Power control methods, devices, electromechanical equipment, and storage media for electromechanical equipment

Abstract

This invention discloses a power control method, device, electromechanical unit, and storage medium for an electromechanical system. The electromechanical system includes multiple electric cylinders and a control handle communicatively connected to each of the electric cylinders. The power control method includes: acquiring control signals from the control handle; determining the corresponding electric cylinder as the target electric cylinder based on the control signals; determining the target rotational speed of the target electric cylinder based on the control signals; importing the current rotational speed and target rotational speed of the target electric cylinder into a rotational speed adjustment model to output adjustment parameters for the target electric cylinder; and controlling the target electric cylinder to operate at the target rotational speed based on the adjustment parameters. Using the above-described power control method for the electromechanical system can improve the control accuracy of the electric cylinders, enabling the electromechanical system to operate more precisely and stably.

Description

Technical Field

[0001] This invention relates to the field of electromechanical technology, and more specifically to a power control method, device, electromechanical device, and storage medium for electromechanical devices. Background Technology

[0002] Electric machinery is an important category of construction machinery. It is construction machinery that uses an electric motor as a power source and achieves various operating functions through a mechanical transmission device, such as an electric skid steer loader. Currently, the working device of an electric skid steer loader generally uses a hydraulic motor to drive a hydraulic oil pump to provide power for lifting and lowering the boom and loading and unloading the bucket. The speed of the operation is controlled by the degree of handle opening.

[0003] Most existing skid steer loaders use hydraulic power transmission, which suffers from low energy efficiency, emissions, high noise levels, and complex axle layout. To improve energy efficiency and reduce environmental pollution, fully electric drive control systems are gradually becoming the development trend for skid steer loaders. Current electric drive control systems require electric cylinders to drive the boom and stick; however, the technology for controlling the boom and stick using existing electric drives is immature, resulting in low control precision for the boom and stick. Summary of the Invention

[0004] The purpose of this invention is to provide a power control method, device, electric machinery, and storage medium for electric machinery, thereby solving the technical problem of low control accuracy of the boom and stick in existing electric machinery. To achieve the above objective, a first aspect of this invention provides a power control method for electric machinery, the electric machinery including multiple electric cylinders and a control handle communicatively connected to each of the multiple electric cylinders. The power control method includes:

[0005] Obtain the control signal from the control handle;

[0006] The corresponding electric cylinder is identified as the target electric cylinder based on the control signal.

[0007] The target rotational speed of the target electric cylinder is determined based on the control signal.

[0008] The current speed and target speed of the target electric cylinder are imported into the speed adjustment model to output the adjustment parameters of the target electric cylinder;

[0009] The target electric cylinder is controlled to run at the target speed according to the adjustment parameters.

[0010] In this embodiment of the invention, the step of determining the target speed of the target electric cylinder according to the control signal includes: obtaining the speed range of the target electric cylinder and the opening range of the control handle corresponding to the speed range; obtaining the zero opening voltage value and the full opening voltage value of the control handle; determining the opening value corresponding to the control signal according to the zero opening voltage value, the full opening voltage value and the voltage value corresponding to the control signal; and determining the target speed according to the opening value corresponding to the control signal, the speed range of the target electric cylinder and the opening range.

[0011] In this embodiment of the invention, the target rotational speed is determined according to the following formula (1):

[0012] (1)

[0013] in, For the target speed, This is the lowest speed in the speed range. This represents the highest speed within the speed range. The opening value corresponding to the control signal. This is the opening value corresponding to the lowest speed. This is the opening value corresponding to the highest speed;

[0014] The opening value corresponding to the control signal is determined according to the following formula (2):

[0015] a = ( - ) / ( - )*100% (2)

[0016] Where 'a' is the opening value corresponding to the control signal. The voltage value corresponding to the control signal. The zero-degree voltage value, This is the voltage value at full opening.

[0017] In this embodiment of the invention, the step of determining the target speed based on the opening value corresponding to the control signal, the speed range of the target electric cylinder, and the opening range further includes: determining the target speed to be zero when the opening value corresponding to the control signal is lower than a preset threshold.

[0018] In this embodiment of the invention, the power control method further includes: acquiring the historical rotational speed and historical target rotational speed of the electric cylinder; importing the historical rotational speed and historical target rotational speed into a PID model to output adjustment parameters; adjusting the rotational speed of the electric cylinder according to the adjustment parameters; if the rotational speed adjustment time of the electric cylinder exceeds a preset time, adjusting the parameters of the PID model and returning to the step: importing the historical rotational speed and historical target rotational speed into the PID model to output adjustment parameters; if the rotational speed adjustment time of the electric cylinder does not exceed the preset time, determining the PID model as the rotational speed adjustment model.

[0019] In this embodiment of the invention, the power control method further includes: after acquiring the control signal of the control handle, filtering the control signal;

[0020] The filtered control signal is determined according to the following formula (3):

[0021] (3)

[0022] in, This is the filtered control signal. For the control signal of the control handle, This is the filtered control signal from the previous acquisition time, where 'a' is the filtering coefficient.

[0023] In this embodiment of the invention, the plurality of electric cylinders include a boom cylinder and a bucket cylinder. The step of determining the corresponding electric cylinder as the target electric cylinder according to the control signal includes: when the control signal corresponds to a first direction, determining that the target electric cylinder is the boom cylinder and determining that the boom cylinder drives in the first direction of motion; when the control signal corresponds to a second direction, determining that the target electric cylinder is the boom cylinder and determining that the boom cylinder drives in the second direction of motion; when the control signal corresponds to a third direction, determining that the target electric cylinder is the bucket cylinder and determining that the bucket cylinder drives in the third direction of motion; when the control signal corresponds to a fourth direction, determining that the target electric cylinder is the bucket cylinder and determining that the bucket cylinder drives in the fourth direction of motion; wherein the first direction and the second direction are opposite, the third direction and the fourth direction are opposite, the first direction of motion and the second direction of motion are opposite, and the third direction of motion and the fourth direction of motion are opposite.

[0024] A second aspect of the present invention provides a power control device for an electric machine, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the power control method for the electric machine described above.

[0025] A third aspect of the present invention provides an electromechanical device, comprising: a plurality of electric cylinders; a control handle communicatively connected to the plurality of electric cylinders; and a power control device for the aforementioned electromechanical device.

[0026] A fourth aspect of the present invention provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned power control method for electromechanical equipment.

[0027] The above technical solution provides a power control method for an electric machine. The electric machine includes multiple electric cylinders and a control handle communicatively connected to each of the electric cylinders. When power controlling the electric cylinders, the control signal from the control handle can be acquired. Based on the control signal, the corresponding electric cylinder is identified as the target electric cylinder. The target speed of the target electric cylinder is determined based on the control signal. The current speed and target speed of the target electric cylinder are imported into a speed adjustment model to output the adjustment parameters of the target electric cylinder. Based on these adjustment parameters, the target electric cylinder is controlled to operate at the target speed. Through the above power control method, the speed of each electric cylinder in the electric machine can be precisely controlled, thereby improving the control accuracy and stability of the electric machine.

[0028] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0030] Figure 1 This is a schematic flowchart of a power control method for an electric machine according to an embodiment of the present invention;

[0031] Figure 2 A block diagram of energy transmission for an electric motor provided according to an embodiment of the present invention;

[0032] Figure 3 A control flowchart of a power control method for an electric machine according to a specific embodiment of the present invention;

[0033] Figure 4 This is an internal structural diagram of a computer device provided according to an embodiment of the present invention. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustrating and explaining the embodiments of the present invention and are not intended to limit the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this invention all comply with the relevant provisions of national laws and regulations. In the embodiments of this invention, certain existing solutions in the industry, such as software, components, and models, may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this invention, and do not imply that the applicant has already used or necessarily used such solutions.

[0036] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0037] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0038] Figure 1 The diagram illustrates a flow chart of a power control method for an electric machine according to an embodiment of the present invention. Figure 1 As shown, this embodiment of the invention provides a power control method for an electric machine, which may include the following steps:

[0039] S101, Obtain the control signal from the control handle.

[0040] S102. Determine the corresponding electric cylinder as the target electric cylinder based on the control signal.

[0041] S103. Determine the target speed of the target electric cylinder based on the control signal.

[0042] S104. Import the current speed and target speed of the target electric cylinder into the speed adjustment model to output the adjustment parameters of the target electric cylinder.

[0043] S105. Control the target electric cylinder to run at the target speed according to the adjustment parameters.

[0044] Current construction machinery is typically powered by hydraulic systems, a technology that is relatively mature. However, as electrification becomes the trend in construction machinery, more and more machines are being driven by electric motors. But construction machinery driven by electronic control technology still has many shortcomings, especially in the control of electric cylinders, which suffers from low precision and instability.

[0045] The power control method for electromechanical equipment provided in this invention first acquires the control signal from the control handle, then determines the corresponding electric cylinder as the target electric cylinder based on the control signal, and determines the target speed of the target electric cylinder based on the control signal. After determining the target speed, the current speed and target speed of the target electric cylinder are imported into a speed adjustment model, which can calculate the required adjustment parameters based on the current speed and target speed. Finally, the speed of the target electric cylinder is adjusted according to the adjustment parameters so that the target electric cylinder operates at the target speed.

[0046] By adopting the power control method of the above-mentioned electric machinery, the rotational speed of the electric cylinder can be precisely controlled, thereby improving the control accuracy of the electric machinery and thus improving the operating efficiency and quality of the electric machinery.

[0047] In one embodiment, the step of determining the target speed of the target electric cylinder based on the control signal includes: acquiring the speed range of the target electric cylinder and the opening range of the control handle corresponding to the speed range; acquiring the zero-opening voltage value and the full-opening voltage value of the control handle; determining the opening value corresponding to the control signal based on the zero-opening voltage value, the full-opening voltage value, and the voltage value corresponding to the control signal; and determining the target speed based on the opening value corresponding to the control signal, the speed range of the target electric cylinder, and the opening range.

[0048] When determining the target speed of the target electric cylinder, the first step is to obtain the speed range of the target electric cylinder, which is the range of speeds the electric cylinder can operate within. Simultaneously, the opening range of the control handle corresponding to this speed range is obtained; the opening range refers to the range of electric cylinder speed change corresponding to the control handle's minimum to maximum opening. Then, the voltage values ​​of the control handle at zero and full opening are obtained; these two voltage values ​​represent the voltage state when the control handle is not operated and fully operated, respectively. Using these two voltage values ​​and the current voltage value of the control signal, the opening value corresponding to the control signal can be calculated, i.e., the current degree of operation of the control handle. For example, the opening value is the percentage of the current operation degree relative to the completed operation. Finally, based on the calculated opening value, the target electric cylinder's speed range, and the opening range, the target speed of the target electric cylinder can be determined. Using the above power control method, precise control of the electric cylinder's speed can be achieved, avoiding the problems of low control accuracy and instability that may occur in traditional control methods.

[0049] In one embodiment, the target rotational speed is determined according to the following formula (1):

[0050] (1)

[0051] in, For the target speed, This is the lowest speed in the speed range. This represents the highest speed within the speed range. The opening value corresponding to the control signal. This is the opening value corresponding to the lowest speed. This is the opening value corresponding to the highest speed;

[0052] The opening value corresponding to the control signal is determined according to the following formula (2):

[0053] a = ( - ) / ( - )*100% (2)

[0054] Where 'a' is the opening value corresponding to the control signal. The voltage value corresponding to the control signal. The zero-degree voltage value, This is the voltage value at full opening.

[0055] In practical applications, the speed control of electric cylinders is crucial to the operating efficiency and quality of construction machinery. The power control method provided in this invention allows for real-time adjustment of the electric cylinder's speed based on the degree of operation of the control handle, ensuring that the electric cylinder's speed always remains consistent with the target speed, thereby improving the control precision and operating efficiency of the electric machinery.

[0056] In one embodiment, the step of determining the target speed based on the opening value corresponding to the control signal, the speed range of the target electric cylinder, and the opening range further includes: determining the target speed to be zero if the opening value corresponding to the control signal is lower than a preset threshold. To prevent minor accidental activation of the electric cylinder, when the opening value corresponding to the control signal is lower than the preset threshold, the operation is considered invalid by default, thereby preventing the electric cylinder from starting due to misoperation and ensuring the safety and stability of the electromechanical system. The preset threshold is a design range that can be adjusted by the designer, also known as the operating dead zone. Within the operating dead zone, touching the control handle will not produce a corresponding response from any of the multiple electric cylinders in the electromechanical system.

[0057] In one embodiment, the power control method further includes: acquiring the historical rotational speed and historical target rotational speed of the electric cylinder; importing the historical rotational speed and historical target rotational speed into a PID model to output adjustment parameters; adjusting the rotational speed of the electric cylinder according to the adjustment parameters; if the rotational speed adjustment time of the electric cylinder exceeds a preset time, adjusting the parameters of the PID model and returning to the step: importing the historical rotational speed and historical target rotational speed into the PID model to output adjustment parameters; if the rotational speed adjustment time of the electric cylinder does not exceed the preset time, determining the PID model as the rotational speed adjustment model.

[0058] During the training of the speed adjustment model, the historical speed and historical target speed of the electric cylinder are first imported into the PID model as training data. The PID model calculates adjustment parameters based on this data, which are used to adjust the electric cylinder's speed to be closer to the target speed. Then, the system monitors the speed adjustment process of the electric cylinder. If the speed adjustment time exceeds the preset time, it indicates that the adjustment effect executed with the adjusted parameters is not ideal, and the parameters of the PID model need to be optimized. The adjusted PID model receives historical speed and historical target speed as input again, recalculates the adjustment parameters, and iterates in this way until the speed adjustment time of the electric cylinder is within the preset time. When the electric cylinder's speed can be adjusted to the target speed within the preset time, it indicates that the adjustment effect of the adjustment parameters output by the PID model is good. At this point, the PID model can be identified as the speed adjustment model for subsequent electric cylinder speed control. In this way, the speed adjustment model can be continuously optimized, improving the speed control accuracy and response speed of the electric cylinder, thereby enhancing the overall performance of the electromechanical system.

[0059] In another embodiment, the three adjustment parameters of the PID model—proportional (P), integral (I), and derivative (D)—can be dynamically adjusted based on the difference between the target speed and the current speed to achieve more precise speed control. Specifically, when the difference between the target speed and the current speed is large, the proportional coefficient can be appropriately increased to accelerate the response speed of the electric cylinder and quickly approach the target speed; simultaneously, the integral and derivative coefficients are decreased to avoid overshoot and oscillation caused by excessive integral and derivative actions. Conversely, when the difference between the target speed and the current speed is small, the proportional coefficient can be appropriately decreased to reduce the adjustment force and avoid excessive overshoot; simultaneously, the integral and derivative coefficients are increased to improve the stability and accuracy of the system, ensuring that the electric cylinder can smoothly and accurately reach the target speed. In this way, the parameters of the PID model can be adjusted in real time according to the actual operating conditions of the electric cylinder, making speed control more flexible and accurate.

[0060] In one embodiment, the electromechanical system further includes a brake for braking multiple electric cylinders, and the power control method further includes controlling the brake to perform braking and energy recovery operations when it is determined that a target electric cylinder has moved to a limit position or the target speed is zero. The brake is activated when the electric cylinder moves to a preset limit position, or when the target speed is set to zero. The braking operation aims to quickly and smoothly stop the movement of the electric cylinders, preventing them from exceeding safe limits or causing unnecessary wear. Simultaneously, the energy recovery operation utilizes the kinetic energy generated by the electric cylinders during braking, converting it into electrical energy and storing it for later use. This energy recovery mechanism not only improves energy utilization efficiency but also helps reduce the overall energy consumption of the electromechanical system, enhancing its range.

[0061] In a specific embodiment, such as Figure 2 The diagram illustrates an energy transmission block diagram of an electric machine according to an embodiment of the present invention. The electric machine further includes a BMS (Battery Management System), a PDU (Power Distribution Unit), and a VCU (Vehicle Control Unit). The BMS transmits electrical energy from the battery to the VCU via the PDU. The VCU distributes power to the TM1 boom cylinder and / or the TM2 bucket cylinder. When the two cylinders perform braking operations, the brakes recover the energy from the two cylinders and convert it into electrical energy, which is then transmitted to the BMS.

[0062] In one embodiment, the power control method further includes: after acquiring the control signal from the control handle, filtering the control signal; wherein the filtered control signal is determined according to the following formula (3):

[0063] (3)

[0064] in, This is the filtered control signal. For the control signal of the control handle, Here, 'a' represents the filtered control signal from the previous acquisition moment, and 'a' represents the filtering coefficient. Using the above formula (3) to filter the control signal of the control handle can effectively eliminate noise and fluctuations in the control signal, improving its stability and accuracy. The value of the filtering coefficient 'a' is usually between 0 and 1, and its magnitude determines the strength of the filtering effect. When 'a' is larger, the filtered control signal is closer to the current control handle operation, but may retain more noise; when 'a' is smaller, the filtered control signal is smoother, but may have some lag. Therefore, in practical applications, it is necessary to select a suitable filtering coefficient 'a' based on the specific needs and operating environment of the electric machinery to achieve the best control effect. Through the above power control method, the control accuracy and stability of the electric machinery can be further improved, thereby enhancing work efficiency and work quality.

[0065] In one embodiment, the plurality of electric cylinders include a boom cylinder and a bucket cylinder. The step of determining the corresponding electric cylinder as the target electric cylinder based on the control signal includes: when the control signal corresponds to a first direction, determining that the target electric cylinder is the boom cylinder and determining that the boom cylinder drives in the first direction of motion; when the control signal corresponds to a second direction, determining that the target electric cylinder is the boom cylinder and determining that the boom cylinder drives in the second direction of motion; when the control signal corresponds to a third direction, determining that the target electric cylinder is the bucket cylinder and determining that the bucket cylinder drives in the third direction of motion; when the control signal corresponds to a fourth direction, determining that the target electric cylinder is the bucket cylinder and determining that the bucket cylinder drives in the fourth direction of motion; wherein the first direction and the second direction are opposite, the third direction and the fourth direction are opposite, the first direction of motion and the second direction of motion are opposite, and the third direction of motion and the fourth direction of motion are opposite.

[0066] When the operator pushes the control handle forward, the control signal corresponds to a specific direction, identifying the target electric cylinder as the boom cylinder and instructing it to move in the first direction of motion. Conversely, if the operator pulls the control handle backward, the control signal corresponds to another direction, driving the boom cylinder in the second direction of motion. These two directions of motion are opposite, ensuring that the boom cylinder can move forward or backward as needed. Similarly, when the operator tilts the control handle to the left or right, the control signal corresponds to driving the bucket cylinder in the third and fourth directions of motion, respectively. These two directions of motion are different, allowing the bucket cylinder to perform different actions such as lifting upward or tilting downward. In this way, the operator can control the direction of motion and speed of different electric cylinders in the electromechanical system simply by operating the control handle, greatly improving the ease and efficiency of operation.

[0067] In a specific embodiment, such as Figure 3The diagram shows a control flowchart of a power control method for an electric machine according to a specific embodiment of the present invention. The electric machine includes multiple electric cylinders, including a TM1 boom cylinder and a TM2 bucket cylinder. After the electric machine starts, the processor enables the TM1 and TM2 boom cylinders to start them. The processor receives the operation signal from the control handle and filters it to obtain a filtered handle opening signal. Based on the filtered handle opening signal, the corresponding target electric cylinder is controlled to move in the corresponding direction. When the handle's backward opening is greater than five degrees, the target retraction speed of the TM1 boom cylinder is calculated based on the filtered handle opening signal. The target retraction speed and the current speed of the TM1 boom cylinder are input into a PID model or an adaptive PID model for adjustment to obtain adjustment parameters. The TM1 boom cylinder is then controlled based on these adjustment parameters to enable it to respond quickly. The control methods for the other three directions differ only in the direction of movement of the target electric cylinder, and will not be described further. When the processor detects that the opening of the control handle is less than five degrees or that the target electric cylinder has moved to the limit position, the processor sends a control signal with a target speed of zero to stop the energy delivery of the electric cylinder and perform energy recovery until the electric cylinder brakes and the action stops.

[0068] In one embodiment, a power control device for an electric machine is provided, comprising: a memory configured to store instructions; and a processor configured to retrieve instructions from the memory and, when executing the instructions, to implement the power control method for the electric machine described above.

[0069] In one embodiment, an electromechanical device is provided, comprising: a plurality of electric cylinders; a control handle communicatively connected to the plurality of electric cylinders; and a power control device for the electromechanical device.

[0070] In one embodiment, a machine-readable storage medium is provided, on which instructions are stored for causing a machine to perform the above-described power control method for electromechanical equipment.

[0071] In one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 4As shown, the computer device includes a processor, network interface, memory (not shown), and database (not shown) connected via a system bus. The processor provides computing and control capabilities. The memory includes internal memory and a non-volatile storage medium. The non-volatile storage medium stores the operating system, computer programs, and a database (not shown). The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a power control method for electromechanical equipment.

[0072] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0073] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0074] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0075] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0076] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0077] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0078] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0079] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0080] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A power control method for an electromechanical machine, characterized in that, The electromechanical device includes multiple electric cylinders and a control handle communicatively connected to each of the multiple electric cylinders; the power control method includes: Obtain the control signal of the control handle; The corresponding electric cylinder is determined as the target electric cylinder based on the control signal; The target rotational speed of the target electric cylinder is determined based on the control signal; Obtain the rotational speed range of the target electric cylinder and the opening range of the control handle corresponding to the rotational speed range; Obtain the zero-opening voltage value and the full-opening voltage value of the control handle; The opening value corresponding to the control signal is determined based on the zero opening voltage value, the full opening voltage value, and the voltage value corresponding to the control signal. The target speed is determined based on the opening value corresponding to the control signal, the speed range of the target electric cylinder, and the opening range. The current speed and the target speed of the target electric cylinder are imported into the speed adjustment model to output the adjustment parameters of the target electric cylinder; The target electric cylinder is controlled to operate at the target speed according to the adjustment parameters.

2. The power control method for electric machinery according to claim 1, characterized in that, The target rotational speed is determined according to the following formula (1): （1） in, The target rotational speed, This refers to the lowest speed within the specified speed range. This refers to the highest speed within the specified speed range. The opening value corresponding to the control signal. The opening value corresponding to the lowest rotational speed. This refers to the opening value corresponding to the highest rotational speed; The opening value corresponding to the control signal is determined according to the following formula (2): a=（ - ） / （ - ）*100% （2） Where 'a' is the opening value. The voltage value corresponding to the control signal. The zero-degree voltage value, This refers to the full-opening voltage value.

3. The power control method for electric machinery according to claim 1, characterized in that, The step of determining the target speed based on the opening value corresponding to the control signal, the speed range of the target electric cylinder, and the opening range further includes: If the opening value corresponding to the control signal is lower than a preset threshold, the target rotational speed is determined to be zero.

4. The power control method for electric machinery according to claim 1, characterized in that, The power control method further includes: Obtain the historical rotational speed and historical target rotational speed of the electric cylinder; The historical speed and the historical target speed are imported into the PID model to output adjustment parameters; The rotational speed of the electric cylinder is adjusted according to the aforementioned adjustment parameters; If the speed adjustment time of the electric cylinder exceeds the preset time, the parameters of the PID model are adjusted, and the process returns to the step: importing the historical speed and the historical target speed into the PID model to output the adjustment parameters; If the speed adjustment time of the electric cylinder does not exceed the preset time, the PID model is determined as the speed adjustment model.

5. The power control method for electric machinery according to claim 1, characterized in that, The power control method further includes: After acquiring the control signal from the control handle, the control signal is filtered. The filtered control signal is determined according to the following formula (3): （3） in, The filtered control signal, The control signal for the control handle. This is the filtered control signal from the previous acquisition time, where 'a' is the filtering coefficient.

6. The power control method for electric machinery according to claim 1, characterized in that, The plurality of electric cylinders include boom cylinders and bucket cylinders, and the step of determining the corresponding electric cylinder as the target electric cylinder based on the control signal includes: When the control signal corresponds to the first direction, the target electric cylinder is determined to be a boom electric cylinder, and the boom electric cylinder is determined to drive in the first direction of movement. When the control signal corresponds to the second direction, the target electric cylinder is determined to be a boom electric cylinder, and the boom electric cylinder is determined to drive in the second direction of movement. When the control signal corresponds to a third direction, the target electric cylinder is determined to be a bucket electric cylinder, and the bucket electric cylinder is determined to be driven in the third direction of movement. When the control signal corresponds to the fourth direction, the target electric cylinder is determined to be a bucket electric cylinder, and the bucket electric cylinder is determined to be driven in the fourth direction of movement. Wherein, the first direction is opposite to the second direction, the third direction is opposite to the fourth direction, the first motion direction is opposite to the second motion direction, and the third motion direction is opposite to the fourth motion direction.

7. A power control device for electric machinery, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the power control method of the electromechanical device according to any one of claims 1 to 6.

8. An electromechanical device, characterized in that, include: Multiple electric cylinders; The control handle is communicatively connected to multiple electric cylinders; The power control device for electric machinery according to claim 7.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the power control method of the electromechanical system according to any one of claims 1 to 6.

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