Electro-hydraulic combined flow control method and device

Abstract

The invention relates to the technical field of hydraulic system control, and discloses an electro-hydraulic combined flow control method and device.The method comprises the steps that a first control parameter sent by a user to application equipment of a hydraulic system and an electro-hydraulic combined state parameter of the hydraulic system are collected; analyzing a response expectation parameter of the user according to a preset dynamic feature analysis algorithm and the first control parameter; calculating a current response state parameter of the application equipment according to the electro-hydraulic joint state parameter; whether the response expectation parameter is within a first preset threshold parameter range of the response state parameter or not is judged, if yes, a target value parameter is calculated according to the response expectation parameter and the response state parameter, and then the state condition used for dynamically and jointly adjusting the hydraulic pump and the motor is generated so as to adjust the response state parameter. The response expectation parameter is in a second preset threshold value parameter range of the adjusted response state parameter. Therefore, the flow control efficiency of the hydraulic system can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic system control, and in particular, to an electro-hydraulic combined flow control method and device. Background Art

[0002] Adjusting the motor speed and adjusting the displacement of the hydraulic pump are two main ways to control the flow rate in the hydraulic system. It is found in practice that for adjusting the motor speed, it is more suitable for application scenarios with small flow regulation requirements, small response requirements, and limited budgets. For adjusting the displacement of the hydraulic pump, it is more suitable for application scenarios with large response requirements, large load changes, and flexible pressure control.

[0003] In practical applications, for the convenience of adjustment, the displacement of the hydraulic pump will be adjusted first. However, when the displacement of the hydraulic pump has been adjusted to the maximum, if it is still necessary to control the flow rate of the hydraulic system, it is necessary to achieve it by adjusting the motor speed. As can be seen from the above, the response time of the motor is relatively low. At this time, not only will the flow control efficiency of the hydraulic system be affected, but also the power consumption of the hydraulic system will be further increased, specifically manifested as an increase in noise power consumption and heat power consumption.

[0004] It can be seen that how to improve the flow control efficiency of the hydraulic system and thus reduce the power consumption of the hydraulic system is particularly important. Summary of the Invention

[0005] The present invention provides an electro-hydraulic combined flow control method and device, which can improve the flow control efficiency of the hydraulic system and thus reduce the power consumption of the hydraulic system.

[0006] To solve the above technical problems, a first aspect of the present invention discloses an electro-hydraulic combined flow control method, and the method includes:

[0007] Collect a first control parameter sent by a user to an application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the motor;

[0008] Analyze the response expectation parameter of the user according to a preset dynamic characteristic analysis algorithm and the first control parameter;

[0009] Calculate the current response state parameter of the application device according to the electro-hydraulic combined state parameter;

[0010] Determine whether the response expected parameter is within the first preset threshold parameter range of the response status parameter. When it is determined that the response expected parameter is not within the first preset threshold parameter range of the response status parameter, calculate a target value parameter based on the response expected parameter and the response status parameter. The target value parameter is used to represent the distance degree between the response expected parameter and the response status parameter;

[0011] Generate a combined response control parameter according to the target value parameter. The combined response control parameter is used to dynamically and jointly adjust the states of the hydraulic pump and the motor to adjust the response status parameter so that the response expected parameter is within the second preset threshold parameter range of the adjusted response status parameter.

[0012] As an optional implementation manner, in the first aspect of the present invention, collecting the first control parameter issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system includes:

[0013] Collect the first multi-dimensional state parameter of the hydraulic pump, the second multi-dimensional state parameter of the motor, the environmental state parameter within the preset range of the hydraulic system, and the second control parameter issued by the user to the application device. The first multi-dimensional state parameter includes at least two of a pressure state parameter, a displacement state parameter, a power state parameter, and a response characteristic parameter. The first multi-dimensional state parameter corresponds to the second multi-dimensional state parameter. The second control parameter includes the user's operation control parameter and the biological body state parameter;

[0014] Based on the first multi-dimensional state parameter and the second multi-dimensional state parameter, construct a multi-dimensional state matrix parameter between the hydraulic pump and the motor;

[0015] Perform a target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter. The target coupling calculation includes a linear coupling calculation and / or a non-linear coupling calculation;

[0016] According to the environmental state parameter, correct the collaborative efficiency parameter to obtain the electro-hydraulic combined state parameter of the hydraulic system;

[0017] Analyze the user's biological instruction parameter according to the biological body state parameter. The biological instruction parameter matches the biological body state parameter;

[0018] Based on the operation control parameter and its corresponding first preset priority parameter and the biological instruction parameter and its corresponding second preset priority parameter, analyze the user's operation intention parameter;

[0019] Extract the target displacement gradient parameter of the second control parameter according to the operation intention parameter;

[0020] Determine the target displacement gradient parameter as the first control parameter issued by the user to the application device of the hydraulic system.

[0021] As an optional implementation manner, in the first aspect of the present invention, the analyzing the user's response expectation parameter according to the preset dynamic feature analysis algorithm and the first control parameter includes:

[0022] Perform a target domain decomposition operation on the first control parameter according to the preset dynamic feature analysis algorithm to obtain a dynamic feature vector parameter corresponding to the first control parameter, where the dynamic feature vector parameter is used to represent the change situation of the first control parameter, and the target domain decomposition operation is at least one of a time domain decomposition operation, a frequency domain decomposition operation, and a time-frequency joint conversion decomposition operation;

[0023] Calculate the initial response expectation parameter of the user according to the dynamic feature vector parameter;

[0024] Based on a preset sliding window rolling mechanism, correct the initial response expectation parameter;

[0025] Based on the corrected initial response expectation parameter, construct a dynamic response spectrum model in the frequency domain range;

[0026] Perform an integral operation quantization operation on the dynamic response spectrum model to obtain the user's response expectation parameter.

[0027] As an optional implementation manner, in the first aspect of the present invention, the calculating the current response state parameter of the application device according to the electro-hydraulic combined state parameter includes:

[0028] Calculate the displacement margin parameter and the rotational speed margin parameter of the hydraulic system according to the electro-hydraulic combined state parameter, where the displacement margin parameter and the rotational speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system;

[0029] Input the displacement margin parameter and the rotational speed margin parameter into a pre-trained proportional-integral model to output the comprehensive response ability parameter of the hydraulic system;

[0030] Calculate the current response state parameter of the application device according to the comprehensive response ability parameter.

[0031] As an optional implementation manner, in the first aspect of the present invention, the first preset threshold parameter range of the response state parameter is dynamically generated, and the dynamic generation strategy of the first preset threshold parameter range is:

[0032] Analyze the combined load rate parameters of the hydraulic system according to the response status parameters, where the combined load rate parameters include the hydraulic pump load rate parameter and the motor load rate parameter;

[0033] Obtain the application parameters of the application device within a preset time domain, where the application parameters are used to represent the application situation of the application device within the preset time domain;

[0034] Determine the range of the standby control margin parameter of the hydraulic system according to the application parameters;

[0035] Generate the first preset threshold parameter range of the response status parameter according to the combined load rate parameter and the range of the standby control margin parameter.

[0036] As an optional implementation manner, in the first aspect of the present invention, the generating the combined response control parameter according to the target value parameter includes:

[0037] Calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor according to the displacement margin parameter and the rotational speed margin parameter;

[0038] Analyze the expected response time period parameter and other expected response requirement parameters of the user according to the response expectation parameter;

[0039] Generate at least one simulated combined response control parameter of the hydraulic pump and the motor according to the expected response time period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter, and each simulated combined response control parameter is used to simulate the dynamic regulation of the states of the hydraulic pump and the motor to simulate the adjustment of the response status parameter;

[0040] For each simulated combined response control parameter, analyze the simulated response effect parameter of the simulated combined response control parameter, where the simulated response effect parameter is used to represent the effect situation generated during the process of using the simulated combined response control parameter to simulate the dynamic regulation of the states of the hydraulic pump and the motor to simulate the adjustment of the response status parameter;

[0041] Judge whether the simulated response effect parameter matches the other expected response requirement parameters. When it is judged that the simulated response effect parameter matches the other expected response requirement parameters, determine the simulated combined response control parameter as the combined response control parameter;

[0042] When it is judged that the simulated response effect parameters do not match the other expected response requirement parameters, calculate the simulated response matching degree value between each simulated response effect parameter and the other expected response requirement parameters;

[0043] Determine the combined response control parameter among all the simulated combined response control parameters according to all the simulated response matching degree values.

[0044] As an alternative implementation, in the first aspect of the present invention, the other expected response requirement parameters include at least one requirement parameter among the noise response range parameter, the temperature response range parameter, and the resource usage range parameter, and the simulated response effect parameter corresponds to the other expected response requirement parameters; before determining whether the simulated response effect parameter matches the other expected response requirement parameters, the method further includes:

[0045] For each of the requirement parameters among the other expected response requirement parameters, match the current additional update range parameter of the requirement parameter according to the electro-hydraulic combined state parameter and the preset requirement parameter priority value of the requirement parameter;

[0046] Update the requirement parameter according to the current additional update range parameter, and trigger the operation of determining whether the simulated response effect parameter matches the other expected response requirement parameters.

[0047] The second aspect of the present invention discloses an electro-hydraulic combined flow control device, and the device includes:

[0048] An acquisition module, configured to acquire a first control parameter issued by a user for an application device of a hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system, where the hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the motor;

[0049] An analysis module, configured to analyze the response expectation parameter of the user according to a preset dynamic feature analysis algorithm and the first control parameter;

[0050] A calculation module, configured to calculate the current response state parameter of the application device according to the electro-hydraulic combined state parameter;

[0051] A judgment module, configured to judge whether the response expectation parameter is within a first preset threshold parameter range of the response state parameter;

[0052] The calculation module is further configured to, when the judgment module judges that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, calculate a target value parameter according to the response expectation parameter and the response state parameter, where the target value parameter is used to represent the distance degree between the response expectation parameter and the response state parameter;

[0053] A generating module, configured to generate a combined response control parameter according to the target value parameter, where the combined response control parameter is used to dynamically and jointly adjust the states of the hydraulic pump and the motor, so as to adjust the response state parameter, such that the response expected parameter is within a second preset threshold parameter range of the adjusted response state parameter.

[0054] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the acquisition module acquires the first control parameter issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system includes:

[0055] Acquire a first multi-dimensional state parameter of the hydraulic pump, a second multi-dimensional state parameter of the motor, an environmental state parameter within a preset range of the hydraulic system, and a second control parameter issued by the user to the application device, where the first multi-dimensional state parameter includes at least two of a pressure state parameter, a displacement state parameter, a power state parameter, and a response characteristic parameter, the first multi-dimensional state parameter corresponds to the second multi-dimensional state parameter, and the second control parameter includes the user's operation control parameter and a biological state parameter;

[0056] Based on the first multi-dimensional state parameter and the second multi-dimensional state parameter, construct a multi-dimensional state matrix parameter between the hydraulic pump and the motor;

[0057] Perform a target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter, where the target coupling calculation includes a linear coupling calculation and / or a non-linear coupling calculation;

[0058] According to the environmental state parameter, correct the collaborative efficiency parameter to obtain the electro-hydraulic combined state parameter of the hydraulic system;

[0059] According to the biological state parameter, analyze the biological instruction parameter of the user, where the biological instruction parameter matches the biological state parameter;

[0060] Based on the operation control parameter and its corresponding first preset priority parameter and the biological instruction parameter and its corresponding second preset priority parameter, analyze the operation intention parameter of the user;

[0061] According to the operation intention parameter, extract the target displacement gradient parameter of the second control parameter;

[0062] Determine the target displacement gradient parameter as the first control parameter issued by the user to the application device of the hydraulic system.

[0063] As an alternative implementation, in the second aspect of the present invention, the specific manner in which the analysis module analyzes the response expectation parameters of the user according to the preset dynamic feature analysis algorithm and the first control parameter includes:

[0064] According to the preset dynamic feature analysis algorithm, perform a target domain decomposition operation on the first control parameter to obtain the dynamic feature vector parameter corresponding to the first control parameter, where the dynamic feature vector parameter is used to represent the change situation of the first control parameter, and the target domain decomposition operation is at least one of a time domain decomposition operation, a frequency domain decomposition operation, and a time-frequency joint conversion decomposition operation;

[0065] Calculate the initial response expectation parameter of the user according to the dynamic feature vector parameter;

[0066] Based on the preset sliding window rolling mechanism, correct the initial response expectation parameter;

[0067] Based on the corrected initial response expectation parameter, construct a dynamic response spectrum model in the frequency domain;

[0068] Perform an integral operation quantization operation on the dynamic response spectrum model to obtain the response expectation parameter of the user.

[0069] As an alternative implementation, in the second aspect of the present invention, the specific manner in which the calculation module calculates the current response state parameter of the application device according to the electro-hydraulic combined state parameter includes:

[0070] Calculate the displacement margin parameter and the rotational speed margin parameter of the hydraulic system according to the electro-hydraulic combined state parameter, where the displacement margin parameter and the rotational speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system;

[0071] Input the displacement margin parameter and the rotational speed margin parameter into a pre-trained proportional-integral model to output the comprehensive response ability parameter of the hydraulic system;

[0072] Calculate the current response state parameter of the application device according to the comprehensive response ability parameter.

[0073] As an alternative implementation, in the second aspect of the present invention, the first preset threshold parameter range of the response state parameter is dynamically generated, and the dynamic generation strategy of the first preset threshold parameter range is:

[0074] Analyze the combined load rate parameter of the hydraulic system according to the response state parameter, where the combined load rate parameter includes a hydraulic pump load rate parameter and an electric motor load rate parameter;

[0075] Obtain the application parameters within the preset time domain of the application device, where the application parameters are used to represent the application situation of the application device within the preset time domain;

[0076] Determine the range of the spare control margin parameter of the hydraulic system according to the application parameters;

[0077] Generate the first preset threshold parameter range of the response status parameter according to the combined load rate parameter and the range of the spare control margin parameter.

[0078] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the generating module generates the combined response control parameter according to the target value parameter includes:

[0079] Calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor according to the displacement margin parameter and the rotational speed margin parameter;

[0080] Analyze the expected response period parameter and other expected response requirement parameters of the user according to the response expectation parameter;

[0081] Generate at least one simulated combined response control parameter of the hydraulic pump and the motor according to the expected response period parameter, the target value parameter, the first adjustable range parameter, and the second adjustable range parameter. Each simulated combined response control parameter is used to simulate the dynamic regulation of the states of the hydraulic pump and the motor to simulate the adjustment of the response status parameter;

[0082] For each simulated combined response control parameter, analyze the simulated response effect parameter of the simulated combined response control parameter. The simulated response effect parameter is used to represent the effect generated during the process of using the simulated combined response control parameter to simulate the dynamic regulation of the states of the hydraulic pump and the motor to simulate the adjustment of the response status parameter;

[0083] Judge whether the simulated response effect parameter matches the other expected response requirement parameters. When it is judged that the simulated response effect parameter matches the other expected response requirement parameters, determine the simulated combined response control parameter as the combined response control parameter;

[0084] When it is judged that the simulated response effect parameters do not match the other expected response requirement parameters, calculate the simulated response matching degree value between each simulated response effect parameter and the other expected response requirement parameters;

[0085] Determine the combined response control parameter among all the simulated combined response control parameters according to all the simulated response matching degree values.

[0086] As an alternative embodiment, in the second aspect of the present invention, the other desired response requirement parameters include at least one requirement parameter among a noise response range parameter, a temperature response range parameter, and a resource usage range parameter, and the simulated response effect parameter corresponds to the other desired response requirement parameters; the apparatus further includes:

[0087] A matching module, configured to, before the generating module determines whether the simulated response effect parameter matches the other desired response requirement parameters, for each of the requirement parameters in the other desired response requirement parameters, match the current additional update range parameter of the requirement parameter according to the electro-hydraulic combined state parameter and the preset requirement parameter priority value of the requirement parameter;

[0088] An updating module, configured to update the requirement parameter according to the current additional update range parameter and trigger the generating module to perform the operation of determining whether the simulated response effect parameter matches the other desired response requirement parameters.

[0089] The third aspect of the present invention discloses another electro-hydraulic combined flow control device, and the device includes:

[0090] A memory storing executable program code;

[0091] A processor coupled to the memory;

[0092] The processor calls the executable program code stored in the memory and executes the electro-hydraulic combined flow control method disclosed in the first aspect of the present invention.

[0093] The fourth aspect of the present invention discloses a computer storage medium, and the computer storage medium stores computer instructions, which are used to execute the electro-hydraulic combined flow control method disclosed in the first aspect of the present invention when being called.

[0094] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0095] In an embodiment of the present invention, a first control parameter sent by a user to an application device of a hydraulic system and an electro-hydraulic combined state parameter of the hydraulic system are collected. The hydraulic system includes a hydraulic pump and an electric motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the electric motor; according to a preset dynamic characteristic analysis algorithm and the first control parameter, the response expectation parameter of the user is analyzed; according to the electro-hydraulic combined state parameter, the current response state parameter of the application device is calculated; it is determined whether the response expectation parameter is within a first preset threshold parameter range of the response state parameter. When it is determined that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, a target value parameter is calculated according to the response expectation parameter and the response state parameter. The target value parameter is used to represent the distance degree between the response expectation parameter and the response state parameter; according to the target value parameter, a combined response control parameter is generated. The combined response control parameter is used to dynamically and jointly adjust the state of the hydraulic pump and the electric motor to adjust the response state parameter so that the response expectation parameter is within a second preset threshold parameter range of the adjusted response state parameter. It can be seen that implementing the present invention can synchronously collect the first control parameter sent by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system, and combine the preset dynamic characteristic analysis algorithm to respectively analyze the response expectation parameter expected by the user and further determine the current response state of the application device, improving the accuracy of understanding the user's intention while improving the accuracy of analyzing the response state of the application device, which is beneficial to improving the control accuracy of further electro-hydraulic combined flow control for the application device. And when it is determined that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, according to the response expectation parameter and the response state parameter, a target value parameter representing the distance degree between the response expectation parameter and the response state parameter is calculated; and according to the target value parameter, a combined response control parameter is generated for dynamically and jointly adjusting the state of the hydraulic pump and the electric motor to adjust the response state parameter so that the response expectation parameter is within the second preset threshold parameter range of the adjusted response state parameter, realizing the joint dynamic regulation of the hydraulic pump and the electric motor in the hydraulic system. Different from the complete sequential joint regulation in the prior art, it can further improve the flow control efficiency and accuracy of the hydraulic system while further reducing the power consumption of the hydraulic system, and can also effectively solve the problems of response lag and energy efficiency imbalance caused by independent regulation of the hydraulic pump and the electric motor in traditional control, making the adjusted system response parameter converge within a more strict second threshold range, which is beneficial to improving the dynamic control accuracy and comprehensive operation stability of the hydraulic system under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0096] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0097] Figure 1 It is a schematic flowchart of a method for electro-hydraulic combined flow control disclosed in an embodiment of the present invention;

[0098] Figure 2 It is a schematic flowchart of another method for electro-hydraulic combined flow control disclosed in an embodiment of the present invention;

[0099] Figure 3 It is a schematic structural diagram of a device for electro-hydraulic combined flow control disclosed in an embodiment of the present invention;

[0100] Figure 4 It is a schematic structural diagram of another device for electro-hydraulic combined flow control disclosed in an embodiment of the present invention;

[0101] Figure 5 It is a schematic structural diagram of yet another device for electro-hydraulic combined flow control disclosed in an embodiment of the present invention. Detailed implementation manners

[0102] In order to enable those skilled in the art to better understand the solutions of the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0103] The terms "first", "second", etc. in the specification and claims of the present invention and the above drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or terminal that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or terminals.

[0104] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with an embodiment can be included in at least one embodiment of the invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0105] The present invention discloses an electro-hydraulic combined flow control method and device, which can synchronously collect a first control parameter sent by a user to an application device of a hydraulic system and electro-hydraulic combined state parameters of the hydraulic system, and combine a preset dynamic feature analysis algorithm to respectively analyze a response expectation parameter desired by the user and further determine the current response state of the application device. While improving the accuracy of understanding the user's intention, it improves the accuracy of analyzing the response state of the application device, which is beneficial to improving the control accuracy of further electro-hydraulic combined flow control for the application device. And when it is determined that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, a target value parameter representing the distance degree between the response expectation parameter and the response state parameter is calculated according to the response expectation parameter and the response state parameter; and according to the target value parameter, a combined response control parameter is generated for dynamically jointly adjusting the states of the hydraulic pump and the motor to adjust the response state parameter so that the response expectation parameter is within the second preset threshold parameter range of the adjusted response state parameter, realizing the joint dynamic regulation of the hydraulic pump and the motor in the hydraulic system. Different from the complete sequential joint regulation in the prior art, it can further reduce the power consumption of the hydraulic system while improving the flow control efficiency and accuracy of the hydraulic system, and can also effectively solve the problems of response lag and energy efficiency imbalance caused by independent adjustment of the hydraulic pump and the motor in traditional control, making the adjusted system response parameters converge within a more stringent second threshold range, which is beneficial to improving the dynamic control accuracy and comprehensive operation stability of the hydraulic system under complex working conditions. The following will be described in detail respectively.

[0106] Embodiment 1

[0107] Please refer to Figure 1 , Figure 1 which is a schematic flow chart of an electro-hydraulic combined flow control method disclosed in an embodiment of the present invention. Among them, Figure 1 the described electro-hydraulic combined flow control method can be applied to a hydraulic system including a hydraulic pump and a motor, and can also be applied to an electric excavator of the above hydraulic system, and can also be applied to an associated intelligent device of the above device. The intelligent device includes, but is not limited to, one or more of a battery device, a cloud device, an edge computing device, a relay device, a base station device, a city management device, and an intelligent networked device. The embodiments of the present invention do not make limitations. As Figure 1As shown, the electro-hydraulic combined flow control method may include the following operations:

[0108] 101. Collect the first control parameter issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the motor.

[0109] In an embodiment of the present invention, optionally, the above-mentioned first control parameter may be specifically obtained by analyzing and collecting the body posture characteristics and specific operations of the user near the application device.

[0110] In an embodiment of the present invention, as an optional implementation manner, collecting the first control parameter issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system includes:

[0111] Collect the first multi-dimensional state parameter of the hydraulic pump, the second multi-dimensional state parameter of the motor, the environmental state parameter within the preset range of the hydraulic system, and the second control parameter issued by the user to the application device. The first multi-dimensional state parameter includes at least two of the pressure state parameter, displacement state parameter, power state parameter, and response characteristic parameter. The first multi-dimensional state parameter corresponds to the second multi-dimensional state parameter. The second control parameter includes the user's operation control parameter and the body state parameter.

[0112] Based on the first multi-dimensional state parameter and the second multi-dimensional state parameter, construct a multi-dimensional state matrix parameter between the hydraulic pump and the motor.

[0113] Perform target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter. The target coupling calculation includes linear coupling calculation and / or non-linear coupling calculation.

[0114] According to the environmental state parameter, correct the collaborative efficiency parameter to obtain the electro-hydraulic combined state parameter of the hydraulic system.

[0115] According to the body state parameter, analyze the user's biological instruction parameter, and the biological instruction parameter matches the body state parameter.

[0116] Based on the operation control parameter and its corresponding first preset priority parameter and the biological instruction parameter and its corresponding second preset priority parameter, analyze the user's operation intention parameter.

[0117] According to the operation intention parameter, extract the target displacement gradient parameter of the second control parameter.

[0118] Determine the target displacement gradient parameter as the first control parameter issued by the user to the application device of the hydraulic system.

[0119] It can be seen that implementing this optional embodiment can holographically sense and collect multi-dimensional optional state parameters of the hydraulic pump and the motor, fuse multi-source parameters, and construct a multi-dimensional monitoring system of the application device + user that combines the user's operation control parameters and the biological body state parameters, which is beneficial to improving the acquisition accuracy and stability of the first control parameter and the electro-hydraulic combined state parameter. By constructing a multi-dimensional state matrix parameter between the hydraulic pump and the motor based on the first multi-dimensional state parameter and the second multi-dimensional state parameter, and performing target coupling calculations on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter, the generation accuracy and generation stability of the collaborative efficiency parameter can be improved. And based on the environmental state parameter, the collaborative efficiency parameter is corrected to obtain the electro-hydraulic combined state parameter of the hydraulic system, which can further improve the acquisition generation accuracy, comprehensiveness, and stability of the electro-hydraulic combined state parameter. Through the dual-channel analysis of the biological body state parameter (such as the operator's hand movement trajectory, force application mode, expression, language, and demeanor) and the operation control parameter (such as joystick displacement, button frequency), and combining the preset priority parameter to construct a spatio-temporal association model of the operation intention, the analysis accuracy, comprehensiveness, and stability of the user's operation intention parameter can be further improved. Thus, based on the operation intention parameter, the effective target displacement gradient parameter of the second control parameter can be effectively extracted, and the target displacement gradient parameter is determined as the first control parameter issued by the user to the application device of the hydraulic system, improving the acquisition determination accuracy of the first control parameter.

[0120] 102. Analyze the user's response expectation parameter according to the preset dynamic feature analysis algorithm and the first control parameter;

[0121] In the embodiment of the present invention, as another optional implementation manner, the above-mentioned analyzing the user's response expectation parameter according to the preset dynamic feature analysis algorithm and the first control parameter includes:

[0122] According to the preset dynamic feature analysis algorithm, perform a target domain decomposition operation on the first control parameter to obtain the dynamic feature vector parameter corresponding to the first control parameter. The dynamic feature vector parameter is used to represent the change situation of the first control parameter, and the target domain decomposition operation is at least one of a time domain decomposition operation, a frequency domain decomposition operation, and a time-frequency joint conversion decomposition operation;

[0123] Calculate the user's initial response expectation parameter according to the dynamic feature vector parameter;

[0124] Based on the preset sliding window rolling mechanism, correct the initial response expectation parameter;

[0125] Based on the corrected initial response expectation parameter, construct a dynamic response spectrum model in the frequency domain range;

[0126] Perform an integral operation quantization operation on the dynamic response spectrum model to obtain the user's response expectation parameter.

[0127] In this optional embodiment, optionally, the following operations are respectively performed in the above-mentioned target domain decomposition operation:

[0128] Perform moving average filtering on the first control parameter to eliminate high-frequency noise interference;

[0129] Extract the rising edge slope through the piecewise linear fitting algorithm. Specifically, divide the signal into windows of a fixed length (such as 10 ms), calculate the maximum change rate of the signal within each window, fit the linear segment of the rising edge within the window by the least squares method, and use the absolute value of the slope as the slope eigenvalue of the window;

[0130] Calculate the zero-crossing rate (ZCR) of the signal, and determine the main fluctuation frequency by combining the peak interval of the autocorrelation function;

[0131] If the periodicity of the signal is not obvious, extract the central frequency of the frequency domain energy concentration region through the short-time Fourier transform (STFT);

[0132] At the same time, by defining the dynamic amplitude change rate as the standard deviation of the amplitude difference between adjacent sampling points, the standard deviation of the amplitude difference of the sampling points of the first control parameter can be further calculated.

[0133] Further optionally, for the preset sliding window rolling mechanism, the specific initial response expectation parameter can be weighted and calculated by the dynamic feature vector parameter, and an exponential decay factor can be introduced to perform forgetting weighting on the historical parameter to suppress the lag error.

[0134] Further optionally, constructing a dynamic response spectrum model, and the corresponding integral operation quantization operation can be specifically:

[0135] Perform windowed FFT (Hanning window) on the time-domain signal and calculate the amplitude-frequency characteristic curve;

[0136] Extract the main resonance peak frequency and the half-power bandwidth, and construct a multi-band response matrix;

[0137] Integrate the amplitude-frequency characteristic in the target frequency band;

[0138] Introduce a frequency band weight distribution mechanism, such as the weight of the high-frequency band is greater than the weight of the low-frequency band, to strengthen the fast response requirement while maintaining the steady-state accuracy;

[0139] Finally, through normalizing the integral result and defining the speed level threshold (such as high speed level > 0.8, medium speed level 0.5 - 0.8), output the discretized response expectation parameter through the look-up table method.

[0140] It can be seen that implementing this optional embodiment can further jointly determine the time-domain gradient and frequency-domain energy through multi-modal feature fusion, taking into account both transient response and steady-state accuracy. Through dynamic weight allocation and priority trigger mechanisms, resource optimization allocation can be achieved. By enhancing the anti-interference ability, the sliding window and forgetting factor design can effectively suppress noise interference and improve the robustness of the system, which is beneficial to further improving the understanding, generation accuracy, comprehensiveness, and stability of the user's response expectation parameters.

[0141] 103. Calculate the current response state parameters of the application device according to the electro-hydraulic combined state parameters;

[0142] 104. Determine whether the response expectation parameter is within the first preset threshold parameter range of the response state parameter;

[0143] 105. When it is determined that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, calculate the target value parameter according to the response expectation parameter and the response state parameter, where the target value parameter is used to represent the distance degree between the response expectation parameter and the response state parameter;

[0144] 106. Generate a joint response control parameter according to the target value parameter, where the joint response control parameter is used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameter so that the response expectation parameter is within the second preset threshold parameter range of the adjusted response state parameter.

[0145] In the embodiment of the present invention, optionally, when it is determined that the response expectation parameter is within the first preset threshold parameter range of the response state parameter, it can be understood that as the hydraulic system is gradually used, the response state parameter will match the response expectation parameter, or it can be directly understood that the response state parameter and the response expectation parameter are already matched. At this time, no adjustment is required, or, based on the first preset threshold parameter range, the response state parameter can be automatically gradually approximated to the response expectation parameter;

[0146] Further, optionally, it is also possible to further determine whether the response state parameter will automatically gradually approach the response expectation parameter by collecting the change trend of the response state parameter within a preset time period. If not, steps 105 and 106 can be further triggered for execution, and specifically, it can be subject to the actual application;

[0147] Further, optionally, the above second preset threshold parameter range can be the same as or different from the first preset threshold parameter range. When they are different, the second preset threshold parameter range can be another balance point, which is related to the usage scenario, service life of the hydraulic system, and the state of related equipment, and is specifically subject to the actual application scenario.

[0148] It can be seen that implementing the embodiments of the present invention can synchronously collect the first control parameter sent by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system, and combine the preset dynamic feature analysis algorithm to respectively analyze the response expectation parameter expected by the user and further determine the current response state of the application device, improving the accuracy of understanding the user's intention while improving the accuracy of analyzing the response state of the application device, which is beneficial to improving the control accuracy of further electro-hydraulic combined flow control for the application device. When it is determined that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, a target value parameter representing the distance between the response expectation parameter and the response state parameter is calculated according to the response expectation parameter and the response state parameter; and according to the target value parameter, a combined response control parameter for dynamically adjusting the states of the hydraulic pump and the motor is generated to adjust the response state parameter so that the response expectation parameter is within the second preset threshold parameter range of the adjusted response state parameter, realizing the combined dynamic regulation of the hydraulic pump and the motor in the hydraulic system. Different from the complete sequential combined regulation in the prior art, it can further reduce the power consumption of the hydraulic system while improving the flow control efficiency and accuracy of the hydraulic system, and can also effectively solve the problems of response lag and energy efficiency imbalance caused by the independent adjustment of the hydraulic pump and the motor in traditional control, making the adjusted system response parameter converge within a stricter second threshold range, which is beneficial to improving the dynamic control accuracy and comprehensive operation stability of the hydraulic system under complex working conditions.

[0149] Embodiment 2

[0150] Please refer to Figure 2 , Figure 2 which is a schematic flow chart of another electro-hydraulic combined flow control method disclosed in the embodiments of the present invention. Among them, Figure 2 the described electro-hydraulic combined flow control method can be applied to a hydraulic system including a hydraulic pump and a motor, and can also be applied to an electric excavator of the above hydraulic system, and can also be applied to an associated intelligent device of the above device. The intelligent device includes, but is not limited to, one or more of a battery device, a cloud device, an edge computing device, a relay device, a base station device, an urban management device, and an intelligent networked device. The embodiments of the present invention do not make limitations. As Figure 2 shown, the electro-hydraulic combined flow control method may include the following operations:

[0151] 201. Collect the first control parameter sent by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameter of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the motor;

[0152] 202. Analyze the response expectation parameter of the user according to the preset dynamic feature analysis algorithm and the first control parameter;

[0153] In the embodiments of the present invention, for the supplementary descriptions of steps 201 and 202, please refer to the supplementary descriptions of steps 101 and 102 in Embodiment 1, and the embodiments of the present invention will not elaborate herein.

[0154] 203. Calculate the displacement margin parameter and the rotational speed margin parameter of the hydraulic system according to the electro-hydraulic combined state parameters. The displacement margin parameter and the rotational speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system.

[0155] 204. Input the displacement margin parameter and the rotational speed margin parameter into a pre-trained proportional-integral model to output the comprehensive response ability parameter of the hydraulic system.

[0156] 205. Calculate the current response state parameter of the application device according to the comprehensive response ability parameter.

[0157] In the embodiments of the present invention, optionally, by analyzing the comprehensive response ability parameter of the above-mentioned hydraulic system, that is, the comprehensive response space degree (how much response space is left), the application degree of the application device to the hydraulic system (how much response space is applied), that is, the response state parameter, can be further calculated inversely, so as to improve the calculation flexibility and convenience of the response state parameter.

[0158] 206. Determine whether the response expectation parameter is within the first preset threshold parameter range of the response state parameter.

[0159] In the embodiments of the present invention, as an optional implementation manner, the first preset threshold parameter range of the above-mentioned response state parameter is dynamically generated, and the dynamic generation strategy of the first preset threshold parameter range is as follows:

[0160] Analyze the combined load rate parameter of the hydraulic system according to the response state parameter. The combined load rate parameter includes the hydraulic pump load rate parameter and the motor load rate parameter.

[0161] Obtain the application parameter of the application device within the preset time domain. The application parameter is used to represent the application situation of the application device within the preset time domain.

[0162] Determine the standby control margin parameter range of the hydraulic system according to the application parameter.

[0163] Generate the first preset threshold parameter range of the response state parameter according to the combined load rate parameter and the standby control margin parameter range.

[0164] In an embodiment of the present invention, optionally, the above-mentioned range of standby control margin parameters can be used to prevent the displacement of the hydraulic pump from being near the maximum value. Because when the displacement of the hydraulic pump is near the maximum value, the displacement cannot be further increased, and the system will lose the ability of rapid response. Therefore, it is necessary to adjust the displacement of the hydraulic pump and the motor speed simultaneously to ensure that all the following objectives are met: the flow rate of the hydraulic pump remains unchanged; the displacement of the hydraulic pump is adjusted to near the preset value, for example, 85% of the displacement.

[0165] It can be seen that implementing this optional embodiment can provide a mechanism for generating the first preset threshold parameter range for dynamic adjustment for different response state parameters, that is, based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, so that the threshold range strictly matches the actual bearing capacity of the system, avoiding the problems of response lag at high loads and resource waste at low loads of traditional fixed thresholds. Combining the application conditions within the preset time domain of the application device, determine the range of standby control margin parameters of the hydraulic system, improve the accuracy of generating the range of standby control margin parameters, which is beneficial to improving the accuracy of generating the first preset threshold parameter range of the response state parameters while improving the application health and response efficiency of the hydraulic system, avoiding the occurrence of the situation of no response space. Further, it is also beneficial to improve the flexibility of the bidirectional synchronous dynamic adjustment of the hydraulic pump and the motor.

[0166] 207. When it is determined that the response expected parameter is not within the first preset threshold parameter range of the response state parameter, then calculate the target value parameter according to the response expected parameter and the response state parameter, and the target value parameter is used to represent the distance degree between the response expected parameter and the response state parameter.

[0167] 208. Generate a combined response control parameter according to the target value parameter, and the combined response control parameter is used to dynamically and jointly adjust the states of the hydraulic pump and the motor to adjust the response state parameter so that the response expected parameter is within the second preset threshold parameter range of the adjusted response state parameter.

[0168] In an embodiment of the present invention, the corresponding effect of the combined response control parameter can be: combining the response expected parameter, preferentially increasing the displacement of the hydraulic pump. When the corresponding response expected parameter is satisfied, the displacement of the hydraulic pump can be synchronously reduced, the speed of the motor can be increased, while keeping the flow rate unchanged, and it can also gradually transition, which is beneficial to reducing the system power consumption.

[0169] In an embodiment of the present invention, as another optional implementation manner, the above-mentioned generating a combined response control parameter according to the target value parameter includes:

[0170] Calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor according to the displacement margin parameter and the speed margin parameter.

[0171] Analyze the user's expected response time period parameter and other expected response requirement parameters according to the response expectation parameter;

[0172] Generate at least one simulated combined response control parameter for the hydraulic pump and the motor according to the expected response time period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter. Each simulated combined response control parameter is used to simulate the dynamic regulation of the states of the hydraulic pump and the motor so as to simulate the adjustment of the response state parameter;

[0173] For each simulated combined response control parameter, analyze the simulated response effect parameter of this simulated combined response control parameter. The simulated response effect parameter is used to represent the effect situation generated during the process of using the simulated combined response control parameter to simulate the dynamic regulation of the states of the hydraulic pump and the motor so as to simulate the adjustment of the response state parameter;

[0174] Judge whether the simulated response effect parameter matches other expected response requirement parameters. When it is judged that the simulated response effect parameter matches other expected response requirement parameters, determine this simulated combined response control parameter as the combined response control parameter;

[0175] When it is judged that the simulated response effect parameters do not match other expected response requirement parameters, calculate the simulated response matching degree value between each simulated response effect parameter and other expected response requirement parameters;

[0176] Determine the combined response control parameter among all the simulated combined response control parameters according to all the simulated response matching degree values.

[0177] It can be seen that implementing this optional embodiment can further calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor based on the displacement margin parameter and the speed margin parameter of the hydraulic system; analyze the user's expected response time period parameter and other expected response requirement parameters according to the response expectation parameter; generate at least one simulated combined response control parameter for the hydraulic pump and the motor according to the expected response time period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter. By analyzing whether the simulated response effect parameter of each simulated combined response control parameter matches other expected response requirement parameters, it can further improve the electro-hydraulic combined flow control accuracy, comprehensiveness and stability of the combined response control parameter, and is also beneficial to improving the flexibility of the electro-hydraulic combined flow control, and is beneficial to further ensuring the efficient use of the hydraulic pump and the motor.

[0178] In this alternative embodiment, as an alternative implementation, the above-mentioned other desired response requirement parameters include at least one requirement parameter among the noise response range parameter, the temperature response range parameter, and the resource usage range parameter, and the simulated response effect parameter corresponds to the other desired response requirement parameters; before determining whether the simulated response effect parameter matches the other desired response requirement parameters, the method further includes:

[0179] For each requirement parameter among the other desired response requirement parameters, according to the electro-hydraulic combined state parameter and the preset requirement parameter priority value of this requirement parameter, match the current additional update range parameter of this requirement parameter;

[0180] According to the current additional update range parameter, update this requirement parameter, and trigger the operation of determining whether the simulated response effect parameter matches the other desired response requirement parameters.

[0181] It can be seen that implementing this alternative embodiment can further improve the scientificity and accuracy of the matching between the simulated response effect parameter and the other desired response requirement parameters by performing a matching analysis of at least one requirement parameter among the other desired response requirement parameters including the noise response range parameter, the temperature response range parameter, and the resource usage range parameter in combination with the electro-hydraulic combined state parameter one by one, can simultaneously adapt to the usage situation of the hydraulic system and the desired response of the user, further improve the accuracy and comprehensiveness of the electro-hydraulic combined flow control, and is beneficial to improving the practicality of the technical solution.

[0182] In an alternative embodiment, the technical solution of the present invention may be: collecting the desired response speed of the driver, and the response speed is calculated based on the obtained operation signal of the driver. Specifically, the response speed is the maximum value of the reciprocal of the operation signal, and the response speed is the maximum value of the slope of the operation signal in the time domain;

[0183] Determine whether the response speed is greater than the preset response speed threshold. If so, it means that the desired response speed of the driver is relatively large. Also, because the response speed of the hydraulic pump is fast, the flow rate of the hydraulic pump is adjusted;

[0184] If not, it means that the desired response speed of the driver is not large, and adjusting the motor speed can meet the driver's expectation for the response speed;

[0185] In order to reserve a response speed margin and prevent the displacement of the hydraulic pump from being near the maximum value.

[0186] It can be seen that implementing this alternative embodiment can be beneficial to further reducing the system complexity and providing a convenient response mechanism for the system to improve the electro-hydraulic combined flow control efficiency in a convenient scenario.

[0187] Embodiment III

[0188] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of an electro-hydraulic combined flow control device disclosed in an embodiment of the present invention. Among them, the electro-hydraulic combined flow control device can be applied to a hydraulic system including a hydraulic pump and a motor, and can also be applied to an electric excavator of the above hydraulic system, and can also be applied to an associated intelligent device of the above equipment. The intelligent device includes, but is not limited to, one or more of a battery device, a cloud device, an edge computing device, a relay device, a base station device, an urban management device, and an intelligent network-connected device, which is not limited in the embodiments of the present invention. As Figure 3 shown, the electro-hydraulic combined flow control device may include:

[0189] An acquisition module 301, configured to acquire a first control parameter issued by a user to an application device of the hydraulic system and an electro-hydraulic combined state parameter of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic combined state parameter is used to indicate the state of the hydraulic pump and the motor;

[0190] An analysis module 302, configured to analyze the response expectation parameter of the user according to a preset dynamic feature analysis algorithm and the first control parameter;

[0191] A calculation module 303, configured to calculate a current response state parameter of the application device according to the electro-hydraulic combined state parameter;

[0192] A judgment module 304, configured to judge whether the response expectation parameter is within a first preset threshold parameter range of the response state parameter;

[0193] The calculation module 303 is further configured to, when the judgment module 304 determines that the response expectation parameter is not within the first preset threshold parameter range of the response state parameter, calculate a target value parameter according to the response expectation parameter and the response state parameter, and the target value parameter is used to represent the distance degree between the response expectation parameter and the response state parameter;

[0194] A generation module 305, configured to generate a combined response control parameter according to the target value parameter, and the combined response control parameter is used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameter so that the response expectation parameter is within a second preset threshold parameter range of the adjusted response state parameter.

[0195] It can be seen that implementing the embodiments of the present invention can synchronously collect the first control parameters issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system, and combine the preset dynamic characteristic analysis algorithm to respectively analyze the expected response parameters desired by the user and further determine the current response state of the application device, improving the accuracy of understanding the user's intention while improving the accuracy of analyzing the response state of the application device, which is beneficial to improving the control accuracy of further electro-hydraulic combined flow control for the application device. When it is determined that the expected response parameters are not within the first preset threshold parameter range of the response state parameters, a target value parameter representing the distance between the expected response parameters and the response state parameters is calculated according to the expected response parameters and the response state parameters; and according to the target value parameter, a combined response control parameter is generated for dynamically and jointly adjusting the states of the hydraulic pump and the motor to adjust the response state parameters so that the expected response parameters are within the second preset threshold parameter range of the adjusted response state parameters, realizing the joint dynamic regulation of the hydraulic pump and the motor in the hydraulic system. Different from the complete sequential joint regulation in the prior art, it can further improve the flow control efficiency and accuracy of the hydraulic system while reducing the power consumption of the hydraulic system, and can also effectively solve the problems of response lag and energy efficiency imbalance caused by the independent adjustment of the hydraulic pump and the motor in traditional control, making the adjusted system response parameters converge within a stricter second threshold range, which is beneficial to improving the dynamic control accuracy and comprehensive operation stability of the hydraulic system under complex working conditions.

[0196] In the embodiments of the present invention, as an optional implementation manner, the specific manner for the above-mentioned acquisition module 301 to acquire the first control parameters issued by the user to the application device of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system includes:

[0197] Acquire the first multi-dimensional state parameters of the hydraulic pump, the second multi-dimensional state parameters of the motor, the environmental state parameters within the preset range of the hydraulic system, and the second control parameters issued by the user to the application device. The first multi-dimensional state parameters include at least two of the pressure state parameter, the displacement state parameter, the power state parameter, and the response characteristic parameter. The first multi-dimensional state parameters correspond to the second multi-dimensional state parameters. The second control parameters include the user's operation control parameters and the biological body state parameters;

[0198] Based on the first multi-dimensional state parameters and the second multi-dimensional state parameters, construct a multi-dimensional state matrix parameter between the hydraulic pump and the motor;

[0199] Perform target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter. The target coupling calculation includes linear coupling calculation and / or non-linear coupling calculation;

[0200] According to the environmental state parameters, correct the collaborative efficiency parameter to obtain the electro-hydraulic combined state parameters of the hydraulic system;

[0201] Analyze the user's biological instruction parameters according to the biological body state parameters, and the biological instruction parameters match the biological body state parameters;

[0202] Based on the operation control parameters and their corresponding first preset priority parameters, and the biological instruction parameters and their corresponding second preset priority parameters, analyze the user's operation intention parameters;

[0203] According to the operation intention parameters, extract the target displacement gradient parameter of the second control parameter;

[0204] Determine the target displacement gradient parameter as the first control parameter sent by the user to the application device of the hydraulic system.

[0205] It can be seen that implementing this optional embodiment can fuse multi-source parameters by holographically perceiving and collecting multi-dimensional optional state parameters of the hydraulic pump and the motor, construct a multi-dimensional monitoring system of the application device + user that combines the user's operation control parameters and biological body state parameters, which is beneficial to improving the acquisition accuracy and stability of the first control parameter and the electro-hydraulic combined state parameter. By constructing a multi-dimensional state matrix parameter between the hydraulic pump and the motor based on the first multi-dimensional state parameter and the second multi-dimensional state parameter, and performing target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter, improving the generation accuracy and generation stability of the collaborative efficiency parameter, and correcting the collaborative efficiency parameter based on the environmental state parameter to obtain the electro-hydraulic combined state parameter of the hydraulic system, it can further improve the acquisition generation accuracy, comprehensiveness and stability of the electro-hydraulic combined state parameter. Through the dual-channel analysis of the biological body state parameters (such as the operator's hand movement trajectory, force application mode, expression, language, demeanor) and the operation control parameters (such as joystick displacement, button frequency), and combining the preset priority parameters to construct a spatio-temporal correlation model of the operation intention, it can further improve the analysis accuracy, comprehensiveness and stability of the user's operation intention parameters. Thus, based on the operation intention parameters, an effective target displacement gradient parameter of the second control parameter can be effectively extracted, and the target displacement gradient parameter is determined as the first control parameter sent by the user to the application device of the hydraulic system, improving the acquisition determination accuracy of the first control parameter.

[0206] In the embodiment of the present invention, as another optional implementation manner, the specific manner in which the above analysis module 302 analyzes the user's response expectation parameters according to the preset dynamic feature analysis algorithm and the first control parameter includes:

[0207] According to a preset dynamic feature analysis algorithm, perform a target domain decomposition operation on the first control parameter to obtain a dynamic feature vector parameter corresponding to the first control parameter. The dynamic feature vector parameter is used to represent the change situation of the first control parameter, and the target domain decomposition operation is at least one of a time domain decomposition operation, a frequency domain decomposition operation, and a time-frequency joint conversion decomposition operation;

[0208] Calculate the initial response expectation parameter of the user according to the dynamic feature vector parameter;

[0209] Based on a preset sliding window rolling mechanism, correct the initial response expectation parameter;

[0210] Based on the corrected initial response expectation parameter, construct a dynamic response spectrum model in the frequency domain range;

[0211] Perform an integral operation quantization operation on the dynamic response spectrum model to obtain the response expectation parameter of the user.

[0212] It can be seen that implementing this optional embodiment can further jointly determine the time domain gradient and the frequency domain energy through multi-modal feature fusion, taking into account both transient response and steady-state accuracy. Through dynamic weight allocation and priority trigger mechanism, resource optimization configuration is achieved. Through the enhancement of anti-interference ability, the sliding window and forgetting factor design effectively suppress noise interference, improving the robustness of the system, which is beneficial to further improving the understanding generation accuracy, comprehensiveness and stability of the user's response expectation parameter.

[0213] In the embodiment of the present invention, as another optional implementation manner, the specific manner for the above-mentioned calculation module 303 to calculate the current response state parameter of the application device according to the electro-hydraulic joint state parameter includes:

[0214] Calculate the displacement margin parameter and the rotational speed margin parameter of the hydraulic system according to the electro-hydraulic joint state parameter. The displacement margin parameter and the rotational speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system;

[0215] Input the displacement margin parameter and the rotational speed margin parameter into a pre-trained proportional-integral model to output the comprehensive response ability parameter of the hydraulic system;

[0216] Calculate the current response state parameter of the application device according to the comprehensive response ability parameter.

[0217] It can be seen that in the embodiment of the present invention, optionally, by analyzing the above-mentioned comprehensive response ability parameter of the hydraulic system, that is, the comprehensive response space degree (how much response space is left), the application degree of the application device to the hydraulic system (how much response space is applied), that is, the response state parameter, can be further calculated in reverse, so as to improve the calculation flexibility and convenience of the response state parameter.

[0218] In this alternative embodiment, as an alternative implementation, the first preset threshold parameter range of the above response status parameter is dynamically generated, and the dynamic generation strategy of the first preset threshold parameter range is as follows:

[0219] According to the response status parameter, analyze the combined load rate parameters of the hydraulic system, and the combined load rate parameters include the hydraulic pump load rate parameter and the motor load rate parameter;

[0220] Obtain the application parameters within the preset time domain of the application device, and the application parameters are used to represent the application situation of the application device within the preset time domain;

[0221] According to the application parameters, determine the standby control margin parameter range of the hydraulic system;

[0222] Generate the first preset threshold parameter range of the response status parameter according to the combined load rate parameter and the standby control margin parameter range.

[0223] It can be seen that implementing this alternative embodiment can provide a dynamic adjustment mechanism for generating the first preset threshold parameter range for different response status parameters, that is, based on the response status parameter, analyze the combined load rate parameter of the hydraulic system, so that the threshold range strictly matches the actual bearing capacity of the system, avoiding the problems of response lag at high loads and resource waste at low loads in traditional fixed thresholds. Combining the application situation of the application device within the preset time domain, determine the standby control margin parameter range of the hydraulic system, improve the generation accuracy of the standby control margin parameter range, which is beneficial to improving the generation accuracy of the first preset threshold parameter range of the response status parameter while improving the application health and response efficiency of the hydraulic system, avoiding the situation of no response space. Further, it is also beneficial to improve the flexibility of the bidirectional synchronous dynamic adjustment of the hydraulic pump and the motor.

[0224] In this alternative embodiment, as another alternative implementation, the specific manner in which the above generation module 305 generates the combined response control parameter according to the target value parameter includes:

[0225] Calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor according to the displacement margin parameter and the speed margin parameter;

[0226] Analyze the expected response period parameter and other expected response requirement parameters of the user according to the response expectation parameter;

[0227] Generate at least one simulated combined response control parameter for the hydraulic pump and the motor according to the expected response period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter. Each simulated combined response control parameter is used to simulate the dynamic regulation of the states of the hydraulic pump and the motor to simulate the adjustment of the response status parameter;

[0228] For each simulated combined response control parameter, analyze the simulated response effect parameter of the simulated combined response control parameter. The simulated response effect parameter is used to represent the state of the hydraulic pump and the motor simulated by the simulated combined response control parameter, so as to simulate the effect generated during the process of adjusting the response state parameter;

[0229] Judge whether the simulated response effect parameter matches other expected response requirement parameters. When it is judged that the simulated response effect parameter matches other expected response requirement parameters, determine the simulated combined response control parameter as the combined response control parameter;

[0230] When it is judged that the simulated response effect parameters do not match other expected response requirement parameters, calculate the simulated response matching degree value between each simulated response effect parameter and other expected response requirement parameters;

[0231] According to all the simulated response matching degree values, determine the combined response control parameter among all the simulated combined response control parameters.

[0232] It can be seen that implementing this optional embodiment can further calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor based on the displacement margin parameter and the speed margin parameter of the hydraulic system; analyze the user's expected response period parameter and other expected response requirement parameters according to the response expectation parameter; generate at least one simulated combined response control parameter for the hydraulic pump and the motor according to the expected response period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter. By analyzing whether the simulated response effect parameter of each simulated combined response control parameter matches other expected response requirement parameters, it can further improve the electro-hydraulic combined flow control accuracy, comprehensiveness and stability of the combined response control parameter, and is also beneficial to improving the flexibility of electro-hydraulic combined flow control, and is beneficial to further ensuring the efficient use of the hydraulic pump and the motor.

[0233] In this optional embodiment, as another optional implementation manner, the above other expected response requirement parameters include at least one of the noise response range parameter, the temperature response range parameter, and the resource usage range parameter, and the simulated response effect parameter corresponds to the other expected response requirement parameters; as Figure 4 shown, the device further includes:

[0234] A matching module 306, configured to, before the generation module 305 judges whether the simulated response effect parameter matches other expected response requirement parameters, for each requirement parameter in the other expected response requirement parameters, match the current additional update range parameter of the requirement parameter according to the electro-hydraulic combined state parameter and the preset requirement parameter priority value of the requirement parameter;

[0235] An update module 307, configured to update the requirement parameter according to the current additional update range parameter, and trigger an operation for the generation module 305 to determine whether the simulated response effect parameter matches other expected response requirement parameters.

[0236] It can be seen that implementing this optional embodiment can further improve the scientificity and accuracy of the matching between the simulated response effect parameter and other expected response requirement parameters by performing a matching analysis of at least one of the other expected response requirement parameters, including the noise response range parameter, the temperature response range parameter, and the resource usage range parameter, in combination with the electro-hydraulic combined state parameter one by one. It can adapt to the usage situation of the hydraulic system and the expected response of the user at the same time, further improve the accuracy and comprehensiveness of the electro-hydraulic combined flow control, and is beneficial to improving the practicality of the technical solution.

[0237] Embodiment Four

[0238] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of another electro-hydraulic combined flow control device disclosed in the embodiments of the present invention. Among them, the electro-hydraulic combined flow control device can be applied to a hydraulic system including a hydraulic pump and a motor, and can also be applied to an electric excavator of the above hydraulic system, and can also be applied to an associated intelligent device of the above equipment. The intelligent device includes, but is not limited to, one or more of a battery device, a cloud device, an edge computing device, a relay device, a base station device, an urban management device, and an intelligent network-connected device. The embodiments of the present invention do not make limitations. As Figure 5 shown, the electro-hydraulic combined flow control device may include:

[0239] A memory 401 storing executable program code.

[0240] A processor 402 coupled to the memory 401.

[0241] The processor 402 calls the executable program code stored in the memory 401 and executes the steps in the electro-hydraulic combined flow control method described in Embodiment One or Embodiment Two of the present invention.

[0242] Embodiment Five

[0243] The embodiments of the present invention disclose a computer storage medium storing computer instructions, which are used to execute the steps in the electro-hydraulic combined flow control method described in Embodiment One or Embodiment Two of the present invention when the computer instructions are called.

[0244] Embodiment Six

[0245] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the electro-hydraulic combined flow control method described in Embodiment 1 or Embodiment 2.

[0246] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0247] Through the specific descriptions of the above embodiments, those skilled in the art can clearly understand that each implementation manner can be realized by means of software plus a necessary general hardware platform, and of course, it can also be realized by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electrically-erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc memories, a magnetic disk memory, a tape memory, or any other computer-readable medium capable of carrying or storing data.

[0248] Finally, it should be noted that: The electro-hydraulic combined flow control method and device disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, rather than limiting them; Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An electro-hydraulic combined flow control method, characterized in that: The method comprises: Collecting a first control parameter issued by a user to an application device of a hydraulic system and an electro-hydraulic joint state parameter of the hydraulic system, wherein the hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic joint state parameter is used to indicate the state of the hydraulic pump and the motor; Analyzing the user's expected response parameters according to a preset dynamic feature analysis algorithm and the first control parameter; Calculating the current response state parameter of the application device according to the electro-hydraulic joint state parameter; Determine whether the expected response parameter is within a first preset threshold parameter range of the response state parameter, and when it is determined that the expected response parameter is not within the first preset threshold parameter range of the response state parameter, calculate a target value parameter according to the expected response parameter and the response state parameter, wherein the target value parameter is used to indicate the degree of distance between the expected response parameter and the response state parameter; Based on the target value parameter, a joint response control parameter is generated, and the joint response control parameter is used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameter so that the response expectation parameter is within a second preset threshold parameter range of the adjusted response state parameter.

2. The electro-hydraulic combined flow control method according to claim 1, characterized in that: The collecting of the first control parameter issued by the user to the application device of the hydraulic system and the electric-hydraulic joint state parameter of the hydraulic system includes: Collecting a first multidimensional state parameter of the hydraulic pump, a second multidimensional state parameter of the motor, an environmental state parameter within a preset range of the hydraulic system, and a second control parameter issued by the user to the application device, wherein the first multidimensional state parameter includes at least two of a pressure state parameter, a displacement state parameter, a power state parameter, and a response characteristic parameter, the first multidimensional state parameter corresponds to the second multidimensional state parameter, and the second control parameter includes an operation control parameter and a biological posture state parameter of the user; constructing a multidimensional state matrix parameter between the hydraulic pump and the motor based on the first multidimensional state parameter and the second multidimensional state parameter; Performing target coupling calculation on the multi-dimensional state matrix parameters to generate collaborative efficiency parameters, wherein the target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation; According to the environmental state parameter, the synergistic efficiency parameter is corrected to obtain the electric-hydraulic joint state parameter of the hydraulic system; Analyzing the biological instruction parameters of the user according to the biological posture state parameters, wherein the biological instruction parameters match the biological posture state parameters; Analyzing the user's operation intention parameter based on the operation control parameter and its corresponding first preset priority parameter and the biological instruction parameter and its corresponding second preset priority parameter; extracting a target displacement gradient parameter of the second control parameter according to the operation intention parameter; The target displacement gradient parameter is determined as a first control parameter issued by the user to the application device of the hydraulic system.

3. The electro-hydraulic combined flow control method according to claim 1, characterized in that: The analyzing the user's expected response parameter according to a preset dynamic feature analysis algorithm and the first control parameter includes: According to a preset dynamic feature analysis algorithm, a target domain decomposition operation is performed on the first control parameter to obtain a dynamic feature vector parameter corresponding to the first control parameter, wherein the dynamic feature vector parameter is used to represent a change in the first control parameter, and the target domain decomposition operation is at least one of a time domain decomposition operation, a frequency domain decomposition operation, and a time-frequency joint conversion decomposition operation; Calculating the user's initial response expectation parameter according to the dynamic feature vector parameter; Based on a preset sliding window rolling mechanism, modifying the initial response expectation parameter; Based on the modified initial response expected parameters, constructing a dynamic response spectrum model in the frequency domain; An integral operation and quantization operation are performed on the dynamic response spectrum model to obtain the expected response parameters of the user.

4. The electro-hydraulic combined flow control method according to any one of claims 1 to 3, characterized in that: The calculating the current response state parameter of the application device according to the electro-hydraulic joint state parameter includes: Calculating a displacement margin parameter and a speed margin parameter of the hydraulic system according to the electric-hydraulic joint state parameter, wherein the displacement margin parameter and the speed margin parameter are positively correlated with a remaining adjustment space of the hydraulic system; Inputting the displacement margin parameter and the speed margin parameter into a pre-trained proportional-integral model, and outputting a comprehensive response capability parameter of the hydraulic system; According to the comprehensive response capability parameter, a current response state parameter of the application device is calculated.

5. The electro-hydraulic combined flow control method according to claim 4, characterized in that: The first preset threshold parameter range of the response state parameter is dynamically generated, and the dynamic generation strategy of the first preset threshold parameter range is: Analyzing a combined load rate parameter of the hydraulic system according to the response state parameter, the combined load rate parameter including a hydraulic pump load rate parameter and a motor load rate parameter; Acquire application parameters of the application device in a preset time domain, where the application parameters are used to represent the application status of the application device in the preset time domain; Determining a range of standby control margin parameters of the hydraulic system according to the application parameters; A first preset threshold parameter range of the response state parameter is generated according to the combined load rate parameter and the standby control margin parameter range.

6. The electro-hydraulic combined flow control method according to claim 4, characterized in that: Generating a joint response control parameter according to the target value parameter includes: Calculating a first adjustable range parameter of the hydraulic pump and a second adjustable range parameter of the motor according to the displacement margin parameter and the speed margin parameter; Analyzing the expected response time period parameter and other expected response requirement parameters of the user according to the expected response parameter; generating at least one simulated joint response control parameter of the hydraulic pump and the motor according to the expected response period parameter, the target value parameter, the first adjustable range parameter and the second adjustable range parameter, each of the simulated joint response control parameters being used to simulate the state of dynamically regulating the hydraulic pump and the motor to simulate the adjustment of the response state parameter; For each of the simulated joint response control parameters, analyzing a simulated response effect parameter of the simulated joint response control parameter, wherein the simulated response effect parameter is used to indicate that the simulated joint response control parameter is used to simulate the state of dynamically regulating the hydraulic pump and the motor, so as to simulate the effect produced in the process of adjusting the response state parameter; Determining whether the simulated response effect parameter matches the other expected response requirement parameters, and when it is determined that the simulated response effect parameter matches the other expected response requirement parameters, determining the simulated joint response control parameter as the joint response control parameter; When it is determined that the simulated response effect parameters do not match the other expected response requirement parameters, then calculating the simulated response matching value between each of the simulated response effect parameters and the other expected response requirement parameters; According to all the simulated response matching values, a joint response control parameter is determined among all the simulated joint response control parameters.

7. The electro-hydraulic combined flow control method according to claim 6, characterized in that: The other expected response requirement parameters include at least one requirement parameter among a noise response range parameter, a temperature response range parameter, and a resource usage range parameter, and the simulation response effect parameter corresponds to the other expected response requirement parameter; Before determining whether the simulated response effect parameter matches the other expected response requirement parameters, the method further includes: For each of the other desired response demand parameters, matching the current additional update range parameter of the demand parameter according to the electric-hydraulic joint state parameter and the preset demand parameter priority value of the demand parameter; According to the current additional update range parameter, the requirement parameter is updated, and the operation of determining whether the simulated response effect parameter matches the other expected response requirement parameters is triggered.

8. An electro-hydraulic combined flow control device, characterized in that: The device comprises: A collection module, used to collect a first control parameter issued by a user to an application device of a hydraulic system and an electro-hydraulic joint state parameter of the hydraulic system, wherein the hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic joint state parameter is used to indicate the state of the hydraulic pump and the motor; An analysis module, used for analyzing the user's response expectation parameter according to a preset dynamic feature analysis algorithm and the first control parameter; A calculation module, used for calculating the current response state parameter of the application device according to the electric-hydraulic joint state parameter; A judging module, used for judging whether the expected response parameter is within a first preset threshold parameter range of the response state parameter; The calculation module is further configured to calculate a target value parameter according to the expected response parameter and the response state parameter when the judgment module determines that the expected response parameter is not within a first preset threshold parameter range of the response state parameter, wherein the target value parameter is used to indicate a degree of distance between the expected response parameter and the response state parameter; A generation module is used to generate a joint response control parameter based on the target value parameter, and the joint response control parameter is used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameter so that the response expectation parameter is within a second preset threshold parameter range of the adjusted response state parameter.

9. An electro-hydraulic combined flow control device, characterized in that: The device comprises: A memory storing executable program code; a processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the electric-hydraulic combined flow control method as described in any one of claims 1-7.

10. A computer storage medium, characterized in that: The computer storage medium stores computer instructions, and when the computer instructions are called, they are used to execute the electric-hydraulic combined flow control method according to any one of claims 1-7.

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