Operation machine, motion control method and device of execution mechanism of operation machine and medium

Abstract

The invention discloses an operation machine, a motion control method and device of an execution mechanism of the operation machine and a medium, and relates to the technical field of operation machines. The method comprises the following steps: acquiring a function relationship between a control parameter and a movement speed of an execution mechanism, which is suitable for different prime mover rotation speeds and different loads; and controlling the motion of the execution structure based on the function relationship. According to the embodiment of the invention, the function relationship between the control parameter and the motion speed of the execution mechanism suitable for different prime mover rotation speeds and different loads is firstly obtained, and then the function relationship is utilized to control the motion of the execution mechanism, so that the corresponding control process is simple and easy to realize; and all working conditions corresponding to different prime motor rotating speeds and different loads can be adapted.

Description

Technical Field

[0001] The present application relates to the technical field of operating machinery, and in particular to a motion control method, device and medium for an operating machinery and an actuator thereof. Background Art

[0002] Many motion systems in operating machinery, such as the boom slewing systems of cranes, pump trucks, and aerial work machinery, often have the characteristics of large inertia. This makes the stability of the boom slewing process poor, so it is necessary to accurately control its slewing angular velocity and other parameters.

[0003] At present, PID controller is mainly used to achieve precise control of such large inertia systems. PID controller is essentially a black box control, and its control principle is simple and easy to implement. However, since such large inertia systems are often time-varying nonlinear systems, different parameters need to be set for different working conditions (such as load changes, changes in the internal environment of the mechanism, changes in posture, etc.) in actual applications, and different PID parameters need to be selected, making the parameter setting of the PID controller extremely troublesome. Especially under all working conditions, the workload of adjusting the parameters of the PID controller is very large, making it difficult to achieve full working condition application. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a motion control method, device and medium for a working machine and its actuator, so as to at least partially solve the above-mentioned technical problems.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a motion control method of an actuator of a working machine, wherein the motion speed of the actuator changes in response to a control parameter of a workpiece controlled by the actuator. Furthermore, the motion control method comprises: obtaining a functional relationship between the control parameter and the motion that is adapted to different prime mover speeds and different loads; and controlling the motion of the actuator based on the functional relationship.

[0006] In an embodiment of the present application, obtaining the functional relationship includes: obtaining a linear regression model between the control parameter and the movement speed under a fixed prime mover speed and a fixed load; and performing multidimensional interpolation processing associated with different prime mover speeds and different loads on the linear regression model to obtain a multidimensional interpolation table that can characterize the functional relationship.

[0007] In an embodiment of the present application, when the actuator is driven by a hydraulic system and the control workpiece is a flow regulating valve, obtaining the linear regression model includes: determining an initial pressure-flow constraint condition under a fixed prime mover speed and a fixed load, wherein the pressure is associated with the pump outlet pressure of the hydraulic system, and the flow is associated with the command current of the flow regulating valve; for the constructed initial pressure-flow constraint condition, by adjusting the flow regulating valve, a plurality of improved pressure-flow constraint conditions under different loads are obtained; and constructing the linear regression model based on the plurality of improved pressure-flow constraint conditions and the command current values ​​and movement speed values ​​corresponding to the corresponding constraint conditions.

[0008] In the embodiment of the present application, the initial pressure-flow constraint condition is established according to the following formula:

[0009]

[0010] Wherein, J represents the load of the actuator, P P represents the pump outlet pressure, I represents the command current, and ~ is a similar symbol and represents that the load J is approximately P P Divide by I.

[0011] In the embodiment of the present application, the initial pressure-flow constraint condition is expressed as:

[0012]

[0013] Among them, P P represents the pump outlet pressure, I represents the command current, g() represents a linear function associated with the load of the actuator, respectively for the acceleration and deceleration stage and the uniform speed stage of the movement, k n is the coefficient that represents the load amount corresponding to load number n, b n represents the load compensation value, and C represents the constant value.

[0014] In the embodiment of the present application, the functional relationship is expressed in the multidimensional interpolation table as:

[0015] y=k ij *x+b ij

[0016] Wherein, y represents the movement speed, x represents the command current, k ij and b ij They respectively represent the slope and load compensation value of the function in the i-th row and j-th column in the multidimensional interpolation table, wherein different row and column combinations of the multidimensional interpolation table correspond to different combinations of prime mover speed and load.

[0017] In an embodiment of the present application, the movement of the actuator is controlled based on the functional relationship: the current prime mover speed, the current load and the expected movement speed of the actuator are obtained; the functional relationship corresponding to the current prime mover speed and the current load is obtained; the corresponding control parameters are determined according to the obtained functional relationship and the expected movement speed of the actuator; and the movement of the actuator is feedforward controlled according to the determined control parameters.

[0018] In an embodiment of the present application, controlling the movement of the actuator based on the functional relationship further includes: while the feedforward control is being executed, feedback controlling the movement of the actuator according to the difference between the current movement speed and the expected movement speed.

[0019] A second aspect of the present application provides a motion control device for an actuator of a working machine, comprising: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement any of the above-mentioned motion control methods when executing the instructions.

[0020] A third aspect of the present application provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute any of the above-mentioned motion control methods.

[0021] Through the above technical scheme, the embodiment of the present application first obtains the functional relationship between the control parameters and movement speed of the actuator that is suitable for different prime mover speeds and different loads, and then uses the functional relationship to control the movement of the actuator, thereby making the corresponding control process simple and easy to implement, and can adapt to all working conditions corresponding to different prime mover speeds and different loads.

[0022] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific implementations, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the accompanying drawings:

[0024] Figure 1 is a flow chart of a motion control method of an operating machine actuator according to an embodiment of the present application;

[0025] Figure 2 is a schematic structural diagram of an exemplary open hydraulic rotary system of an embodiment of the present application;

[0026] Figure 3 is a schematic diagram of a flow chart for obtaining a functional relationship in an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of the process of obtaining a linear regression model in an embodiment of the present application;

[0028] Figure 5 is a schematic diagram of the constraint relationship between the command current and the pump outlet pressure in an example of an embodiment of the present application;

[0029] Figure 6 is P in the example of the embodiment of the present application P = Schematic diagram of the relationship between g(I);

[0030] Figure 7 is a schematic diagram of a linear regression model between command current and rotational angular velocity in an example of an embodiment of the present application;

[0031] Figure 8 is a schematic diagram of a flow chart of feedforward motion control in an embodiment of the present application;

[0032] Fig. 9 is a schematic diagram of a control flow for a large inertia slewing system of an arm in an example of an embodiment of the present application;

[0033] Fig.10 is a structural schematic diagram of a motion control device for an actuator of a working machine according to an embodiment of the present application; and

[0034] Fig.11 It is a schematic structural diagram of an exemplary closed hydraulic rotary system of an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0036] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application are in compliance with the relevant provisions of national laws and regulations. In the embodiments of this application, some existing solutions in the industry such as certain software, components, and models may be mentioned, which should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0037] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0038] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0039] In addition, before specifically introducing the embodiments of the present application, some terms involved in the embodiments of the present application are introduced here.

[0040] 1. Large inertia motion: refers to the actuator of the operating mechanism, such as the boom slewing system, which has a large rotational inertia during the movement, which will cause the boom slewing system to require more energy and time during starting and braking.

[0041] In the embodiment of the present application, large inertia motion is not limited to rotational motion, but can also include rotational motion driven by the rotation of a hydraulic motor, such as winch boom length adjustment and winch lifting, and even linear motion driven by a hydraulic cylinder in some scenarios.

[0042] In the embodiment of the present application, the large inertia motion is described by the load. And, depending on the different motion modes, the load can be characterized in the following two ways:

[0043] 1) When the actuator of the working machine is used to drive the rotation or hoisting movement, the load is characterized by the moment of inertia of the actuator, and the actuator is, for example, a hydraulic motor;

[0044] 2) When the actuator is used to drive linear motion, the load capacity is characterized by the mass of the actuator, and the actuator is, for example, a hydraulic cylinder.

[0045] 2. Full operating conditions: In the embodiment of the present application, the operating conditions corresponding to all combinations of different prime mover speeds and different loads are referred to as full operating conditions, which include multiple operating conditions corresponding to the operating machinery under load changes, changes in the internal environment of the mechanism, changes in posture, etc.

[0046] 3. Open hydraulic rotary system and closed hydraulic rotary system.

[0047] An open hydraulic rotary system refers to a hydraulic system in which the return oil flows directly back to the oil tank during the operation of the system. Its advantages are that the operation is less difficult, the system is simpler, and the maintenance cost is relatively low. It is suitable for occasions that do not require high pressure. A closed hydraulic rotary system refers to a hydraulic system in which the return oil flows back into the system for recycling during the operation of the system. Unlike an open system, it can automatically increase the pressure without manual control and is more suitable for high-pressure hydraulic transmission occasions. However, due to its more complex design, its maintenance cost is also higher.

[0048] Figure 1 1 is a flow chart of a motion control method for a working machine according to an embodiment of the present application, wherein the motion speed of the actuator changes in response to a control parameter of a control workpiece. For example, the actuator is driven by a hydraulic system, the corresponding motion speed is, for example, a rotational angular velocity, and the control workpiece is, for example, a flow regulating valve, and the corresponding control parameter is, for example, a command current.

[0049] like Figure 1 As shown, the motion control method includes the following steps S100 and S200.

[0050] Step S100, obtaining a functional relationship between the control parameter and the movement speed that is suitable for different prime mover speeds and different loads.

[0051] The prime mover is, for example, an engine or a motor. Different prime mover speeds and different loads can characterize the full working conditions of the actuator during movement, such as combinations of different prime mover speeds and different loads that are adapted to load changes, oil temperature changes, and posture changes.

[0052] Step S200: controlling the movement of the actuator based on the functional relationship.

[0053] Through step S100 and step S200, the embodiment of the present application first obtains the functional relationship between the control parameter and the movement speed of the actuator that is suitable for different prime mover speeds and different loads, and then uses the functional relationship to control the movement of the actuator, so that the corresponding motion control process is simple and easy to implement, and can adapt to all working conditions corresponding to different prime mover speeds and different loads. For example, the existing slewing control strategy for the boom slewing system of a crane is to use a PID controller to adjust the slewing angular velocity, and the parameter adjustment process of the PID controller is complicated, but the functional relationship obtained through the above step S100 can realize feedforward control of the slewing angular velocity, and the use of the functional relationship can ensure the applicability of all working conditions under the feedforward control, avoiding the complicated parameter adjustment process of the prior art. The details of the feedforward control will be described in detail below through examples, and will not be repeated here.

[0054] Figure 2 An example of an open hydraulic rotary system is shown, in which the actuator is a hydraulic motor 7, and the control workpiece is a throttle valve 5, the corresponding control parameter is the command current of the throttle valve 5, and the prime mover 2 is, for example, an engine or a motor. Among them, the throttle valve 5 is used for flow regulation, for example, an electrically modulated throttle valve or an electro-hydraulic proportional throttle valve is used; the overflow valve 4 is used to adjust the pump outlet pressure, for example, an electrically modulated overflow valve, an electro-proportional overflow valve, a common manually adjusted overflow valve or a buffer valve is used, wherein the common manually adjusted overflow valve is conducive to simplifying the rotary system. Other components, namely the oil tank 1, the hydraulic pump 3 and the direction valve 6 for realizing the forward and reverse rotation of the motor, are all conventional components of the open hydraulic rotary system, and their functions are not described in detail here. The following is combined with Figure 2 The example is divided into two parts to further introduce the preferred implementation details of the above motion control method.

[0055] 1. Functional relationship for step S100.

[0056] like Figure 3 As shown, in a preferred embodiment, obtaining the functional relationship may include the following steps S110 and S120.

[0057] Step S110, obtaining a linear regression model between the control parameter and the movement speed under a fixed prime mover speed and a fixed load.

[0058] Step S120, performing multidimensional interpolation processing associated with different prime mover speeds and different loads on the linear regression model to obtain a multidimensional interpolation table capable of representing the functional relationship.

[0059] For step S110, Figure 4As shown, in the case where the actuator is driven by a hydraulic system and the control workpiece is a flow regulating valve, obtaining the linear regression model may include the following steps S111-S113.

[0060] Step S111, determining the initial pressure-flow constraint conditions under a fixed prime mover speed and a fixed load.

[0061] The pressure is associated with the pump outlet pressure of the hydraulic system, and the flow rate is associated with the command current of the flow regulating valve element. That is, the pressure-flow constraint condition can be understood as the pump outlet pressure-command current constraint condition.

[0062] The initial pressure-flow constraint condition is established according to the following formula:

[0063]

[0064] Wherein, J represents the load of the actuator, P P represents the pump outlet pressure, I represents the command current, and "~" is a similar symbol, representing that the load J is approximately P P Divide by I.

[0065] For example, corresponding to Figure 2 In the scenario where the hydraulic motor 7 drives the slewing or hoisting movement, the load J is characterized by the moment of inertia of the hydraulic motor 7, which can also be understood as the moment of inertia of the slewing system around the slewing axis. In this way, the speed of the prime mover is fixed at a certain gear, such as the PTO mode of the engine ECU, and the speed of the prime mover is fixed at 750rpm, 900rpm, 1300rpm, etc., then the load (moment of inertia) J and the pump outlet pressure P P (regulated by the overflow valve 4), command current (i.e. the control current of the throttle valve 5).

[0066] Furthermore, the initial pressure-flow constraint is expressed as:

[0067]

[0068] Among them, P P represents the pump outlet pressure, I represents the command current, g() represents a linear function associated with the load of the actuator, respectively for the acceleration and deceleration stage and the uniform speed stage of the movement, k n is the coefficient that represents the load amount corresponding to load number n, b n represents the load compensation value, and C represents the constant value.

[0069] The specific derivation process of formula (2) is as follows: First, establish the prime mover speed w, command current I, pump outlet pressure P P The relationship between the three is PP =g(w,I); when the speed of the prime mover is fixed (such as 1400rpm), P P =g(w,I) satisfies the linear relationship during acceleration and deceleration, such as Figure 5 As shown, according to the load number, load 1 < load 2 < load 3, and P P =g(w,I) can be simplified to P P =g(I); During the uniform speed process, only the influence of friction needs to be overcome, and the pump outlet pressure remains basically unchanged as the command current increases. That is, Figure 6 As shown, P at a fixed prime mover speed (such as 1400rpm) P =g(w,I) degenerates to P P =g(I), by adjusting Figure 2 The overflow valve 4 and / or throttle valve 5 make P P =g(I) satisfies the following relationship:

[0070] 1) P during acceleration and deceleration P =g(I) is a linear relationship;

[0071] 2) P during uniform speed P =g(I)=constant value.

[0072] That is, P P =g(w, I), at a fixed prime mover speed (e.g. w = 1400), can be simplified to P P =g(I), during acceleration P P =g(I) is a linear relationship; in the uniform process P P = constant. Therefore, at a fixed prime mover speed, P P =g(w, I) degenerates into the above formula (1), thus Approximately represents the inertia, formula (1) The common sense of inertia is: the inertia increases during acceleration, the inertia remains unchanged during uniform speed, and the inertia decreases during deceleration. Therefore, combining formula (1) and formula (2), Approximately equivalent to So you can also use Characterizes inertia.

[0073] This shows that the derivation process of formula (2) is consistent with the common sense of inertia of formula (1), that is, the inertia increases during acceleration, the inertia remains unchanged during uniform speed, and the inertia decreases during deceleration.

[0074] Furthermore, regarding the initial pressure-flow constraint condition, it can also be understood based on the following formula (3):

[0075] F=Ma (3)

[0076] Among them, F represents the driving force applied to the actuator, and the magnitude of the driving force F is characterized by the pump outlet pressure P P ; M is the mass of the actuator, and the magnitude of the mass M characterizes the magnitude of the load of the actuator; a is the motion acceleration of the actuator.

[0077] According to Newton's second law, it can be known from formula (3) that during the acceleration and deceleration process, the acceleration a is large, so the required driving force F is large (characterized as pressure P in a hydraulic motor P is large); during the uniform motion process, the acceleration a is equal to zero, so the driving force F is zero. Therefore, the load can be characterized by the driving force F, thereby establishing the relationship between pressure P P and acceleration a.

[0078] Step S112, for the constructed initial pressure-flow constraint conditions, by adjusting the flow adjustment valve, obtain multiple improved pressure-flow constraint conditions under different loads.

[0079] Continuing Figure 2 the example, by adjusting the throttle valve 5 and / or the overflow valve 4, multiple improved pressure-flow constraint conditions at different loads as shown in Figure 5 are realized, where the load compensation values b1 < b2 < b3 and the coefficients k1 < k2 < k3. The optimal relationship between the command current and the overcurrent area of the throttle valve 5 is linear, but the embodiments of the present application are not limited thereto, and non-linear relationships are also within the protection scope of the embodiments of the present application.

[0080] Step S113, based on the multiple improved pressure-flow constraint conditions and the command current values and motion speed values corresponding to the respective constraint conditions, construct the linear regression model.

[0081] For example, at a certain fixed speed of the prime mover and under a certain fixed load condition (such as the pressure-flow constraint condition at a speed of 1400 rpm and a hoisting load (i.e., load) of 10 t), for the large-inertia rotation executed by the hydraulic slewing system as shown in Figure 2 , the corresponding command current values and slewing angular velocity values are obtained through testing, and each test is repeated three times. Thus, corresponding to different pressure-flow constraint conditions, a linear regression model between the command current and the slewing angular velocity as shown in Figure 7 is obtained, which is expressed by the following formula for the slewing angular velocity v:

[0082] v = f(I) (4)

[0083] Furthermore, from Figure 7 the constraint relationship, it can be known that during the acceleration process, the pressure P PThe ratio between the current and the command current I is a constant value, that is, the slope is a fixed value. Combining the above formulas (1), (2) and (3), we can get Characterize the inertia J, then F = constant value during acceleration. Since the mass M of the object remains unchanged, the acceleration a is a constant value, so the angular velocity v = f(I) corresponding to formula (4) is a linear relationship during acceleration and deceleration. Therefore, in actual control, the linear regression model of formula (4) can be constructed by further testing the command current value and the rotation angular velocity value under multiple constraint conditions.

[0084] Back to Figure 3 , for step S120, the functional relationship is expressed in the multidimensional interpolation table as:

[0085] y=k ij *x+b ij (5)

[0086] Wherein, y represents the motion speed (for example, the rotation angular velocity in the rotation motion), x represents the command current, and k ij and b ij They respectively represent the slope and load compensation value of the function in the i-th row and j-th column in the multidimensional interpolation table, wherein different row and column combinations of the multidimensional interpolation table correspond to different combinations of prime mover speed and load.

[0087] For example, the linear regression model between the command current and the rotational angular velocity determined above is under a certain fixed prime mover speed and load condition (such as 1400rpm hoisting and 10t condition). By changing the prime mover speed and hoisting load (i.e., load amount) respectively, an interpolation table under multiple prime mover speeds and loads is obtained, as shown in Table 1 below.

[0088] Table 1

[0089]

[0090] The purpose of multidimensional interpolation is to calculate and interpolate the nonlinear relationship between the command current and the rotational angular velocity when the prime mover speed and the load are changed by calculating the linear data set. In the example of the embodiment of the present application, the multidimensional interpolation can adopt linear, nonlinear and other modes, and can adopt methods such as cubic spline and Lagrange interpolation.

[0091] 2. Motion control for step S200.

[0092] In a preferred embodiment, Figure 8 As shown, controlling the movement of the actuator based on the functional relationship in step S200 may include the following steps S210-S240.

[0093] Step S210, obtaining the current speed of the prime mover, the current load and the expected movement speed of the actuator.

[0094] Step S220, obtaining the functional relationship corresponding to the current prime mover speed and the current load.

[0095] Step S230: determining corresponding control parameters according to the obtained functional relationship and the expected movement speed of the actuator.

[0096] Step S240: performing feedforward control on the movement of the actuator according to the determined control parameter.

[0097] That is, the functional relationship is used to implement the feedforward control for the motion control of the actuator. For example, according to v=f(I) of formula (4) obtained by the linear regression model, it can be known that when the operator gives an instruction (either a fixed value or a value that changes according to time), the current I can be calculated in reverse. Since the adjustable quantity (i.e., the control variable) of the throttle valve 5 is the current, the current I calculated in reverse can be used as a feedforward. Therefore, after obtaining the nonlinear relationship table between the command current and the rotational angular velocity when the prime mover speed and load are changed through multi-dimensional interpolation, the multi-dimensional interpolation table of Table 1 is used as a feedforward controller for speed control. Since the functional relationship of the embodiment of the present application is suitable for all working conditions, compared with the conventional feedforward controller, the embodiment of the present application can ensure the speed control accuracy.

[0098] In addition, if the speed control accuracy of the feedforward control cannot meet the actual use requirements, the motion of the actuator can be feedback controlled according to the difference between the current motion speed and the expected motion speed while the feedforward control is being executed, for example, fine-tuning through a PI or PID feedback controller.

[0099] Back to Figure 2 For example, Figure 2 In the example where the open hydraulic slewing system is applied to the boom of a crane or an excavator, the slewing control method of the embodiment of the present application can be applied to perform large inertia slewing control of the boom. Fig. 9 The corresponding large inertia swing control of the boom can include the following steps:

[0100] Step S1, fixing the speed of the prime mover and the load.

[0101] For example, take the fixed prime mover speed as 1200 rpm and the fixed load as 10 t.

[0102] Step S2, constructing flow-pressure constraint conditions.

[0103] As mentioned above, the rotational inertia J of the large inertia rotary mechanism around the rotary axis and the pump outlet pressure P are established.P The relationship between the command current of the flow valve, i.e., formula (1).

[0104] Step S3: Construct a linear regression model.

[0105] For example, by adjusting the throttle valve 5 and the overflow valve 4, the constraint conditions under different loads are realized. For example Figure 5 , where the load compensation values are b1 < b2 < b3, and the coefficients are k1 < k2 < k3. The linear regression model between the command current and the angular velocity is obtained through testing, i.e., the angular velocity v = f(I).

[0106] Step S4: Obtain a multi-dimensional interpolation table.

[0107] Change the prime mover speed and / or load in step S1, preferably changing one of the prime mover speed and the load each time. Repeat steps S1 to S3 to obtain a multi-dimensional interpolation table such as Table 1.

[0108] Step S5: Perform PI closed-loop regulation.

[0109] For example, take the linear regression model v = f(I) obtained from the steps of S1 - S4 above as the feedforward of speed control, and perform fine-tuning through PI feedback regulation to obtain a speed control model with higher control accuracy. Among them, the PI feedback regulation process is realized by a PI controller, and the corresponding control parameters of the PI controller can be determined during the process of calibrating the multi-dimensional interpolation table above, or the configuration of control parameters can be carried out when the application is carried.

[0110] Step S6: Determine whether the control accuracy meets the requirements. If so, end the process; otherwise, return to step S1.

[0111] Through the above Fig. 9 example, it can be seen that this example adopts the motion control method of the embodiment of the present application, proposes the constraint relationship between the command current and the pump outlet pressure, and compensates for the influence of different loads on the moment of inertia (such as the volume of soil or stones in the excavator bucket) by setting the load compensation value. The embodiment of the present application establishes a linear regression model between different loads and different prime mover speeds. Through multi-dimensional interpolation, the non-linear relationship between the command current and the angular velocity under variable prime mover speed and variable load can be obtained. The non-linear relationship between the command current and the angular velocity obtained by multi-dimensional interpolation is used as the feedforward, and then a PI controller is added for regulation, and a better control effect of the large inertia slewing system under all working conditions can be obtained.

[0112] Specifically, this example adopts a control mode of "feedforward + PI (or PID)", and has the following advantages:

[0113] First, the feedforward is obtained by back-calculating the linear regression model v=f(I), so that the corresponding PI control (or PID control) parameters can use only one set of parameters under all operating conditions, or even no PI controller is used, thereby avoiding the problem of high difficulty in adjusting the parameters of the PI controller (or PID controller) and achieving high control accuracy under all operating conditions.

[0114] Second, in this example, a linear regression model between command current and regression angular velocity is determined through testing, which has strong universality for different hosts.

[0115] Third, this example is equivalent to using two levels of linear regression, namely: the first level of linear regression is the pressure-flow constraint condition, which is achieved by adjusting the throttle valve 5 and the overflow valve 4 to achieve multiple improved constraints at different loads; the second level of linear regression is to obtain the linear regression model between the command current and the angular velocity through testing, and establish the relationship between the angular velocity v and the control current I, that is, the above formula v = f (I). Through two levels of linear regression, the strong nonlinear hydraulic control system is converted into a linear relationship at the discrete threshold (when the engine speed is fixed and the load is fixed, the angular velocity v and the control current I meet the linear relationship), and the debugging difficulty is small.

[0116] Fig.10 Schematic diagram of the structure of the motion control device of the working machine actuator of the embodiment of the present application. Fig.10 As shown, the motion control device includes: a memory configured to store instructions; and a processor configured to call the instructions from the memory and implement the motion control method of the above embodiment when executing the instructions.

[0117] The motion control device is, for example, a control host, a controller integrated in a rotary system, or a dedicated remote controller. For other implementation details of the motion control device, reference may be made to the above embodiments of the motion control method, which will not be described in detail here.

[0118] It should be noted that, in addition to Figure 2 The open hydraulic rotary system shown in the embodiment of the present application is also applicable to Fig.11 The closed hydraulic rotary system shown in Figure 1 is as follows. Fig.11 As shown, the system includes: an oil tank 101, a prime mover 201, a closed hydraulic pump 301, an oil replenishment pump 401, a high-pressure relief valve group 501 and 502, an oil replenishment relief valve 601, a flushing reversing valve 701, a flushing relief valve 801, a motor 901, a filter 1001, and a cooler 1101.

[0119] By adopting Fig.11 The closed hydraulic rotary system can still achieve Figure 6 P P=g(I) relationship, which is similar to the control effect of an open hydraulic rotary system.

[0120] In addition, it should be noted that, in addition to the hydraulic rotary system, in other examples, it can also be a motor rotary system or a pneumatic rotary system, and with the different types of actuators of the rotary system, different control parameters of the control workpiece can be determined, and correspondingly establish a similar P P = The functional relationship between the control parameter g(I) and the rotation angular velocity is used to achieve rotation control.

[0121] In addition, the working machinery in the embodiments of the present application includes but is not limited to heavy machinery such as excavators, cranes, concrete pump trucks, and rotary drills.

[0122] An embodiment of the present application further provides a machine-readable storage medium, on which instructions are stored, and the instructions are used to enable a machine to execute the motion control method according to the above embodiment.

[0123] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0124] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0125] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0126] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0127] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0128] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0129] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules 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 technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0130] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0131] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A motion control method for an operating machine actuator, characterized in that: The motion speed of the actuator changes in response to the control parameter of the workpiece it controls, wherein the motion control method comprises: Obtaining a functional relationship between the control parameter and the movement speed that is suitable for different prime mover speeds and different loads; and The movement of the actuator is controlled based on the functional relationship.

2. The motion control method according to claim 1, characterized in that: Acquiring the functional relationship includes: Obtaining a linear regression model between the control parameter and the motion speed under a fixed prime mover speed and a fixed load; and For the linear regression model, multidimensional interpolation processing associated with different prime mover speeds and different loads is performed to obtain a multidimensional interpolation table that can characterize the functional relationship.

3. The motion control method according to claim 2, characterized in that: In the case where the actuator is driven by a hydraulic system and the control workpiece is a flow regulating valve, obtaining the linear regression model includes: Determining an initial pressure-flow constraint condition under a fixed prime mover speed and a fixed load, wherein the pressure is associated with a pump outlet pressure of the hydraulic system, and the flow is associated with a command current of the flow regulating valve element; For the constructed initial pressure-flow constraint condition, a plurality of improved pressure-flow constraint conditions under different loads are obtained by adjusting the flow regulating valve; and The linear regression model is constructed based on the multiple improved pressure-flow constraints and the command current values ​​and movement speed values ​​corresponding to the corresponding constraints.

4. The motion control method according to claim 3, characterized in that: The initial pressure-flow constraint is established according to the following formula: Wherein, J represents the load of the actuator, P P represents the pump outlet pressure, I represents the command current, and ~ is a similar symbol and represents that the load J is approximately P P Divide by I.

5. The motion control method according to claim 3, characterized in that: The initial pressure-flow constraint is expressed as: Among them, P P represents the pump outlet pressure, I represents the command current, g() represents a linear function associated with the load of the actuator, respectively for the acceleration and deceleration stage and the uniform speed stage of the movement, k n is the coefficient that represents the load amount corresponding to load number n, b n represents the load compensation value, and C represents the constant value.

6. The motion control method according to claim 3, characterized in that: The functional relationship is expressed in the multidimensional interpolation table as: y=k ij *x+b ij Wherein, y represents the movement speed, x represents the command current, k ij and b ij They respectively represent the slope and load compensation value of the function in the i-th row and j-th column in the multidimensional interpolation table, wherein different row and column combinations of the multidimensional interpolation table correspond to different combinations of prime mover speed and load.

7. The motion control method according to claim 1, characterized in that: The motion of the actuator is controlled based on the functional relationship: Obtaining the current speed of the prime mover, the current load, and the expected movement speed of the actuator; Acquire the functional relationship corresponding to the current prime mover speed and the current load; Determining a corresponding control parameter according to the obtained functional relationship and the expected movement speed of the actuator; as well as The movement of the actuator is feedforward controlled according to the determined control variable.

8. The motion control method according to claim 7, characterized in that: Controlling the movement of the actuator based on the functional relationship further includes: While the feedforward control is being executed, the movement of the actuator is feedback controlled according to the difference between the current movement speed and the desired movement speed.

9. A motion control device for an operating machine actuator, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the motion control method according to any one of claims 1 to 8 when executing the instructions.

10. A working machine, characterized in that: Includes the motion control device as claimed in claim 9.

11. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions, which are used to enable a machine to execute the motion control method according to any one of claims 1 to 8.

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