Electro-hydraulic combined flow control method and device

Abstract

The application relates to the technical field of hydraulic system control, and discloses an electro-hydraulic combined flow control method and device, which comprises the following steps: collecting a first control parameter sent by a user to an application equipment of a hydraulic system and an electro-hydraulic combined state parameter of the hydraulic system; analyzing a response expectation parameter of the user according to a preset dynamic characteristic analysis algorithm and the first control parameter; calculating a current response state parameter of the application equipment according to the electro-hydraulic combined state parameter; judging whether the response expectation parameter is within a first preset threshold parameter range of the response state parameter; when the judgment result is yes, calculating a target value parameter according to the response expectation parameter and the response state parameter, and then generating a state condition for dynamically and jointly adjusting a hydraulic pump and a motor, so as 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 the application can improve the flow control efficiency of the hydraulic system.

Description

Technical Field

[0001] This invention relates to the field of hydraulic system control technology, and in particular to an electro-hydraulic combined flow control method and device. Background Technology

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

[0003] In practical applications, the hydraulic pump displacement is adjusted first for ease of adjustment. However, when the hydraulic pump displacement has been adjusted to the maximum, if it is still necessary to control the flow of the hydraulic system, it is necessary to adjust the motor speed. As mentioned above, the motor response time is relatively low. At this time, it will not only affect the flow control efficiency of the hydraulic system, but also further increase the power consumption of the hydraulic system, specifically manifested as increased noise power consumption and increased heat power consumption.

[0004] Therefore, improving the flow control efficiency of hydraulic systems and thus reducing their power consumption is of paramount importance. Summary of the Invention

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

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses an electro-hydraulic combined flow control method, the method comprising:

[0007] The system collects the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor.

[0008] The user's expected response parameters are analyzed based on the preset dynamic feature analysis algorithm and the first control parameters;

[0009] Calculate the current response state parameters of the application device based on the electro-hydraulic combined state parameters;

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

[0011] Based on the target value parameter, a joint response control parameter is generated. 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 expected response parameter is within the range of the second preset threshold parameter of the adjusted response state parameter.

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

[0013] The system collects a first multi-dimensional state parameter of the hydraulic pump, a second multi-dimensional state parameter of the motor, environmental state parameters within a preset range of the hydraulic system, and a second control parameter issued by the user to the application device. The first multi-dimensional state parameter includes at least two of the following: 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 biological state parameter.

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

[0015] The multi-dimensional state matrix parameters are subjected to target coupling calculation to generate cooperative efficiency parameters. The target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation.

[0016] Based on the environmental state parameters, the coordination efficiency parameters are corrected to obtain the electro-hydraulic combined state parameters of the hydraulic system;

[0017] Based on the biological body state parameters, the user's biological command parameters are analyzed, and the biological command parameters are matched with the biological body state parameters;

[0018] 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, the user's operation intention parameters are analyzed.

[0019] Based on the operational intent parameters, extract the target displacement gradient parameters of the second control parameters;

[0020] The target displacement gradient parameter is determined as the first control parameter issued by the user to the application equipment of the hydraulic system.

[0021] As an optional implementation, in the first aspect of the present invention, the step of analyzing the user's response expectation parameters based on a preset dynamic feature analysis algorithm and the first control parameters includes:

[0022] According to a preset dynamic feature analysis algorithm, a target domain decomposition operation is performed 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 of the first control parameter. The target domain decomposition operation is at least one of time domain decomposition operation, frequency domain decomposition operation, and time-frequency joint transformation decomposition operation.

[0023] Calculate the user's initial response expectation parameters based on the dynamic feature vector parameters;

[0024] The initial response expectation parameters are corrected based on a preset sliding window scrolling mechanism;

[0025] Based on the corrected initial response expectation parameters, a dynamic response spectrum model is constructed in the frequency domain.

[0026] The dynamic response spectrum model is subjected to integral quantization to obtain the user's expected response parameters.

[0027] As an optional implementation, in the first aspect of the present invention, calculating the current response state parameters of the application device based on the electro-hydraulic combined state parameters includes:

[0028] Based on the electro-hydraulic combined state parameters, the displacement margin parameter and the speed margin parameter of the hydraulic system are calculated. The displacement margin parameter and the speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system.

[0029] The displacement margin parameter and the speed margin parameter are input into a pre-trained proportional-integral model to output the comprehensive response capability parameter of the hydraulic system.

[0030] Based on the comprehensive response capability parameters, calculate the current response status parameters of the application device.

[0031] As an optional implementation, 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 as follows:

[0032] Based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, which include hydraulic pump load rate parameters and motor load rate parameters;

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

[0034] Based on the application parameters, determine the range of backup control margin parameters for the hydraulic system;

[0035] Based on the combined load rate parameter and the range of the standby control margin parameter, a first preset threshold parameter range for the response status parameter is generated.

[0036] As an optional implementation, in the first aspect of the present invention, generating joint response control parameters based on the target value parameters includes:

[0037] Based on the displacement margin parameter and the speed margin parameter, calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor;

[0038] Based on the response expectation parameters, analyze the user's expected response time period parameters and other expected response requirement parameters;

[0039] Based on the expected response time period parameter, the target value parameter, the first adjustable range parameter, and the second adjustable range parameter, at least one simulated joint response control parameter for the hydraulic pump and the motor is generated. Each simulated joint response control parameter is used to simulate the dynamic regulation of the state of the hydraulic pump and the motor in order to simulate the adjustment of the response state parameter.

[0040] For each of the simulated joint response control parameters, the simulated response effect parameter of the simulated joint response control parameter is analyzed. The simulated response effect parameter is used to represent the state of the simulated joint response control parameter in simulating the dynamic regulation of the hydraulic pump and the motor, so as to simulate the effect produced in the process of adjusting the response state parameter.

[0041] Determine whether the simulated response effect parameter matches the other expected response requirement parameters. If the simulated response effect parameter matches the other expected response requirement parameters, then the simulated joint response control parameter is determined as the joint response control parameter.

[0042] When it is determined that none of the simulated response effect parameters match the other expected response requirement parameters, the simulated response matching degree value between each simulated response effect parameter and the other expected response requirement parameters is calculated.

[0043] Based on all the simulated response matching values, the joint response control parameters are determined from all the simulated joint response control parameters.

[0044] As an optional implementation, in the first aspect of the present invention, the other desired response requirement parameters include at least one of the following: noise response range parameter, temperature response range parameter, and resource usage range parameter; 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:

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

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

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

[0048] The acquisition module is used to acquire the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor.

[0049] The analysis module is used to analyze the user's response expectation parameters based on a preset dynamic feature analysis algorithm and the first control parameters;

[0050] The calculation module is used to calculate the current response state parameters of the application device based on the electro-hydraulic combined state parameters;

[0051] The judgment module is used to determine whether the expected response parameter is within the range of the first preset threshold parameter of the response status parameter;

[0052] The calculation module is further configured to calculate a target value parameter based on the response expectation parameter and the response state parameter when the judgment module determines that the response expectation parameter is not within the range of the first preset threshold parameter of the response state parameter. The target value parameter is used to represent the degree of distance between the response expectation parameter and the response state parameter.

[0053] The generation module is used to generate joint response control parameters based on the target value parameters. The joint response control parameters are used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameters so that the expected response parameters are within the range of the second preset threshold parameters of the adjusted response state parameters.

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

[0055] The system collects a first multi-dimensional state parameter of the hydraulic pump, a second multi-dimensional state parameter of the motor, environmental state parameters within a preset range of the hydraulic system, and a second control parameter issued by the user to the application device. The first multi-dimensional state parameter includes at least two of the following: 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 biological state parameter.

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

[0057] The multi-dimensional state matrix parameters are subjected to target coupling calculation to generate cooperative efficiency parameters. The target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation.

[0058] Based on the environmental state parameters, the coordination efficiency parameters are corrected to obtain the electro-hydraulic combined state parameters of the hydraulic system;

[0059] Based on the biological body state parameters, the user's biological command parameters are analyzed, and the biological command parameters are matched with the biological body state parameters;

[0060] 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, the user's operation intention parameters are analyzed.

[0061] Based on the operational intent parameters, extract the target displacement gradient parameters of the second control parameters;

[0062] The target displacement gradient parameter is determined as the first control parameter issued by the user to the application equipment of the hydraulic system.

[0063] As an optional implementation, in a second aspect of the present invention, the specific method by which the analysis module analyzes the user's expected response parameters based on a preset dynamic feature analysis algorithm and the first control parameters includes:

[0064] According to a preset dynamic feature analysis algorithm, a target domain decomposition operation is performed 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 of the first control parameter. The target domain decomposition operation is at least one of time domain decomposition operation, frequency domain decomposition operation, and time-frequency joint transformation decomposition operation.

[0065] Calculate the user's initial response expectation parameters based on the dynamic feature vector parameters;

[0066] The initial response expectation parameters are corrected based on a preset sliding window scrolling mechanism;

[0067] Based on the corrected initial response expectation parameters, a dynamic response spectrum model is constructed in the frequency domain.

[0068] The dynamic response spectrum model is subjected to integral quantization to obtain the user's expected response parameters.

[0069] As an optional implementation, in a second aspect of the present invention, the specific method by which the calculation module calculates the current response state parameters of the application device based on the electro-hydraulic combined state parameters includes:

[0070] Based on the electro-hydraulic combined state parameters, the displacement margin parameter and the speed margin parameter of the hydraulic system are calculated. The displacement margin parameter and the speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system.

[0071] The displacement margin parameter and the speed margin parameter are input into a pre-trained proportional-integral model to output the comprehensive response capability parameter of the hydraulic system.

[0072] Based on the comprehensive response capability parameters, calculate the current response status parameters of the application device.

[0073] As an optional 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 for the first preset threshold parameter range is as follows:

[0074] Based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, which include hydraulic pump load rate parameters and motor load rate parameters;

[0075] Obtain application parameters of the application device within a preset time domain, wherein the application parameters are used to represent the application status of the application device within the preset time domain;

[0076] Based on the application parameters, determine the range of backup control margin parameters for the hydraulic system;

[0077] Based on the combined load rate parameter and the range of the standby control margin parameter, a first preset threshold parameter range for the response status parameter is generated.

[0078] As an optional implementation, in the second aspect of the present invention, the specific method by which the generation module generates the joint response control parameters based on the target value parameters includes:

[0079] Based on the displacement margin parameter and the speed margin parameter, calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor;

[0080] Based on the response expectation parameters, analyze the user's expected response time period parameters and other expected response requirement parameters;

[0081] Based on the expected response time period parameter, the target value parameter, the first adjustable range parameter, and the second adjustable range parameter, at least one simulated joint response control parameter for the hydraulic pump and the motor is generated. Each simulated joint response control parameter is used to simulate the dynamic regulation of the state of the hydraulic pump and the motor in order to simulate the adjustment of the response state parameter.

[0082] For each of the simulated joint response control parameters, the simulated response effect parameter of the simulated joint response control parameter is analyzed. The simulated response effect parameter is used to represent the state of the simulated joint response control parameter in simulating the dynamic regulation of the hydraulic pump and the motor, so as to simulate the effect produced in the process of adjusting the response state parameter.

[0083] Determine whether the simulated response effect parameter matches the other expected response requirement parameters. If the simulated response effect parameter matches the other expected response requirement parameters, then the simulated joint response control parameter is determined as the joint response control parameter.

[0084] When it is determined that none of the simulated response effect parameters match the other expected response requirement parameters, the simulated response matching degree value between each simulated response effect parameter and the other expected response requirement parameters is calculated.

[0085] Based on all the simulated response matching values, the joint response control parameters are determined from all the simulated joint response control parameters.

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

[0087] The matching module is used to match the current additional update range parameter of each of the other expected response requirement parameters, according to the electro-hydraulic joint state parameter and the preset requirement parameter priority value of the requirement parameter, before the generation module determines whether the simulated response effect parameter matches the other expected response requirement parameters.

[0088] The update module is used to update the requirement parameter according to the current additional update range parameter, and trigger the generation module to perform the operation of judging whether the simulated response effect parameter matches the other expected response requirement parameters.

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

[0090] Memory containing executable program code;

[0091] A processor coupled to the memory;

[0092] The processor calls the executable program code stored in the memory to execute 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 storing computer instructions, which, when invoked, are used to execute the electro-hydraulic combined flow control method disclosed in the first aspect of the present invention.

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

[0095] In this embodiment of the invention, the system collects first control parameters issued by the user to the application device of the hydraulic system and electro-hydraulic joint state parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor, and the electro-hydraulic joint state parameters are used to indicate the state of the hydraulic pump and the motor. Based on a preset dynamic feature analysis algorithm and the first control parameters, the system analyzes the user's expected response parameters. Based on the electro-hydraulic joint state parameters, the system calculates the current response state parameters of the application device. It then determines whether the expected response parameters are within a first preset threshold parameter range of the response state parameters. If the expected response parameters are not within the first preset threshold parameter range, a target value parameter is calculated based on the expected response parameters and the response state parameters. The target value parameter represents the distance between the expected response parameters and the response state parameters. Based on the target value parameter, a joint response control parameter is generated. This joint response control parameter is used to dynamically adjust the state of the hydraulic pump and the motor to adjust the response state parameters so that the expected response parameters are within a second preset threshold parameter range of the adjusted response state parameters. As can be seen, implementing this invention can simultaneously collect the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system. Combined with a preset dynamic feature analysis algorithm, it can analyze the user's desired response parameters and further determine the current response state of the application equipment. This improves the accuracy of understanding the user's intentions while also improving the accuracy of the application equipment's response state analysis. This is beneficial for improving the control accuracy of further electro-hydraulic combined flow control of the application equipment. Furthermore, when it is determined that the desired response parameter is not within the range of the first preset threshold parameter of the response state parameter, a target value parameter representing the distance between the desired response parameter and the response state parameter is calculated based on the desired response parameter and the response state parameter. And based on the target... The system generates calibrated parameters to dynamically adjust the states of the hydraulic pump and motor, thereby adjusting the response state parameters. This ensures that the expected response parameters fall within the range of a second preset threshold parameter of the adjusted response state parameters, enabling joint dynamic control of the hydraulic pump and motor in the hydraulic system. Unlike the completely sequential joint control in existing technologies, this approach can further improve the efficiency and accuracy of hydraulic system flow control while reducing power consumption. It also effectively solves the response lag and energy efficiency imbalance problems caused by independent adjustment of the hydraulic pump and motor in traditional control, allowing the adjusted system response parameters to converge within a more stringent second threshold range. This is beneficial for improving the dynamic control accuracy and overall operational stability of the hydraulic system under complex working conditions. Attached Figure Description

[0096] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

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

[0101] Figure 5 This is a schematic diagram of the structure of another electro-hydraulic combined flow control device disclosed in the embodiments of the present invention. Detailed Implementation

[0102] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0103] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0104] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0105] This invention discloses an electro-hydraulic combined flow control method and apparatus. It can simultaneously acquire the first control parameters issued by the user to the application equipment in the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system. Combined with a preset dynamic feature analysis algorithm, it analyzes the user's desired response parameters and further determines the current response state of the application equipment. This improves the accuracy of understanding the user's intentions and the accuracy of analyzing the application equipment's response state, thus enhancing the control accuracy for further electro-hydraulic combined flow control of the application equipment. Furthermore, when it is determined that the desired response parameters are not within the range of a first preset threshold parameter of the response state parameters, a target value representing the distance between the desired response parameters and the response state parameters is calculated based on the desired response parameters and the response state parameters. The system generates parameters based on target values ​​to dynamically adjust the states of the hydraulic pump and motor, thereby adjusting the response state parameters. This ensures that the desired response parameters fall within a second preset threshold range of the adjusted response state parameters, enabling joint dynamic control of the hydraulic pump and motor within the hydraulic system. Unlike existing technologies that rely on completely sequential joint control, this approach improves the efficiency and accuracy of hydraulic system flow control while further reducing power consumption. It also effectively addresses the response lag and energy efficiency imbalance issues caused by independent adjustment of the hydraulic pump and motor in traditional control systems. The adjusted system response parameters converge within a stricter second threshold range, improving the dynamic control accuracy and overall operational stability of the hydraulic system under complex operating conditions. These details are explained below.

[0106] Example 1

[0107] Please see Figure 1 , Figure 1 This is a schematic flowchart of an electro-hydraulic combined flow control method disclosed in an embodiment of the present invention. Figure 1 The described electro-hydraulic combined flow control method can be applied to hydraulic systems including hydraulic pumps and motors, and also to electric excavators with the aforementioned hydraulic systems. It can also be applied to associated intelligent devices, including but not limited to one or more of battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the scope of the application. Figure 1As shown, the electro-hydraulic combined flow control method may include the following operations:

[0108] 101. Collect the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor.

[0109] In this embodiment of the invention, optionally, the first control parameter can be obtained by analyzing and collecting data in conjunction with the user's physical characteristics and specific operations near the application device;

[0110] In this embodiment of the invention, as an optional implementation, the above-mentioned collection of the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system includes:

[0111] The system collects first multi-dimensional state parameters of the hydraulic pump, second multi-dimensional state parameters of the motor, environmental state parameters within a preset range of the hydraulic system, and second control parameters issued by the user to the application equipment. The first multi-dimensional state parameters include at least two of the following: pressure state parameters, displacement state parameters, power state parameters, and response characteristic parameters. The first multi-dimensional state parameters correspond to the second multi-dimensional state parameters. The second control parameters include user operation control parameters and biological state parameters.

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

[0113] Target coupling calculation is performed on the multi-dimensional state matrix parameters to generate cooperative efficiency parameters. The target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation.

[0114] Based on the environmental state parameters, the coordination efficiency parameters are corrected to obtain the electro-hydraulic joint state parameters of the hydraulic system.

[0115] Based on the biological state parameters, the user's biological command parameters are analyzed, and the biological command parameters are matched with the biological state parameters.

[0116] 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, the user's operation intention parameters are analyzed.

[0117] Based on the operational intent parameters, extract the target displacement gradient parameters of the second control parameters;

[0118] The target displacement gradient parameter is determined as the first control parameter issued by the user to the application equipment of the hydraulic system.

[0119] As can be seen, implementing this optional embodiment can holographically sense and collect multi-dimensional selectable state parameters of the hydraulic pump and motor, fuse multi-source parameters, and construct a multi-dimensional monitoring system combining user operation control parameters and biological state parameters. This is beneficial for improving the accuracy and stability of the acquisition of the first control parameter and the electro-hydraulic joint state parameters. By constructing a multi-dimensional state matrix parameter between the hydraulic pump and motor based on the first and second multi-dimensional state parameters, and performing target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter, the accuracy and stability of the collaborative efficiency parameter generation are improved. Based on the environmental state parameters, the collaborative efficiency parameter is corrected to obtain the electro-hydraulic joint parameters of the hydraulic system. By combining state parameters, the accuracy, comprehensiveness, and stability of the acquisition and generation of electro-hydraulic combined state parameters can be further improved. Through dual-channel analysis of biological state parameters (such as operator's hand movement trajectory, force application mode, facial expression, language, and demeanor) and operation control parameters (such as joystick displacement and button frequency), and combined with preset priority parameters to construct a spatiotemporal correlation model of operation intention, the accuracy, comprehensiveness, and stability of the analysis of user operation intention parameters can be further improved. Based on the operation intention parameters, the effective target displacement gradient parameters of the second control parameters can be effectively extracted. The target displacement gradient parameters are determined as the first control parameters issued by the user to the application equipment of the hydraulic system, thereby improving the accuracy of the acquisition and determination of the first control parameters.

[0120] 102. Analyze the user's expected response parameters based on the preset dynamic feature analysis algorithm and the first control parameter;

[0121] In this embodiment of the invention, as another optional implementation, the above-mentioned analysis of the user's response expectation parameters based on the preset dynamic feature analysis algorithm and the first control parameters includes:

[0122] According to the preset dynamic feature analysis algorithm, the target domain decomposition operation is performed 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 of the first control parameter. The target domain decomposition operation is at least one of time domain decomposition operation, frequency domain decomposition operation, and time-frequency joint transformation decomposition operation.

[0123] Calculate the user's initial response expectation parameters based on the dynamic feature vector parameters;

[0124] Based on a preset sliding window scrolling mechanism, the initial response expectation parameters are corrected;

[0125] Based on the corrected initial response expectation parameters, a dynamic response spectrum model is constructed in the frequency domain.

[0126] The dynamic response spectrum model is subjected to integral quantization to obtain the user's expected response parameters.

[0127] In this optional embodiment, the following operations may be performed in the target domain decomposition operation described above:

[0128] The first control parameter is subjected to sliding mean filtering to eliminate high-frequency noise interference;

[0129] The rising edge slope is extracted by a piecewise linear fitting algorithm. Specifically, the signal is divided into windows of fixed length (e.g., 10ms), the maximum rate of change of the signal in each window is calculated, and the linear segment of the rising edge in the window is fitted by the least squares method. The absolute value of the slope is used as the slope feature value of the window.

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

[0131] If the signal periodicity is not obvious, the center frequency of the frequency domain energy concentration region can be extracted by short-time Fourier transform (STFT).

[0132] Meanwhile, 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 between sampling points of the first control parameter can be further calculated.

[0133] Further optionally, for the preset sliding window scrolling mechanism, the specific initial response expectation parameters can be calculated by weighting the dynamic feature vector parameters, and an exponential decay factor can be introduced to weight the historical parameters by forgetting, thereby suppressing hysteresis error.

[0134] Further, optionally, the construction of the dynamic response spectrum model and the corresponding integral quantization operations can be specifically as follows:

[0135] For a time-domain signal, perform a windowed FFT (Hanning window) to calculate the amplitude-frequency response curve;

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

[0137] Integrate the amplitude-frequency response over the target frequency band;

[0138] Introduce a frequency band weighting allocation mechanism, such as giving higher weight to higher frequency bands than to lower frequency bands, to enhance rapid response while maintaining steady-state accuracy;

[0139] Finally, using the normalized integral results and defined speed level thresholds (e.g., high-speed level > 0.8, medium-speed level 0.5~0.8), the expected parameters of the discretized response are output by looking up a table.

[0140] As can be seen, implementing this optional embodiment can further determine the temporal gradient and frequency energy jointly through multimodal feature fusion, taking into account both transient response and steady-state accuracy. Through dynamic weight allocation and priority triggering mechanism, it can achieve optimized resource allocation. Through enhanced anti-disturbance capability, the sliding window and forgetting factor design can effectively suppress noise interference and improve the robustness of the system. This is conducive to further improving the accuracy, comprehensiveness and stability of the user's understanding and generation of response expectation parameters.

[0141] 103. Calculate the current response state parameters of the application equipment based on the electro-hydraulic combined state parameters;

[0142] 104. Determine whether the expected response parameters are within the range of the first preset threshold parameter of the response status parameters;

[0143] 105. When it is determined that the expected response parameter is not within the range of the first preset threshold parameter of the response state parameter, the target value parameter is calculated based on the expected response parameter and the response state parameter. The target value parameter is used to represent the degree of distance between the expected response parameter and the response state parameter.

[0144] 106. Based on the target value parameter, generate joint response control parameters. The joint response control parameters are used to dynamically adjust the state of the hydraulic pump and motor to adjust the response state parameters so that the expected response parameters are within the range of the second preset threshold parameter of the adjusted response state parameters.

[0145] In this embodiment of the invention, optionally, when it is determined that the expected response parameter is within the range of the first preset threshold parameter of the response state parameter, it can be understood that the response state parameter will match the expected response parameter as the hydraulic system is gradually used. It can also be directly understood that the response state parameter and the expected response parameter are matched. In this case, no adjustment is needed. Alternatively, the response state parameter can be automatically adjusted to gradually approach the expected response parameter based on the range of the first preset threshold parameter.

[0146] Furthermore, optionally, the trend of the response status parameters within a preset time period can be collected to determine whether the response status parameters will automatically and gradually approach the expected response parameters. If not, steps 105 and 106 can be triggered. The specific implementation may vary depending on the actual application.

[0147] Furthermore, optionally, the range of the second preset threshold parameter can be the same as or different from the range of the first preset threshold parameter. If they are different, the range of the second preset threshold parameter can be another balance point, which is related to the use scenario, service life, and status of the hydraulic system and should be based on the actual application scenario.

[0148] As can be seen, implementing the embodiments of the present invention can simultaneously collect the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system. Combined with a preset dynamic feature analysis algorithm, it can analyze the user's desired response parameters and further determine the current response state of the application equipment. This improves the accuracy of understanding the user's intentions while also improving the accuracy of the application equipment's response state analysis. This is beneficial for improving the control accuracy of further electro-hydraulic combined flow control of the application equipment. Furthermore, when it is determined that the desired response parameter is not within the range of the first preset threshold parameter of the response state parameter, a target value parameter representing the distance between the desired response parameter and the response state parameter is calculated based on the desired response parameter and the response state parameter. Based on the target value parameters, the state of the hydraulic pump and motor is generated for dynamic joint adjustment, thereby adjusting the response state parameters so that the expected response parameters are within the range of the second preset threshold parameters of the adjusted response state parameters. This achieves joint dynamic control of the hydraulic pump and motor in the hydraulic system. Unlike the completely sequential joint control in the prior art, this method can further reduce the power consumption of the hydraulic system while improving the flow control efficiency and accuracy. It can also effectively solve the response lag and energy efficiency imbalance problems caused by the independent adjustment of the hydraulic pump and motor in traditional control. The adjusted system response parameters converge to a more stringent second threshold range, which is beneficial to improving the dynamic control accuracy and overall operational stability of the hydraulic system under complex working conditions.

[0149] Example 2

[0150] Please see Figure 2 , Figure 2 This is a schematic flowchart of another electro-hydraulic combined flow control method disclosed in an embodiment of the present invention. Figure 2 The described electro-hydraulic combined flow control method can be applied to hydraulic systems including hydraulic pumps and motors, and also to electric excavators with the aforementioned hydraulic systems. It can also be applied to associated intelligent devices, including but not limited to one or more of battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the scope of the application. Figure 2 As shown, the electro-hydraulic combined flow control method may include the following operations:

[0151] 201. Collect the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor.

[0152] 202. Analyze the user's expected response parameters based on the preset dynamic feature analysis algorithm and the first control parameter;

[0153] In this embodiment of the invention, for supplementary explanations of steps 201 and 202, please refer to the supplementary explanations of steps 101 and 102 in Embodiment 1. This embodiment of the invention will not repeat these explanations.

[0154] 203. Based on the electro-hydraulic combined state parameters, calculate the displacement margin parameters and speed margin parameters of the hydraulic system. The displacement margin parameters and speed margin parameters are positively correlated with the remaining adjustment space of the hydraulic system.

[0155] 204. Input the displacement margin parameters and speed margin parameters into the pre-trained proportional-integral model, and output the comprehensive response capability parameters of the hydraulic system;

[0156] 205. Based on the comprehensive response capability parameters, calculate the current response status parameters of the application equipment;

[0157] In this embodiment of the invention, optionally, by analyzing the comprehensive response capability parameters of the hydraulic system, i.e. the comprehensive response space degree (how much response space is left), the application degree of the application equipment to the hydraulic system (how much response space has been applied), i.e. the response state parameters, can be further calculated in reverse, thereby improving the flexibility and convenience of calculating the response state parameters.

[0158] 206. Determine whether the expected response parameters are within the range of the first preset threshold parameter of the response status parameters;

[0159] In this embodiment of the invention, as an optional implementation, the first preset threshold parameter range of the response state parameter is dynamically generated. The dynamic generation strategy for the first preset threshold parameter range is as follows:

[0160] Based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, which include the hydraulic pump load rate parameters and the motor load rate parameters.

[0161] Obtain application parameters of the application device within a preset time domain. The application parameters are used to represent the application status of the application device within the preset time domain.

[0162] Determine the range of backup control margin parameters for the hydraulic system based on the application parameters;

[0163] Based on the combined load rate parameter and the range of standby control margin parameter, a first preset threshold parameter range for the response status parameter is generated.

[0164] In this embodiment of the invention, optionally, the aforementioned backup control margin parameter range can be used to prevent the hydraulic pump displacement from being near its maximum value. This is because when the hydraulic pump displacement is near its maximum value, the displacement cannot be increased further, and the system will lose its rapid response capability. Therefore, it is necessary to adjust the hydraulic pump displacement and the motor speed simultaneously to ensure that the following objectives are met: the hydraulic pump flow rate remains unchanged; the hydraulic pump displacement is adjusted to a preset value, for example, 85% of the displacement.

[0165] It is evident that implementing this optional embodiment can provide a dynamic adjustment mechanism for generating a first preset threshold parameter range for different response state parameters. Specifically, based on the response state parameters, the combined load rate parameters of the hydraulic system are analyzed, ensuring that the threshold range strictly matches the actual load-bearing capacity of the system. This avoids the problems of delayed response under high load and resource waste under low load associated with traditional fixed thresholds. Combined with the application conditions within a preset time domain of the application equipment, the range of backup control margin parameters for the hydraulic system is determined, improving the accuracy of generating the backup control margin parameter range. This is beneficial for improving the accuracy of generating the first preset threshold parameter range for the response state parameters, while also enhancing the application health and response efficiency of the hydraulic system, preventing situations where there is no response space. Furthermore, it also improves the flexibility of bidirectional synchronous dynamic adjustment of the hydraulic pump and motor.

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

[0167] 208. Based on the target value parameter, generate joint response control parameters. The joint response control parameters are used to dynamically adjust the state of the hydraulic pump and motor in order to adjust the response state parameters so that the expected response parameters are within the range of the second preset threshold parameter of the adjusted response state parameters.

[0168] In this embodiment of the invention, the effect of the joint response control parameters can be as follows: combined with the expected response parameters, the displacement of the hydraulic pump is increased first. When the corresponding expected response parameters are met, the displacement of the hydraulic pump can be reduced simultaneously, the speed of the motor can be increased, the flow rate can be kept constant, and the transition can be gradual, which is also beneficial to reducing the power consumption of the system.

[0169] In this embodiment of the invention, as another optional implementation, the above-mentioned generation of joint response control parameters based on the target value parameters includes:

[0170] Based on the displacement margin parameter and the speed margin parameter, calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor;

[0171] Based on the response expectation parameters, analyze the user's expected response time period parameters and other expected response requirement parameters;

[0172] Based on the expected response time parameters, target value parameters, first adjustable range parameters, and second adjustable range parameters, at least one simulated joint response control parameter for the hydraulic pump and motor is generated. Each simulated joint response control parameter is used to simulate the dynamic regulation of the state of the hydraulic pump and motor in order to simulate the adjustment of the response state parameters.

[0173] For each simulated joint response control parameter, analyze the simulated response effect parameter of that simulated joint response control parameter. The simulated response effect parameter is used to represent the state of the simulated joint response control parameter in simulating the dynamic regulation of the hydraulic pump and motor, so as to simulate the effect produced in the process of adjusting the response state parameter.

[0174] Determine whether the simulated response effect parameters match other expected response requirement parameters. If the simulated response effect parameters match other expected response requirement parameters, then the simulated joint response control parameter is determined as the joint response control parameter.

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

[0176] Based on all simulated response matching values, determine the joint response control parameters from among all simulated joint response control parameters.

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

[0178] In this optional embodiment, as an optional implementation, the other expected response requirement parameters mentioned above include at least one of the following: noise response range parameter, temperature response range parameter, and 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:

[0179] For each of the other expected response requirement parameters, the current additional update range parameter of the requirement parameter is matched according to the electro-hydraulic joint state parameter and the preset requirement parameter priority value of the requirement parameter;

[0180] Based on the current additional update range parameters, update the requirement parameters and trigger the operation to determine whether the simulated response effect parameters match other expected response requirement parameters.

[0181] As can be seen, implementing this optional embodiment can further improve the scientificity and accuracy of the matching between the simulated response effect parameters and other expected response requirements parameters by performing a matching analysis on at least one of the required parameters, including noise response range parameters, temperature response range parameters, and resource usage range parameters, in conjunction with the electro-hydraulic joint state parameters. This can simultaneously adapt to the hydraulic system usage conditions and the user's expected response, further improving the accuracy and comprehensiveness of the electro-hydraulic joint flow control, and thus enhancing the practicality of the technical solution.

[0182] In an optional embodiment, the technical solution may be: collecting the driver's desired response speed, which is calculated based on the acquired driver's operation signal. 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 if the response speed is greater than the preset response speed threshold. If so, it means that the driver wants a higher response speed. Since the hydraulic pump has a fast response speed, adjust the flow rate of the hydraulic pump.

[0184] If not, it means that the driver's desired response speed is not high. Adjusting the motor speed can meet the driver's expectations for response speed.

[0185] To maintain a margin in response speed and prevent the hydraulic pump displacement from being near its maximum value.

[0186] It is evident that implementing this optional embodiment can further reduce system complexity and provide a convenient response mechanism for the system, thereby improving the efficiency of electro-hydraulic combined flow control in convenient scenarios.

[0187] Example 3

[0188] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of an electro-hydraulic combined flow control device disclosed in an embodiment of the present invention. This 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 with the aforementioned hydraulic system. It can also be applied to associated intelligent devices of the aforementioned equipment, including but not limited to one or more of battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices; the embodiments of the present invention do not limit this. Figure 3 As shown, the electro-hydraulic combined flow control device may include:

[0189] The acquisition module 301 is used to acquire the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor.

[0190] Analysis module 302 is used to analyze the user's response expectation parameters based on a preset dynamic feature analysis algorithm and the first control parameters;

[0191] Calculation module 303 is used to calculate the current response state parameters of the application equipment based on the electro-hydraulic combined state parameters;

[0192] The judgment module 304 is used to determine whether the expected response parameter is within the range of the first preset threshold parameter of the response status parameter;

[0193] The calculation module 303 is also used to calculate the target value parameter based on the response expectation parameter and the response state parameter when the judgment module 304 determines that the response expectation parameter is not within the range of the first preset threshold parameter of the response state parameter. The target value parameter is used to represent the degree of distance between the response expectation parameter and the response state parameter.

[0194] The generation module 305 is used to generate joint response control parameters based on the target value parameters. The joint response control parameters are used to dynamically adjust the state of the hydraulic pump and the motor to adjust the response state parameters so that the expected response parameters are within the range of the second preset threshold parameters of the adjusted response state parameters.

[0195] As can be seen, implementing the embodiments of the present invention can simultaneously collect the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system. Combined with a preset dynamic feature analysis algorithm, it can analyze the user's desired response parameters and further determine the current response state of the application equipment. This improves the accuracy of understanding the user's intentions while also improving the accuracy of the application equipment's response state analysis. This is beneficial for improving the control accuracy of further electro-hydraulic combined flow control of the application equipment. Furthermore, when it is determined that the desired response parameter is not within the range of the first preset threshold parameter of the response state parameter, a target value parameter representing the distance between the desired response parameter and the response state parameter is calculated based on the desired response parameter and the response state parameter. Based on the target value parameters, the state of the hydraulic pump and motor is generated for dynamic joint adjustment, thereby adjusting the response state parameters so that the expected response parameters are within the range of the second preset threshold parameters of the adjusted response state parameters. This achieves joint dynamic control of the hydraulic pump and motor in the hydraulic system. Unlike the completely sequential joint control in the prior art, this method can further reduce the power consumption of the hydraulic system while improving the flow control efficiency and accuracy. It can also effectively solve the response lag and energy efficiency imbalance problems caused by the independent adjustment of the hydraulic pump and motor in traditional control. The adjusted system response parameters converge to a more stringent second threshold range, which is beneficial to improving the dynamic control accuracy and overall operational stability of the hydraulic system under complex working conditions.

[0196] In this embodiment of the invention, as an optional implementation, the specific method by which the acquisition module 301 acquires the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system includes:

[0197] The system collects first multi-dimensional state parameters of the hydraulic pump, second multi-dimensional state parameters of the motor, environmental state parameters within a preset range of the hydraulic system, and second control parameters issued by the user to the application equipment. The first multi-dimensional state parameters include at least two of the following: pressure state parameters, displacement state parameters, power state parameters, and response characteristic parameters. The first multi-dimensional state parameters correspond to the second multi-dimensional state parameters. The second control parameters include user operation control parameters and biological state parameters.

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

[0199] Target coupling calculation is performed on the multi-dimensional state matrix parameters to generate cooperative efficiency parameters. The target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation.

[0200] Based on the environmental state parameters, the coordination efficiency parameters are corrected to obtain the electro-hydraulic joint state parameters of the hydraulic system.

[0201] Based on the biological state parameters, the user's biological command parameters are analyzed, and the biological command parameters are matched with the biological 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, the user's operation intention parameters are analyzed.

[0203] Based on the operational intent parameters, extract the target displacement gradient parameters of the second control parameters;

[0204] The target displacement gradient parameter is determined as the first control parameter issued by the user to the application equipment of the hydraulic system.

[0205] As can be seen, implementing this optional embodiment can holographically sense and collect multi-dimensional selectable state parameters of the hydraulic pump and motor, fuse multi-source parameters, and construct a multi-dimensional monitoring system combining user operation control parameters and biological state parameters. This is beneficial for improving the accuracy and stability of the acquisition of the first control parameter and the electro-hydraulic joint state parameters. By constructing a multi-dimensional state matrix parameter between the hydraulic pump and motor based on the first and second multi-dimensional state parameters, and performing target coupling calculation on the multi-dimensional state matrix parameter to generate a collaborative efficiency parameter, the accuracy and stability of the collaborative efficiency parameter generation are improved. Based on the environmental state parameters, the collaborative efficiency parameter is corrected to obtain the electro-hydraulic joint parameters of the hydraulic system. By combining state parameters, the accuracy, comprehensiveness, and stability of the acquisition and generation of electro-hydraulic combined state parameters can be further improved. Through dual-channel analysis of biological state parameters (such as operator's hand movement trajectory, force application mode, facial expression, language, and demeanor) and operation control parameters (such as joystick displacement and button frequency), and combined with preset priority parameters to construct a spatiotemporal correlation model of operation intention, the accuracy, comprehensiveness, and stability of the analysis of user operation intention parameters can be further improved. Based on the operation intention parameters, the effective target displacement gradient parameters of the second control parameters can be effectively extracted. The target displacement gradient parameters are determined as the first control parameters issued by the user to the application equipment of the hydraulic system, thereby improving the accuracy of the acquisition and determination of the first control parameters.

[0206] In this embodiment of the invention, as another optional implementation, the specific method by which the analysis module 302 analyzes the user's expected response parameters based on a preset dynamic feature analysis algorithm and the first control parameters includes:

[0207] According to the preset dynamic feature analysis algorithm, the target domain decomposition operation is performed 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 of the first control parameter. The target domain decomposition operation is at least one of time domain decomposition operation, frequency domain decomposition operation, and time-frequency joint transformation decomposition operation.

[0208] Calculate the user's initial response expectation parameters based on the dynamic feature vector parameters;

[0209] Based on a preset sliding window scrolling mechanism, the initial response expectation parameters are corrected;

[0210] Based on the corrected initial response expectation parameters, a dynamic response spectrum model is constructed in the frequency domain.

[0211] The dynamic response spectrum model is subjected to integral quantization to obtain the user's expected response parameters.

[0212] As can be seen, implementing this optional embodiment can further determine the temporal gradient and frequency energy jointly through multimodal feature fusion, taking into account both transient response and steady-state accuracy. Through dynamic weight allocation and priority triggering mechanism, it can achieve optimized resource allocation. Through enhanced anti-disturbance capability, the sliding window and forgetting factor design can effectively suppress noise interference and improve the robustness of the system. This is conducive to further improving the accuracy, comprehensiveness and stability of the user's understanding and generation of response expectation parameters.

[0213] In this embodiment of the invention, as another optional implementation, the specific method by which the calculation module 303 calculates the current response state parameters of the application device based on the electro-hydraulic combined state parameters includes:

[0214] Based on the electro-hydraulic combined state parameters, the displacement margin parameters and speed margin parameters of the hydraulic system are calculated. The displacement margin parameters and speed margin parameters are positively correlated with the remaining adjustment space of the hydraulic system.

[0215] The displacement margin parameter and speed margin parameter are input into the pre-trained proportional-integral model, and the comprehensive response capability parameter of the hydraulic system is output.

[0216] Based on the comprehensive response capability parameters, calculate the current response status parameters of the application device.

[0217] As can be seen, in the embodiments of the present invention, optionally, by analyzing the comprehensive response capability parameters of the hydraulic system, i.e. the comprehensive response space degree (how much response space is left), the application degree of the application equipment to the hydraulic system (how much response space has been applied), i.e. the response state parameters, can be further calculated in reverse, thereby improving the flexibility and convenience of calculating the response state parameters.

[0218] In this optional embodiment, as an optional implementation, 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:

[0219] Based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, which include the hydraulic pump load rate parameters and the motor load rate parameters.

[0220] Obtain application parameters of the application device within a preset time domain. The application parameters are used to represent the application status of the application device within the preset time domain.

[0221] Determine the range of backup control margin parameters for the hydraulic system based on the application parameters;

[0222] Based on the combined load rate parameter and the range of standby control margin parameter, a first preset threshold parameter range for the response status parameter is generated.

[0223] It is evident that implementing this optional embodiment can provide a dynamic adjustment mechanism for generating a first preset threshold parameter range for different response state parameters. Specifically, based on the response state parameters, the combined load rate parameters of the hydraulic system are analyzed, ensuring that the threshold range strictly matches the actual load-bearing capacity of the system. This avoids the problems of delayed response under high load and resource waste under low load associated with traditional fixed thresholds. Combined with the application conditions within a preset time domain of the application equipment, the range of backup control margin parameters for the hydraulic system is determined, improving the accuracy of generating the backup control margin parameter range. This is beneficial for improving the accuracy of generating the first preset threshold parameter range for the response state parameters, while also enhancing the application health and response efficiency of the hydraulic system, preventing situations where there is no response space. Furthermore, it also improves the flexibility of bidirectional synchronous dynamic adjustment of the hydraulic pump and motor.

[0224] In this optional embodiment, as another optional implementation, the specific method by which the generation module 305 generates the joint response control parameters based on the target value parameters includes:

[0225] Based on the displacement margin parameter and the speed margin parameter, calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor;

[0226] Based on the response expectation parameters, analyze the user's expected response time period parameters and other expected response requirement parameters;

[0227] Based on the expected response time parameters, target value parameters, first adjustable range parameters, and second adjustable range parameters, at least one simulated joint response control parameter for the hydraulic pump and motor is generated. Each simulated joint response control parameter is used to simulate the dynamic regulation of the state of the hydraulic pump and motor in order to simulate the adjustment of the response state parameters.

[0228] For each simulated joint response control parameter, analyze the simulated response effect parameter of that simulated joint response control parameter. The simulated response effect parameter is used to represent the state of the simulated joint response control parameter in simulating the dynamic regulation of the hydraulic pump and motor, so as to simulate the effect produced in the process of adjusting the response state parameter.

[0229] Determine whether the simulated response effect parameters match other expected response requirement parameters. If the simulated response effect parameters match other expected response requirement parameters, then the simulated joint response control parameter is determined as the joint response control parameter.

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

[0231] Based on all simulated response matching values, determine the joint response control parameters from among all simulated joint response control parameters.

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

[0233] In this optional embodiment, as yet another optional implementation, the aforementioned other desired response requirement parameters include at least one of the following: noise response range parameter, temperature response range parameter, and resource usage range parameter, with the simulated response effect parameter corresponding to the other desired response requirement parameters; such as Figure 4 As shown, the device also includes:

[0234] The matching module 306 is used to match the current additional update range parameter of each of the other expected response requirement parameters with respect to the electro-hydraulic joint state parameter and the preset requirement parameter priority value of the requirement parameter before the generation module 305 determines whether the simulated response effect parameter matches other expected response requirement parameters.

[0235] The update module 307 is used to update the requirement parameter according to the current additional update range parameter, and trigger the generation module 305 to perform the operation of judging whether the simulated response effect parameter matches other expected response requirement parameters.

[0236] As can be seen, implementing this optional embodiment can further improve the scientificity and accuracy of the matching between the simulated response effect parameters and other expected response requirements parameters by performing a matching analysis on at least one of the required parameters, including noise response range parameters, temperature response range parameters, and resource usage range parameters, in conjunction with the electro-hydraulic joint state parameters. This can simultaneously adapt to the hydraulic system usage conditions and the user's expected response, further improving the accuracy and comprehensiveness of the electro-hydraulic joint flow control, and thus enhancing the practicality of the technical solution.

[0237] Example 4

[0238] Please see Figure 5 , Figure 5 This is a schematic diagram of another electro-hydraulic combined flow control device disclosed in an embodiment of the present invention. This 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 with the aforementioned hydraulic system. It can also be applied to associated intelligent devices of the aforementioned equipment, including but not limited to one or more of battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices; the embodiments of the present invention do not limit this. Figure 5 As shown, the electro-hydraulic combined flow control device may include:

[0239] Memory 401 that stores executable program code.

[0240] Processor 402 coupled to memory 401.

[0241] The processor 402 calls the executable program code stored in the memory 401 to execute the steps in the electro-hydraulic combined flow control method described in Embodiment 1 or Embodiment 2 of the present invention.

[0242] Example 5

[0243] This invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the steps in the electro-hydraulic combined flow control method described in Embodiment 1 or Embodiment 2 of this invention.

[0244] Example 6

[0245] This 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 perform 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 separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0247] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0248] Finally, it should be noted that the electro-hydraulic combined flow control method and apparatus disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A combined electro-hydraulic flow control method, characterized in that, The method includes: The system collects the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor. The user's expected response parameters are analyzed based on the preset dynamic feature analysis algorithm and the first control parameters; Calculate the current response state parameters of the application device based on the electro-hydraulic combined state parameters; Determine whether the expected response parameter is within the range of the first preset threshold parameter of the response status parameter. If it is determined that the expected response parameter is not within the range of the first preset threshold parameter of the response status parameter, then calculate the target value parameter based on the expected response parameter and the response status parameter. The target value parameter is used to represent the degree of distance between the expected response parameter and the response status parameter. Based on the target value parameter, a joint response control parameter is generated. 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 expected response parameter is within the range of the second preset threshold parameter of the adjusted response state parameter.

2. The electro-hydraulic combined flow control method according to claim 1, characterized in that, The first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined state parameters of the hydraulic system are collected, including: The system collects a first multi-dimensional state parameter of the hydraulic pump, a second multi-dimensional state parameter of the motor, environmental state parameters within a preset range of the hydraulic system, and a second control parameter issued by the user to the application device. The first multi-dimensional state parameter includes at least two of the following: 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 biological state parameter. Based on the first multi-dimensional state parameters and the second multi-dimensional state parameters, a multi-dimensional state matrix parameter between the hydraulic pump and the motor is constructed; The multi-dimensional state matrix parameters are subjected to target coupling calculation to generate cooperative efficiency parameters. The target coupling calculation includes linear coupling calculation and / or nonlinear coupling calculation. Based on the environmental state parameters, the coordination efficiency parameters are corrected to obtain the electro-hydraulic combined state parameters of the hydraulic system; Based on the biological body state parameters, the user's biological command parameters are analyzed, and the biological command parameters are matched with the biological body state parameters; 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, the user's operation intention parameters are analyzed. Based on the operational intent parameters, extract the target displacement gradient parameters of the second control parameters; The target displacement gradient parameter is determined as the first control parameter issued by the user to the application equipment of the hydraulic system.

3. The electro-hydraulic combined flow control method according to claim 1, characterized in that, The step of analyzing the user's expected response parameters based on a preset dynamic feature analysis algorithm and the first control parameters includes: According to a preset dynamic feature analysis algorithm, a target domain decomposition operation is performed 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 of the first control parameter. The target domain decomposition operation is at least one of time domain decomposition operation, frequency domain decomposition operation, and time-frequency joint transformation decomposition operation. Calculate the user's initial response expectation parameters based on the dynamic feature vector parameters; The initial response expectation parameters are corrected based on a preset sliding window scrolling mechanism; Based on the corrected initial response expectation parameters, a dynamic response spectrum model is constructed in the frequency domain. The dynamic response spectrum model is subjected to integral quantization to obtain the user's expected response parameters.

4. The electro-hydraulic combined flow control method according to any one of claims 1-3, characterized in that, The step of calculating the current response state parameters of the application device based on the electro-hydraulic combined state parameters includes: Based on the electro-hydraulic combined state parameters, the displacement margin parameter and the speed margin parameter of the hydraulic system are calculated. The displacement margin parameter and the speed margin parameter are positively correlated with the remaining adjustment space of the hydraulic system. The displacement margin parameter and the speed margin parameter are input into a pre-trained proportional-integral model to output the comprehensive response capability parameter of the hydraulic system. Based on the comprehensive response capability parameters, calculate the current response status parameters of the application device.

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 for the first preset threshold parameter range is as follows: Based on the response state parameters, analyze the combined load rate parameters of the hydraulic system, which include hydraulic pump load rate parameters and motor load rate parameters; Obtain application parameters of the application device within a preset time domain, wherein the application parameters are used to represent the application status of the application device within the preset time domain; Based on the application parameters, determine the range of backup control margin parameters for the hydraulic system; Based on the combined load rate parameter and the range of the standby control margin parameter, a first preset threshold parameter range for the response status parameter is generated.

6. The electro-hydraulic combined flow control method according to claim 4, characterized in that, The step of generating joint response control parameters based on the target value parameters includes: Based on the displacement margin parameter and the speed margin parameter, calculate the first adjustable range parameter of the hydraulic pump and the second adjustable range parameter of the motor; Based on the response expectation parameters, analyze the user's expected response time period parameters and other expected response requirement parameters; Based on the expected response time period parameter, the target value parameter, the first adjustable range parameter, and the second adjustable range parameter, at least one simulated joint response control parameter for the hydraulic pump and the motor is generated. Each simulated joint response control parameter is used to simulate the dynamic regulation of the state of the hydraulic pump and the motor in order to simulate the adjustment of the response state parameter. For each of the simulated joint response control parameters, the simulated response effect parameter of the simulated joint response control parameter is analyzed. The simulated response effect parameter is used to represent the state of the simulated joint response control parameter in simulating the dynamic regulation of the hydraulic pump and the motor, so as to simulate the effect produced in the process of adjusting the response state parameter. Determine whether the simulated response effect parameter matches the other expected response requirement parameters. If the simulated response effect parameter matches the other expected response requirement parameters, then the simulated joint response control parameter is determined as the joint response control parameter. When it is determined that none of the simulated response effect parameters match the other expected response requirement parameters, the simulated response matching degree value between each simulated response effect parameter and the other expected response requirement parameters is calculated. Based on all the simulated response matching values, the joint response control parameters are determined from 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 requirements parameters include at least one of the following: noise response range parameters, temperature response range parameters, and resource usage range parameters. The simulated response effect parameters correspond to the other expected response requirements parameters. Before determining whether the simulated response effect parameters match the other expected response requirement parameters, the method further includes: For each of the other expected response requirement parameters, the current additional update range parameter of the requirement parameter is matched according to the electro-hydraulic joint state parameter and the preset requirement parameter priority value of the requirement parameter; Based on the current additional update range parameter, update the requirement parameter and trigger the operation of determining whether the simulated response effect parameter matches the other expected response requirement parameters.

8. An electro-hydraulic combined flow control device, characterized in that, The device includes: The acquisition module is used to acquire the first control parameters issued by the user to the application equipment of the hydraulic system and the electro-hydraulic combined status parameters of the hydraulic system. The hydraulic system includes a hydraulic pump and a motor. The electro-hydraulic combined status parameters are used to indicate the status of the hydraulic pump and the motor. The analysis module is used to analyze the user's response expectation parameters based on a preset dynamic feature analysis algorithm and the first control parameters; The calculation module is used to calculate the current response state parameters of the application device based on the electro-hydraulic combined state parameters; The judgment module is used to determine whether the expected response parameter is within the range of the first preset threshold parameter of the response status parameter; The calculation module is further configured to calculate a target value parameter based on the response expectation parameter and the response state parameter when the judgment module determines that the response expectation parameter is not within the range of the first preset threshold parameter of the response state parameter. The target value parameter is used to represent the degree of distance between the response expectation parameter and the response state parameter. The generation module is used to generate joint response control parameters based on the target value parameters. The joint response control parameters are used to dynamically and jointly adjust the state of the hydraulic pump and the motor to adjust the response state parameters so that the expected response parameters are within the range of the second preset threshold parameters of the adjusted response state parameters.

9. An electro-hydraulic combined flow control device, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the electro-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, which, when invoked, are used to execute the electro-hydraulic combined flow control method as described in any one of claims 1-7.

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