Motor torque control method, device and equipment of engineering machinery and medium

Abstract

The invention provides a motor torque control method and device for engineering machinery, equipment and a medium, and the method comprises the steps: detecting whether the engineering machinery receives a rotation instruction, and controlling a motor to rotate according to a preset torque if the engineering machinery receives the rotation instruction. The resistance borne by the rotating part is detected, and the motor torque is adjusted according to the resistance and the preset torque. The preset torque is the set maximum torque, and after the engineering machinery receives the rotation instruction, the motor rotates according to the preset torque so as to drive the rotating part to rotate. The larger the resistance borne by the rotating part is, the smaller the torque of the motor is, and therefore abrasion of external objects such as mounds to the rotating part is reduced. The smaller the resistance borne by the rotating part is, the larger the torque of the motor is, and therefore it is guaranteed that the rotating part can rapidly rotate to the next station under the condition that the resistance is small. According to the invention, the torque of the motor is adjusted to a certain range so as to adapt to different resistances, and the rotating efficiency of a rotating part is improved while the abrasion of the rotating part caused by an external object is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor torque control method, device, equipment and medium for engineering machinery. Background Art

[0002] Construction machinery such as excavators and bulldozers exert external forces when working, and the forces are generated by motor drive. After the excavators and bulldozers work at a certain position, they need to switch to the next position to work, and at this time, the rotating parts of the excavators and bulldozers rotate.

[0003] During the rotation of the rotating parts, external objects such as earth piles and other parts inside the construction machinery that are in contact with the rotating parts will generate resistance. Under the action of the resistance, if the torque of the driving motor is directly adjusted to 0, the rotating parts will be unable to rotate; if the torque of the motor is kept unchanged, the rotating parts will rotate under the action of the resistance of external objects, which will easily increase the wear of the rotating parts and cause failure of the rotating parts.

[0004] Therefore, a method is needed to adjust the motor torque according to the resistance experienced by the rotating parts. Summary of the invention

[0005] In order to overcome the problems existing in the related art, the purpose of the present invention is to provide a motor torque control method, device, equipment and medium for engineering machinery, wherein the method can adjust the motor torque according to the resistance experienced by the rotating parts.

[0006] A motor torque control method for engineering machinery, comprising:

[0007] Detect whether the engineering machinery has received a rotation instruction, and if so, control the motor to rotate according to a preset torque;

[0008] Detect the resistance of rotating parts;

[0009] The motor torque is adjusted according to the resistance and the preset torque.

[0010] In a preferred technical solution of the present invention, the detection of the resistance experienced by the rotating component includes:

[0011] Detecting the external resistance of the rotating component, wherein the external resistance is the resistance exerted by the external object on the rotating component when the engineering machinery acts on the external object;

[0012] The internal resistance of the rotating component is detected, where the internal resistance is the resistance applied to the rotating component by other components inside the engineering machinery.

[0013] In a preferred technical solution of the present invention, the step of adjusting the motor torque according to the resistance and the preset torque includes:

[0014] If the resistance is greater than the resistance threshold, it detects whether a command to stop rotating is received;

[0015] If no instruction to stop rotating is received, a first function is constructed; the maximum value of the first function is a preset torque, and the independent variable of the first function is resistance;

[0016] The motor torque is regulated according to the first function.

[0017] In a preferred technical solution of the present invention, constructing the first function includes:

[0018] The first function is constructed according to the following formula:

[0019]

[0020] Among them, y is the target motor torque, x is the resistance, a is the first coefficient, b is the second coefficient, c is the third coefficient, d is the preset torque, and e is the exponential function.

[0021] In a preferred technical solution of the present invention, adjusting the motor torque according to the first function includes:

[0022] Substituting the resistance into the first function to calculate the target motor torque;

[0023] adjusting the motor torque to the target motor torque;

[0024] Updating the target motor torque to obtain an updated torque;

[0025] adjusting the motor torque to the updated torque;

[0026] Detect whether the motor torque is less than a torque threshold, and if so, stop adjusting the motor torque.

[0027] In a preferred technical solution of the present invention, after detecting whether the engineering machinery has received a rotation instruction, the method further includes:

[0028] If the construction machine does not receive a rotation command, the control motor is in an off state.

[0029] In a preferred technical solution of the present invention, the engineering machinery includes an excavator and a bulldozer.

[0030] The present invention also provides a motor torque control device for engineering machinery, comprising:

[0031] The rotation command detection module is used to detect whether the engineering machinery has received a rotation command, and if so, to control the motor to rotate according to a preset torque;

[0032] A rotation parameter detection module, used to detect the resistance experienced by the rotating component;

[0033] The motor torque adjustment module is used to adjust the motor torque according to the resistance and the preset torque.

[0034] The present invention also provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, and wherein the processor implements the steps of any one of the above-mentioned methods for controlling the motor torque of an engineering machine when executing the computer program.

[0035] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of any of the above-mentioned methods for controlling the motor torque of an engineering machine.

[0036] The beneficial effects of the present invention are as follows: the present invention provides a motor torque control method for engineering machinery, including detecting whether the engineering machinery receives a rotation instruction, and if so, controlling the motor to rotate according to a preset torque. Detecting the resistance of the rotating part, and adjusting the motor torque according to the resistance and the preset torque. The preset torque is a set maximum torque. After the engineering machinery receives the rotation instruction, the motor rotates according to the preset torque, thereby driving the rotating part to rotate. The greater the resistance of the rotating part, the smaller the motor torque, thereby reducing the wear of the rotating part caused by external objects such as soil piles. The smaller the resistance of the rotating part, the greater the motor torque, thereby ensuring that the rotating part can rotate quickly to the next workstation when the resistance is small. The present invention adjusts the motor torque to a certain range to adapt to different resistances, thereby reducing the wear of the rotating part caused by external objects and improving the rotation efficiency of the rotating part. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is a flow chart of a motor torque control method for engineering machinery of the present invention;

[0038] Figure 2 It is a flow chart of adjusting the motor torque according to the resistance and the preset torque of the present invention. DETAILED DESCRIPTION

[0039] The preferred embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0040] Example 1

[0041] like Figure 1 As shown, this embodiment provides a motor torque control method for engineering machinery, including:

[0042] S1: Detect whether the construction machinery has received a rotation command. If so, control the motor to rotate according to a preset torque.

[0043] S2: Detect the resistance of the rotating parts.

[0044] S3: adjusting the motor torque according to the resistance and the preset torque.

[0045] The detection of the resistance of the rotating component comprises the following steps S21-S22:

[0046] S21: Detecting the external resistance exerted on the rotating component, where the external resistance is the resistance exerted on the rotating component by the external object when the engineering machinery acts on the external object.

[0047] S22: Detecting the internal resistance of the rotating component, where the internal resistance is the resistance exerted on the rotating component by other components inside the engineering machinery.

[0048] The engineering machinery includes excavators and bulldozers. In this embodiment, the engineering machinery is an excavator. After the excavator completes the excavation work at one station, it needs to rotate to another station to perform the excavation work. During the rotation of the rotating parts of the excavator, the soil pile and other obstacles will hinder the rotating parts. The rotating parts overcome the resistance and rotate to the next station.

[0049] The rotating part is driven by a motor. During the rotation of the rotating part, other parts arranged near the rotating part in the shell of the excavator may contact the rotating part, thereby applying a friction force to the rotating part. The friction force will hinder the rotation of the rotating part and may also cause wear of the rotating part.

[0050] The motor of this embodiment drives the rotating component to rotate. During the rotation of the rotating component, a force sensor is used to detect the resistance of the rotating component in real time. The resistance of the rotating component is the sum of internal resistance and external resistance. The force sensor can be set on the rotating component.

[0051] The greater the resistance encountered by the rotating component, the smaller the target motor torque, and the motor torque is adjusted to the target motor torque; the smaller the resistance encountered by the rotating component, the greater the target motor torque, and the motor torque is adjusted to the target motor torque.

[0052] After the detecting whether the engineering machinery has received the rotation instruction, the method further includes:

[0053] If the construction machine does not receive a rotation command, the control motor is in an off state.

[0054] The present embodiment provides a method for controlling the motor torque of an engineering machinery, including detecting whether the engineering machinery has received a rotation instruction, and if so, controlling the motor to rotate at a preset torque. Detecting the resistance of the rotating part, and adjusting the motor torque according to the resistance and the preset torque. The preset torque is a set maximum torque. After the engineering machinery receives the rotation instruction, the motor rotates at the preset torque, thereby driving the rotating part to rotate. The greater the resistance of the rotating part, the smaller the motor torque, thereby reducing the wear of the rotating part caused by external objects such as soil piles. The smaller the resistance of the rotating part, the greater the motor torque, thereby ensuring that the rotating part can rotate quickly to the next workstation when the resistance is small. The present embodiment adjusts the motor torque to a certain range to adapt to different resistances, thereby reducing the wear of the rotating part caused by external objects and improving the rotation efficiency of the rotating part.

[0055] Example 2

[0056] like Figure 2 As shown, this embodiment provides a motor torque control device for engineering machinery. This embodiment only describes the differences from Embodiment 1. The motor torque is adjusted according to the resistance and the preset torque, including:

[0057] S31: If the resistance is greater than the resistance threshold, it is detected whether a command to stop rotating is received.

[0058] S32: If no instruction to stop rotating is received, construct a first function; the maximum value of the first function is a preset torque, and the independent variable of the first function is resistance.

[0059] S33: Adjust the motor torque according to the first function.

[0060] The constructing the first function comprises:

[0061] The first function is constructed according to the following formula:

[0062]

[0063] Among them, y is the target motor torque, x is the resistance, a is the first coefficient, b is the second coefficient, c is the third coefficient, d is the preset torque, and e is the exponential function.

[0064] The independent variable of the first function is the resistance x, and the dependent variable is the target motor torque y. The first function is constructed, and the sampling interval is set. Within a certain period of time, the resistance of the rotating component is collected N times according to the sampling interval to obtain N resistances. According to the N resistances, the motor torque is adjusted N times, N ≥ 2.

[0065] The step of adjusting the motor torque according to the first function includes the following steps S331-S334:

[0066] S331: Substitute the resistance into the first function to calculate the target motor torque.

[0067] S332: Adjust the motor torque to the target motor torque.

[0068] S333: Update the target motor torque to obtain an updated torque.

[0069] S334: Adjust the motor torque to the updated torque.

[0070] After the target motor torque is calculated, the motor torque at the current moment is linearly transformed to the target motor torque, so that the transformation process of the motor torque is smoother, which can reduce the wear of the rotating parts and extend the service life of the rotating parts.

[0071] The d in the first function is the preset torque, the preset torque is the maximum torque, and the first coefficient a, the second coefficient b, the third coefficient c and the fourth coefficient d are all numbers greater than 0. In this embodiment, a=1, b=0.5, c=4000, d=5000 are taken as an example, and the resistance x is substituted into the first function at different times to calculate the corresponding target motor torque y.

[0072] As an example, the engineering machinery of the present application is an excavator. After the excavator completes the excavation operation at the first station, it is necessary to rotate the excavator to the second station for excavation. During the rotation of the rotating parts of the excavator, the force sensor performs three samplings, the sampling interval is 2 seconds, and the resistances obtained by the three samplings are 50N, 80N and 60N respectively. Substituting x=50N into the first function, the target motor torque is calculated to be 2000Nm; substituting x=80N into the first function, the target motor torque is calculated to be 1600Nm; substituting x=60N into the first function, the target motor torque is calculated to be 1900Nm. Therefore, during the rotation of the excavator, the motor torque at the 1st second is 2000Nm, and from the 1st second to the 3rd second, the motor torque is linearly transformed from 2000Nm to 1600Nm. From the 3rd second to the 5th second, the motor torque is linearly transformed from 1600Nm to 1900Nm.

[0073] After detecting whether a stop rotation instruction is received, if a stop rotation instruction is received, the motor torque at the current moment is linearly reduced to 0, thereby reducing the wear on the rotating parts, extending the service life of the rotating parts, and preventing the motor torque from being directly reduced to 0, causing the rotating parts to malfunction.

[0074] This embodiment adjusts the motor torque according to the resistance and the preset torque, including detecting whether an instruction to stop rotating is received if the resistance is greater than the resistance threshold. If no instruction to stop rotating is received, a first function is constructed; the maximum value of the first function is the preset torque, the independent variable of the first function is the resistance, and the motor torque is adjusted according to the first function. The first function is a nonlinear function, the independent variable of the first function is the resistance, and the dependent variable is the target motor torque. The target motor torque is negatively correlated with the resistance, that is, the greater the resistance, the smaller the target motor torque. After collecting the resistance of the rotating part according to the sampling interval, the motor torque at the current moment is linearly transformed to the target motor torque according to the resistance, so that the transformation process of the motor torque is smoother, which can reduce the wear of the rotating part and extend the service life of the rotating part.

[0075] Example 3

[0076] This embodiment provides a motor torque control device for engineering machinery, which is used to execute the motor torque control method for engineering machinery in Embodiment 1 or Embodiment 2, and the device includes:

[0077] The rotation command detection module is used to detect whether the engineering machinery has received a rotation command, and if so, to control the motor to rotate according to a preset torque;

[0078] A rotation parameter detection module, used to detect the resistance experienced by the rotating component;

[0079] The motor torque adjustment module is used to adjust the motor torque according to the resistance and the preset torque.

[0080] This embodiment also provides a computer device, which includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor designed for the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating device, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store an accessible display area, etc. The network interface of the computer device is used to communicate with an external terminal through a network connection, and the computer program is executed by the processor to implement the motor torque control method of the engineering machinery.

[0081] This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, a motor torque control method for an engineering machine is implemented. It can be understood that the computer-readable storage medium in this embodiment can be a volatile readable storage medium or a non-volatile readable storage medium.

[0082] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the application. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a restriction. Therefore, other examples of exemplary embodiments can have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in the subsequent accompanying drawings.

[0083] It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would then be positioned "below" or "below" the other devices or structures. Thus, the exemplary term "above" can include both the orientations of "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used herein should be interpreted accordingly.

[0084] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of this application.

[0085] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A motor torque control method for engineering machinery, characterized in that: include: Detect whether the engineering machinery has received a rotation instruction, and if so, control the motor to rotate according to a preset torque; Detect the resistance of rotating parts; The motor torque is adjusted according to the resistance and the preset torque.

2. The motor torque control method for engineering machinery according to claim 1, characterized in that: The detecting the resistance of the rotating component comprises: Detecting the external resistance of the rotating component, wherein the external resistance is the resistance exerted by the external object on the rotating component when the engineering machinery acts on the external object; The internal resistance of the rotating component is detected, where the internal resistance is the resistance applied to the rotating component by other components inside the engineering machinery.

3. The motor torque control method for engineering machinery according to claim 1, characterized in that: The step of adjusting the motor torque according to the resistance and the preset torque comprises: If the resistance is greater than the resistance threshold, it detects whether a command to stop rotating is received; If no instruction to stop rotating is received, a first function is constructed; the maximum value of the first function is a preset torque, and the independent variable of the first function is resistance; The motor torque is regulated according to the first function.

4. The motor torque control method for engineering machinery according to claim 3, characterized in that: The constructing the first function comprises: The first function is constructed according to the following formula: Among them, y is the target motor torque, x is the resistance, a is the first coefficient, b is the second coefficient, c is the third coefficient, d is the preset torque, and e is the exponential function.

5. The motor torque control method for engineering machinery according to claim 3, characterized in that: The adjusting the motor torque according to the first function comprises: Substituting the resistance into the first function to calculate the target motor torque; adjusting the motor torque to the target motor torque; Updating the target motor torque to obtain an updated torque; adjusting the motor torque to the updated torque; Detect whether the motor torque is less than a torque threshold, and if so, stop adjusting the motor torque.

6. The motor torque control method for engineering machinery according to claim 1, characterized in that: After the detecting whether the engineering machinery has received the rotation instruction, the method further includes: If the construction machine does not receive a rotation command, the control motor is in an off state.

7. The motor torque control method for engineering machinery according to claim 1, characterized in that: The engineering machinery includes an excavator and a bulldozer.

8. A motor torque control device for engineering machinery, characterized in that: include: The rotation command detection module is used to detect whether the engineering machinery has received a rotation command, and if so, to control the motor to rotate according to a preset torque; A rotation parameter detection module, used to detect the resistance experienced by the rotating component; The motor torque adjustment module is used to adjust the motor torque according to the resistance and the preset torque.

9. A computer device comprising a memory and a processor, wherein a computer program is stored in the memory, wherein: When the processor executes the computer program, the steps of the motor torque control method for an engineering machine as claimed in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the motor torque control method for a construction machine as claimed in any one of claims 1 to 7 are implemented.

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