speed correction device 40 provided in this embodiment is applied to an aerial work vehicle, and the aerial work vehicle uses a battery as a power source, including:

[0158] The acquisition module 401 is used to obtain the boom angle information and the actual voltage value of the battery when the aerial work vehicle performs a preset action;

[0159] A first determination module 402 is used to determine a voltage compensation coefficient of a battery according to an actual voltage value;

[0160] The second determination module 403 is used to determine the angle compensation coefficient of the boom according to the boom angle information;

[0161] The correction module 404 is used to correct the rotation speed of the motor of the aerial work vehicle according to the voltage compensation coefficient and the angle compensation coefficient.

[0162] In a possible implementation manner, the second determining module 403 is specifically configured to:

[0163] According to the boom angle information, determine the actual angle change value of the boom of the aerial work vehicle within a preset time period, where the preset time period is a preset time period in the action time period of the aerial work vehicle performing a preset action;

[0164] If the actual angle change value is outside the preset standard angle change range, determining a first angle difference between the actual angle change value and the standard angle change value within the standard angle change range;

[0165] An angle compensation coefficient is determined according to the first angle difference.

[0166] In a possible implementation manner, the second determining module 403 is further configured to:

[0167] Determine the maximum time, the shortest time, the first limit angle and the second limit angle for the boom to perform the preset action, the first limit angle being the maximum angle value reached by the boom to perform the preset action, and the second limit angle being the minimum angle value reached by the boom to perform the preset action;

[0168] Determining a second angle difference of the boom according to the first limit angle and the second limit angle;

[0169] Determine the maximum standard angle change value of the boom within the preset time period according to the second angle difference, the shortest time and the preset time period;

[0170] Determine the minimum standard angle change value of the boom within the preset time period according to the second angle difference, the maximum time and the preset time period;

[0171] The preset standard angle variation range is determined according to the maximum standard angle variation value and the minimum standard angle variation value.

[0172] In a possible implementation manner, the second determining module 403 is further configured to:

[0173] When the actual angle change value is less than the minimum standard angle change value, determining the angle compensation coefficient according to the first angle difference value, the minimum standard angle change value and the preset time length;

[0174] When the actual angle change value is greater than the maximum standard angle change value, the angle compensation coefficient is determined according to the first angle difference, the maximum standard angle change value and the preset time length.

[0175] In a possible implementation, the correction module 404 is specifically configured to:

[0176] Determine a second duty cycle after voltage compensation correction according to the first duty cycle and the voltage compensation coefficient, wherein the first duty cycle is a duty cycle corresponding to a required speed when the aerial work vehicle performs a preset action;

[0177] Determine a target duty cycle according to the angle compensation coefficient and the second duty cycle;

[0178] According to the target duty cycle, the speed of the motor of the aerial work vehicle is corrected.

[0179] In a possible implementation, the correction module 404 is further configured to:

[0180] Determine a third duty cycle after angle compensation correction according to the angle compensation coefficient and the second duty cycle;

[0181] Determining whether the target speed corresponding to the third duty cycle meets the required speed;

[0182] If the target speed corresponding to the third duty cycle does not meet the required speed, a new third duty cycle is determined according to the third duty cycle and the angle compensation coefficient, and a step of determining whether the target speed corresponding to the third duty cycle meets the required speed is performed;

[0183] If the target speed corresponding to the third duty cycle meets the required speed, the third duty cycle is determined as the target duty cycle.

[0184] In a possible implementation, the correction module 404 is further configured to:

[0185] According to the target duty cycle, determining the input voltage value of the motor corresponding to the target duty cycle;

[0186] According to the input voltage value, the actual voltage value of the battery is adjusted to correct the speed of the motor of the aerial work vehicle.

[0187] The motor speed correction device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and this embodiment will not be described in detail here.

[0188] Figure 5 This is a schematic diagram of the structure of the controller provided in the embodiment of the present application. Figure 5 As shown, the controller 50 provided in this embodiment includes: at least one processor 501 and a memory 502. Optionally, the device 50 further includes a communication component 503. The processor 501, the memory 502 and the communication component 503 are connected via a bus 504.

[0189] In a specific implementation process, at least one processor 501 executes the computer-executable instructions stored in the memory 502, so that at least one processor 501 executes the above method.

[0190] The specific implementation process of the processor 501 can be found in the above method embodiment, and its implementation principle and technical effect are similar, so this embodiment will not be repeated here.

[0191] In the above embodiments, it should be understood that the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in the invention can be directly implemented as a hardware processor, or can be implemented by a combination of hardware and software modules in the processor.

[0192] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk storage.

[0193] 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. For ease of representation, the bus in the drawings of this application is not limited to only one bus or one type of bus.

[0194] Figure 6 This is a schematic diagram of the structure of the aerial work vehicle provided in the embodiment of the present application. Figure 6 As shown, the aerial work vehicle 60 provided in this embodiment includes: a boom 601, a battery 602, a motor 603, and a controller 604;

[0195] Arm 601, used to perform preset actions;

[0196] A battery 602 for driving a motor 603;

[0197] The motor 603 is used to drive the aerial work vehicle 60 to perform a preset action;

[0198] The controller 604 is used to execute the method provided by the above method embodiment. Its implementation principle and technical effect are similar and will not be described in detail in this embodiment.

[0199] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0200] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0201] The above-mentioned readable storage medium 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 readable storage medium can be any available medium that can be accessed by a general or special-purpose computer.

[0202] An exemplary readable storage medium is coupled to a 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 in the device as discrete components.

[0203] The division of units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0204] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0205] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0206] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0207] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

[0208] Finally, it should be noted that those skilled in the art will readily conceive of other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses or adaptations of the present invention, which follow the general principles of the present invention and include common knowledge or customary technical means in the art not disclosed by the present invention, are not limited to the precise structure described above and shown in the drawings, and may be modified and changed in various ways without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A motor speed correction method, characterized in that: Applied to an aerial work vehicle, the aerial work vehicle uses a battery as a power source, and the method includes: Obtaining the boom angle information of the aerial work vehicle performing a preset action and the actual voltage value of the battery; Determining a voltage compensation coefficient of the battery according to the actual voltage value; Determining an angle compensation coefficient of the boom according to the boom angle information; The rotation speed of the motor of the aerial work vehicle is corrected according to the voltage compensation coefficient and the angle compensation coefficient.

2. The method according to claim 1, characterized in that Determining the angle compensation coefficient of the boom according to the boom angle information includes: According to the boom angle information, determining an actual angle change value of the boom of the aerial work vehicle within a preset time period, wherein the preset time period is a preset time period in the action time period of the aerial work vehicle performing the preset action; If the actual angle change value is outside the preset standard angle change range, determining a first angle difference between the actual angle change value and the standard angle change value within the standard angle change range; The angle compensation coefficient is determined according to the first angle difference.

3. The method according to claim 2, characterized in that Before determining a first angle difference between the actual angle change value and a standard angle change value within the standard angle change range, the method further includes: Determine the maximum time, the shortest time, the first limit angle and the second limit angle for the boom to perform the preset action, wherein the first limit angle is the maximum angle value reached by the boom to perform the preset action, and the second limit angle is the minimum angle value reached by the boom to perform the preset action; Determining a second angle difference of the boom according to the first limit angle and the second limit angle; Determine a maximum standard angle change value of the boom within the preset time period according to the second angle difference, the shortest time and the preset time period; Determine a minimum standard angle change value of the boom within the preset time period according to the second angle difference, the maximum time and the preset time period; The preset standard angle change range is determined according to the maximum standard angle change value and the minimum standard angle change value.

4. The method according to claim 3, characterized in that The determining the angle compensation coefficient according to the first angle difference includes: When the actual angle change value is less than the minimum standard angle change value, determining the angle compensation coefficient according to the first angle difference value, the minimum standard angle change value and the preset time length; When the actual angle change value is greater than the maximum standard angle change value, the angle compensation coefficient is determined according to the first angle difference value, the maximum standard angle change value and the preset time length.

5. The method according to any one of claims 1 to 4, characterized in that The step of correcting the rotation speed of the motor of the aerial work vehicle according to the voltage compensation coefficient and the angle compensation coefficient includes: Determine a second duty cycle corrected by voltage compensation according to the first duty cycle and the voltage compensation coefficient, wherein the first duty cycle is a duty cycle corresponding to a required speed when the aerial work vehicle performs the preset action; Determining a target duty cycle according to the angle compensation coefficient and the second duty cycle; The rotation speed of the motor of the aerial work vehicle is corrected according to the target duty cycle.

6. The method according to claim 5, characterized in that The determining a target duty cycle according to the angle compensation coefficient and the second duty cycle includes: Determining a third duty cycle after angle compensation correction according to the angle compensation coefficient and the second duty cycle; Determining whether the target speed corresponding to the third duty cycle meets the required speed; If the target speed corresponding to the third duty cycle does not meet the required speed, a new third duty cycle is determined according to the third duty cycle and the angle compensation coefficient, and the step of determining whether the target speed corresponding to the third duty cycle meets the required speed is performed; If the target speed corresponding to the third duty cycle satisfies the required speed, the third duty cycle is determined to be the target duty cycle.

7. The method according to claim 5, characterized in that The step of correcting the rotation speed of the motor of the aerial work vehicle according to the target duty cycle includes: According to the target duty cycle, determining an input voltage value of the motor corresponding to the target duty cycle; According to the input voltage value, the actual voltage value of the battery is adjusted to correct the rotation speed of the motor of the aerial work vehicle.

8. A motor speed correction device, characterized in that: Applied to an aerial work vehicle, the aerial work vehicle uses a battery as a power source, including: An acquisition module, used to acquire the boom angle information of the aerial work vehicle performing a preset action and the actual voltage value of the battery; A first determining module, configured to determine a voltage compensation coefficient of the battery according to the actual voltage value; A second determination module is used to determine an angle compensation coefficient of the boom according to the boom angle information; The correction module is used to correct the rotation speed of the motor of the aerial work vehicle according to the voltage compensation coefficient and the angle compensation coefficient.

9. A controller, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 7.

10. An aerial work vehicle, characterized in that: Including arm, battery, motor and controller; The arm is used to perform a preset action; The battery is used to drive the motor; The motor is used to drive the aerial work vehicle to perform the preset action; The controller is used to execute the method according to any one of claims 1 to 7.

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