Method, device and medium for motion control of a work machine and its actuators

Abstract

The application discloses a work machine and a motion control method, device and medium of an actuator thereof, and relates to the technical field of work machines. The method comprises: obtaining a function relationship between a control parameter of an actuator and a motion speed, which is adaptive to different prime mover speeds and different loads; and controlling the motion of the actuator based on the function relationship. The embodiment of the application firstly obtains a function relationship between a control parameter of an actuator and a motion speed, which is adaptive to different prime mover speeds and different loads, and then utilizes the function relationship to control the motion of the actuator, so that the corresponding control process is simple and easy to implement, and can adapt to the full working conditions corresponding to different prime mover speeds and different loads.

Description

Motion control methods, devices and media for operating machinery and its actuators Technical Field

[0001] This application relates to the field of work machinery technology, specifically to a motion control method, device and medium for work machinery and its actuator. Background Technology

[0002] Many motion systems in operational machinery, such as the boom slewing systems of cranes, pump trucks, and aerial work platforms, often have a large moment of inertia. This results in poor stability during boom slewing, thus requiring precise control of parameters such as its slewing angular velocity.

[0003] Currently, PID controllers are mainly used to achieve precise control of such large inertia systems. A PID controller is essentially a black-box control system; its control principle is simple and easy to implement. However, since these large inertia systems are often time-varying nonlinear systems, different parameters need to be set for different operating conditions (such as load changes, changes in the internal environment of the mechanism, attitude changes, etc.) in practical applications, which in turn requires the selection of different PID parameters, making PID controller parameter tuning extremely complicated. Especially under full operating conditions, the workload of PID controller parameter tuning is very large, making it difficult to achieve full-condition application. Summary of the Invention

[0004] The purpose of this application is to provide a motion control method, device, and medium for operating machinery and its actuators, so as to at least partially solve the above-mentioned technical problems.

[0005] To achieve the above objectives, a first aspect of this application provides a motion control method for an actuator of a working machine, wherein the motion speed of the actuator changes in response to control parameters of the workpiece it controls. Furthermore, the motion control method includes: acquiring a functional relationship between the control parameters and the motion adapted to different prime mover speeds and different loads; and controlling the motion of the actuator based on the functional relationship.

[0006] In this embodiment of the application, obtaining 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 performing multidimensional interpolation processing on the linear regression model in relation to different prime mover speeds and different loads to obtain a multidimensional interpolation table that can characterize the functional relationship.

[0007] In this embodiment of the application, when the actuator is driven by a hydraulic system and the controlled workpiece is a flow adjustment valve, obtaining the linear regression model includes: determining initial pressure-flow constraints under fixed prime mover speed and fixed load, wherein the pressure is related to the pump outlet pressure of the hydraulic system and the flow is related to the command current of the flow adjustment valve; for the constructed initial pressure-flow constraints, by adjusting the flow adjustment valve, obtaining multiple improved pressure-flow constraints under different loads; and constructing the linear regression model based on the multiple improved pressure-flow constraints and the command current value and motion speed value corresponding to the corresponding constraints.

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

[0009]

[0010] Where J represents the load of the actuator, P P The pump outlet pressure is represented by I, the command current is represented by ~, and ~ is a similar symbol representing the load J, which is approximately P. P Divide by I.

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

[0012]

[0013] Among them, P P The pump outlet pressure is represented by I, the command current is represented by g(), and g() represents a linear function of the load on the actuator, for the acceleration / deceleration phase and the constant speed phase, respectively. n It is a coefficient characterizing the load quantity corresponding to load number n, b n denoted by , where C represents the load compensation value and C represents a constant value.

[0014] In this embodiment of the application, the functional relationship is represented in the multidimensional interpolation table as follows:

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

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

[0017] In this embodiment of the application, the motion of the actuator is controlled based on the functional relationship: the current prime mover speed, the current load, and the desired motion 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 desired motion speed of the actuator; and the motion of the actuator is fed forward controlled according to the determined control parameters.

[0018] In this embodiment of the application, controlling the motion of the actuator based on the functional relationship further includes: while the feedforward control is being executed, performing feedback control on the motion of the actuator based on the difference between the current motion speed and the desired motion speed.

[0019] A second aspect of this application provides a motion control device for a work machinery actuator, comprising: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement any of the motion control methods described above.

[0020] A third aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform any of the motion control methods described above.

[0021] Through the above technical solution, the embodiments of this application first obtain the functional relationship between the control parameters and motion speed of the actuator that adapts to different prime mover speeds and different loads, and then use this functional relationship to control the motion of the actuator, thereby making the corresponding control process simple and easy to implement, and able to adapt to all working conditions corresponding to different prime mover speeds and different loads.

[0022] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0024] Figure 1 is a schematic flowchart of the motion control method for the actuator of the operating machinery according to an embodiment of this application;

[0025] Figure 2 is a schematic diagram of an example open hydraulic rotary system according to an embodiment of this application;

[0026] Figure 3 is a flowchart illustrating the process of obtaining the functional relationship in an embodiment of this application;

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

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

[0029] Figure 6 is an example of P in an embodiment of this application. P A schematic diagram of the relationship between g(I) and g(I);

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

[0031] Figure 8 is a schematic flowchart of the feedforward motion control in an embodiment of this application;

[0032] Figure 9 is a schematic diagram of the control flow of a large inertia slewing system for a boom in an example of an embodiment of this application.

[0033] Figure 10 is a structural schematic diagram of the motion control device of the working machinery actuator according to an embodiment of this application; and

[0034] Figure 11 is a schematic diagram of an example closed-loop hydraulic rotary system according to an embodiment of this application. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application 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 illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort 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 all comply with the relevant provisions of national laws and regulations. In the embodiments of this application, certain existing industry solutions 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 application, and do not imply that the applicant has already used or necessarily used such solutions.

[0037] It should be noted that if the embodiments of this application 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.

[0038] Furthermore, if the embodiments of this application 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, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of 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 in this application.

[0039] In addition, before introducing the specific embodiments of this application, some terms involved in the embodiments of this application will be introduced here first.

[0040] 1. High inertia motion: This refers to the actuator of the operating mechanism, such as the boom slewing system, having a large moment of rotational inertia during the motion process. This will cause the boom slewing system to require more energy and time when starting and braking.

[0041] In the embodiments of this application, large inertia motion is not limited to rotational motion, but may also include rotational motion driven by hydraulic motor rotation, such as winch luffing and winch lifting, and even linear motion driven by hydraulic cylinder in some scenarios.

[0042] In this embodiment, large inertia motion is described by load quantity. Furthermore, depending on the mode of motion, the load quantity can be characterized in the following two ways:

[0043] 1) When the actuator of the working machinery is used to drive the rotation or hoisting motion, the load is characterized by the moment of inertia of the actuator, such as a hydraulic motor.

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

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

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

[0047] An open hydraulic rotary system is a hydraulic system in which the return oil flows directly back to the oil tank during system operation. Its advantages include easier operation, simpler system, and lower maintenance costs, making it suitable for applications that do not require high pressure. A closed hydraulic rotary system, on the other hand, is a hydraulic system in which the return oil flows back into the system for recycling during operation. Unlike open systems, it can automatically increase pressure without manual control, making it more suitable for high-pressure hydraulic transmission applications. However, due to its more complex design, its maintenance costs are also higher.

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

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

[0050] Step S100: Obtain the functional relationship between the control parameters and the motion speed adapted to different prime mover speeds and different loads.

[0051] The prime mover is, for example, an engine or an electric motor. Different prime mover speeds and different loads can characterize the entire working conditions of the actuator during its motion, such as different combinations of prime mover speeds and different loads to adapt to load changes, oil temperature changes, and attitude changes.

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

[0053] Through steps S100 and S200, this embodiment first obtains a functional relationship between the control parameters of the actuator and the motion speed, adapting to different prime mover speeds and different loads. This functional relationship is then used to control the motion of the actuator, making the corresponding motion control process simple and easy to implement, and adaptable to all working conditions corresponding to different prime mover speeds and loads. For example, the existing slewing control strategy for a crane boom slewing system uses a PID controller to adjust the slewing angular velocity. However, the parameter tuning process for a PID controller is complex. But through the functional relationship obtained in step S100, feedforward control of the slewing angular velocity can be achieved, and the use of this functional relationship ensures applicability to all working conditions under feedforward control, avoiding the complex parameter tuning process of existing technologies. Details regarding feedforward control will be further elaborated below with examples, and will not be repeated here.

[0054] Figure 2 illustrates an example of an open hydraulic rotary system, where the actuator is a hydraulic motor 7, and the control mechanism is a throttle valve 5. The corresponding control parameter is the command current of the throttle valve 5. The prime mover 2 is, for example, an engine or an electric motor. The throttle valve 5 is used for flow regulation, for example, by employing an electrically modulated throttle valve or an electro-hydraulic proportional throttle valve. The relief valve 4 is used to regulate the pump outlet pressure, for example, by employing an electrically modulated relief valve, an electro-proportional relief valve, a standard manually adjustable relief valve, or a buffer valve. A standard manually adjustable relief valve simplifies the rotary system. Other components, namely the oil tank 1, the hydraulic pump 3, and the directional valve 6 for achieving forward and reverse rotation of the motor, are conventional components of an open hydraulic rotary system, and their functions will not be elaborated here. The preferred implementation details of the above motion control method will be further described below in two parts, using the example in Figure 2 as an example.

[0055] I. Functional relationship for step S100.

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

[0057] Step S110: Obtain the linear regression model between the control parameter and the motion speed under fixed prime mover speed and fixed load.

[0058] Step S120: For the linear regression model, perform multidimensional interpolation processing related to different prime mover speeds and different loads to obtain a multidimensional interpolation table that can characterize the functional relationship.

[0059] Regarding step S110, as shown in Figure 4, when the actuator is driven by a hydraulic system and the controlled workpiece is a flow regulating valve, obtaining the linear regression model may include the following steps S111-S113.

[0060] Step S111: Determine the initial pressure-flow constraints under fixed prime mover speed and fixed load.

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

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

[0063]

[0064] Where J represents the load of the actuator, P P The pump outlet pressure is represented by I, the command current is represented by "~", and "~" is a similarity symbol, indicating that the load J is approximately equal to P.P Divide by I.

[0065] For example, corresponding to the scenario in Figure 2 where the hydraulic motor 7 drives rotation or hoisting motion, the load J is characterized by the moment of inertia of the hydraulic motor 7. This moment of inertia can also be understood as the moment of inertia of the rotational system about its axis of rotation. Thus, by fixing the prime mover speed at a certain gear, such as the PTO mode of the engine ECU, and fixing the prime mover speed to 750 rpm, 900 rpm, 1300 rpm, etc., the load (moment of inertia) J is related to the pump outlet pressure P. P (Regulated by overflow valve 4), command current (i.e., control current of throttle valve 5).

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

[0067]

[0068] Among them, P P The pump outlet pressure is represented by I, the command current is represented by g(), and g() represents a linear function of the load on the actuator, for the acceleration / deceleration phase and the constant speed phase, respectively. n It is a coefficient characterizing the load quantity corresponding to load number n, b n denoted by , where C represents the load compensation value and C represents a constant value.

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

[0070] 1) During acceleration and deceleration, P P =g(I) represents a linear relationship;

[0071] 2) During the uniform motion process PP =g(I) = constant value.

[0072] That is, P P =g(w, I), under a fixed prime mover speed (i.e., w = 1400), can be simplified to P P =g(I), during the acceleration process P P =g(I) is a linear relationship; during a uniform process, P P =Constant. Therefore, under a fixed prime mover speed, P P =g(w,I) degenerates into the above formula (1), thus Approximately representing inertia, formula (1) The general rule of inertia is: inertia increases during acceleration, remains constant during uniform motion, and decreases during deceleration. Therefore, combining formulas (1) and (2), Approximately equivalent to Therefore, it can also be used 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 the acceleration process, the inertia remains unchanged during the uniform process, and the inertia decreases during the deceleration process.

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

[0075] F = Ma (3)

[0076] Wherein, 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 The magnitude of M is the mass of the actuator, and the magnitude of the mass M characterizes the magnitude of the load on the actuator; a is the motion acceleration of the actuator.

[0077] According to Newton's second law, from formula (3), it can be seen that the acceleration a is large during acceleration and deceleration, so the required driving force F is large (characterized as pressure P in hydraulic motors). P (Large); During the uniform motion process, the acceleration a is equal to zero, so the driving force F is zero. Therefore, the driving force F can be used to characterize the load, thus establishing the pressure P. P The relationship between acceleration a and acceleration α.

[0078] Step S112: Based on the constructed initial pressure-flow constraint, multiple improved pressure-flow constraint conditions under different loads are obtained by adjusting the flow adjustment valve.

[0079] Continuing with the example of Figure 2, by adjusting the throttle valve 5 and / or the relief valve 4, multiple improved pressure-flow constraint conditions at different loads as shown in Figure 5 are achieved, where the load compensation values are b1 < b2 < b3 and the coefficients are 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 suspended load (i.e., load) of 10 t), for the large-inertia rotation performed by the hydraulic slewing system 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 the constraint relationship in Figure 7, it can be known that: during the acceleration process, the ratio between the pressure P P and the command current I is a constant value, that is, the slope is a fixed value. Combining the above formulas (1), formula (2) and formula (3), by characterizing the inertia J, then during the acceleration process, F = constant value. Since the mass M of the object remains unchanged and the acceleration a is a fixed value, the angular velocity v = f(I) corresponding to formula (4) is a linear relationship during the acceleration and deceleration processes. Therefore, in actual control, further through the command current values and slewing angular velocity values obtained under multiple constraint conditions through testing, a linear regression model regarding formula (4) can be constructed.

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

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

[0086] where y represents the motion speed (such as the slewing angular velocity in the slewing motion), x represents the command current, k ij and b ij respectively represent the slope and the load compensation value of the function in the i-th row and j-th column of the multidimensional interpolation table, where different row and column combinations of the multidimensional interpolation table correspond to different combinations of prime mover speeds and loads.

[0087] For example, the linear regression model between command current and rotational angular velocity determined above is obtained by changing the prime mover speed and load under a certain fixed prime mover speed and load condition (such as 1400 rpm hoisting and 10t condition) to obtain multiple interpolation tables under prime mover speed and load, as shown in Table 1 below.

[0088] Table 1

[0089]

[0090] The purpose of multidimensional interpolation is to calculate the nonlinear relationship between command current and rotational angular velocity under varying prime mover speed and load using a linear dataset. In the examples of this application, multidimensional interpolation can employ linear or nonlinear modes, and can use methods such as cubic spline or Lagrange interpolation.

[0091] II. Motion control for step S200.

[0092] In a preferred embodiment, as shown in FIG8, step S200, which controls the movement of the actuator based on the functional relationship, may include the following steps S210-S240.

[0093] Step S210: Obtain the current prime mover speed, current load, and the desired speed of the actuator.

[0094] Step S220: Obtain the functional relationship between the current prime mover speed and the current load.

[0095] Step S230: Determine the corresponding control parameters based on the obtained functional relationship and the desired motion speed of the actuator.

[0096] Step S240: Feedforward control is performed on the motion of the actuator according to the determined control parameters.

[0097] That is, feedforward control for motion control of the actuator is achieved by utilizing functional relationships. For example, according to the formula (4) obtained from the linear regression model above, v = f(I), it can be seen that when the operator gives a command (a fixed value or a value that changes according to time), the current I can be calculated. Since the adjustable quantity (i.e., the control variable) of the throttle valve 5 is current, the calculated current I can be used as feedforward. Therefore, after obtaining the nonlinear relationship table between the command current and the rotational angular velocity when the prime mover speed and load change through multidimensional interpolation, the multidimensional interpolation table in Table 1 is used as the feedforward controller for speed control. Since the functional relationship of this embodiment is applicable to all working conditions, compared with the conventional feedforward controller, this embodiment can guarantee the speed control accuracy.

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

[0099] Returning to the example of FIG. 2, in the example where the open hydraulic slewing system of FIG. 2 is applied to the boom of a crane or an excavator, the slewing control method of the embodiments of the present application can be applied for boom large-inertia slewing control. Combining with FIG. 9, the corresponding boom large-inertia slewing control can include the following steps:

[0100] Step S1, fix the prime mover speed and the fixed load.

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

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

[0103] As described above, establish the relationship between the moment of inertia J of the large-inertia slewing mechanism about the slewing axis and the pump outlet pressure P P and the flow valve command current, that is, 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 at different loads are realized, such as FIG. 5, where the load compensation values b1 < b2 < b3 and the coefficients k1 < k2 < k3. Through testing, a linear regression model between the command current and the angular velocity is obtained, that is, the angular velocity v = f(I).

[0106] Step S4, obtain a multidimensional interpolation table.

[0107] Change the prime mover speed and / or the 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 multidimensional 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 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 implemented by a PI controller, and the corresponding control parameters of the PI controller can be determined during the process of calibrating the multidimensional interpolation table described above, or the control parameter configuration can be carried out during the on-board application.

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

[0111] As illustrated in Figure 9 above, this example employs the motion control method of this application embodiment. It proposes a constraint relationship between the command current and the pump outlet pressure, and compensates for the influence of different loads on the rotational inertia (such as the volume of soil or rocks in the excavator bucket) by setting load compensation values. This application embodiment establishes a linear regression model between different loads and different prime mover speeds. Through multidimensional interpolation, the nonlinear relationship between the command current and angular velocity when the prime mover speed and load change can be obtained. This nonlinear relationship between the command current and angular velocity obtained through multidimensional interpolation is used as feedforward, and then adjusted by a PI controller, resulting in a large inertia rotational system control effect with good control performance under all operating conditions.

[0112] Specifically, this example employs a "feedforward + PI (or PID)" control mode, which offers the following advantages:

[0113] First, the feedforward is obtained by back-calculation through the linear regression model v = f(I), which allows the corresponding PI control (or PID control) parameters to use only one set of parameters under all operating conditions, or even to not use the PI controller at all. This avoids the problem of high difficulty in parameter tuning of PI controller (or PID controller) and provides high control accuracy under all operating conditions.

[0114] Second, this example uses testing to determine the linear regression model between command current and regression angular velocity, which has strong universality across different hosts.

[0115] Third, this example is equivalent to employing two levels of linear regression: the first level is the pressure-flow constraint condition, which is achieved by adjusting the throttle valve 5 and the relief valve 4 to implement multiple improved constraint conditions under different loads; the second level is the linear regression model between the command current and angular velocity obtained through testing, establishing the relationship between angular velocity v and control current I, i.e., v = f(I) in the above equation. Through these two levels of linear regression, the highly nonlinear hydraulic control system is transformed into a linear relationship at a discrete threshold (when the engine speed and load are fixed, the angular velocity v and control current I satisfy a linear relationship), making debugging easier.

[0116] Figure 10 is a schematic diagram of the motion control device of the operating machinery actuator according to an embodiment of this application. As shown in Figure 10, the motion control device includes: a memory configured to store instructions; and a processor configured to retrieve the instructions from the memory and to implement the motion control method of the above embodiment when executing the instructions.

[0117] The motion control device may be, for example, a control host, a controller integrated into the slewing system, or a dedicated remote controller. Further implementation details regarding this motion control device can be found in the embodiments of the motion control method described above, and will not be repeated here.

[0118] It should be noted that, in addition to the open hydraulic rotary system shown in Figure 2, the embodiments of this application are also applicable to the closed hydraulic rotary system shown in Figure 11. As shown in Figure 11, the system includes: an oil tank 101, a prime mover 201, a closed hydraulic pump 301, a replenishing pump 401, high-pressure relief valve groups 501 and 502, a replenishing relief valve 601, a flushing directional valve 701, a flushing relief valve 801, a motor 901, a filter 1001, and a cooler 1101.

[0119] By employing the closed-loop hydraulic rotary system shown in Figure 11, the P shown in Figure 6 can still be achieved. P =g(I) relationship, thus similar to the control effect of an open hydraulic rotary system.

[0120] Furthermore, it should be noted that, in addition to hydraulic rotary systems, other examples may also use electric rotary systems or pneumatic rotary systems. Depending on the type of actuator in the rotary system, different control parameters for the controlled workpiece can be determined, and a system similar to P can be established accordingly. P The functional relationship between the control parameter g(I) and the slewing angular velocity is used to achieve slewing control.

[0121] In addition, the operating machinery described in the embodiments of this application includes, but is not limited to, heavy machinery such as excavators, cranes, concrete pump trucks, and rotary drilling rigs.

[0122] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the motion control method according to the above embodiments.

[0123] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application 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.

[0124] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0125] 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 that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0126] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

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

[0128] 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.

[0129] 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.

[0130] 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.

[0131] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A motion control method for an actuator of a working machine, characterized in that, The motion speed of the actuator changes in response to the control parameters of the controlled workpiece, wherein the actuator is driven by a hydraulic system and the controlled workpiece is a flow regulating valve, and the motion control method includes: obtaining a functional relationship between the control parameters and the motion speed adapted to different prime mover speeds and different loads, including: obtaining a linear regression model between the control parameters and the motion speed under fixed prime mover speeds and fixed loads, including: determining initial pressure-flow constraints under fixed prime mover speeds and fixed loads, 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; obtaining multiple improved pressure-flow constraints under different loads by adjusting the flow regulating valve for the constructed initial pressure-flow constraints; constructing the linear regression model based on the multiple improved pressure-flow constraints and the command current value and motion speed value corresponding to the corresponding constraints; performing multidimensional interpolation processing on the linear regression model associated with different prime mover speeds and different loads to obtain a multidimensional interpolation table that can characterize the functional relationship; and controlling the motion of the actuator based on the functional relationship.

2. The motion control method according to claim 1, characterized in that, The initial pressure-flow constraint is established according to the following formula: Where J represents the load capacity of the actuator. The pump outlet pressure is represented by I, the command current is represented by ~, and ~ is a similar symbol representing the load J approximately equal to Divide by I.

3. The motion control method according to claim 1, characterized in that, The initial pressure-flow constraint is expressed as: P P =g(I)= in, Let I represent the pump outlet pressure, I represent the command current, g() represent a linear function relating to the load of the actuator, and k represent the load during the acceleration / deceleration phase and the constant speed phase, respectively. n It is a coefficient characterizing the load quantity corresponding to load number n, b n denoted by , where C represents the load compensation value and C represents a constant value.

4. The motion control method according to claim 1, characterized in that, The functional relationship is represented in the multidimensional interpolation table as: y=k ij *x+b ij Where y represents the motion speed, x represents the command current, and k ij and b ij These represent the slope and load compensation value of the function in the i-th row and j-th column of the multidimensional interpolation table, respectively, where different combinations of rows and columns of the multidimensional interpolation table correspond to different combinations of prime mover speed and load.

5. The motion control method according to claim 1, characterized in that, The motion of the actuator is controlled based on the functional relationship: the current prime mover speed, the current load, and the desired motion 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 desired motion speed of the actuator; and the motion of the actuator is fed forward controlled according to the determined control parameters.

6. The motion control method according to claim 5, characterized in that, Controlling the motion of the actuator based on the functional relationship further includes: while the feedforward control is being executed, performing feedback control on the motion of the actuator based on the difference between the current motion speed and the desired motion speed.

7. A motion control device for an actuator of a working machine, characterized in that, include: The memory is configured to store instructions; And a processor configured to retrieve the instructions from the memory and, when executing the instructions, to implement the motion control method according to any one of claims 1 to 6.

8. A type of operating machinery, characterized in that, Includes the motion control device as described in 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 motion control method according to any one of claims 1 to 6.

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