Method, system and device for controlling a detachable vehicle cabin and storage medium

Abstract

The application discloses a kind of carriages detachable car control method, system, device and storage medium, belong to the technical field of carriages detachable car, method includes by controller based on hydraulic oil temperature, current oil viscosity is calculated by viscosity-temperature equation;Again in combination with load pressure difference, valve port flow is calculated;Valve port flow is input to oil cylinder speed equation, and current speed of oil cylinder is calculated;Again in combination with target speed, compensation coefficient is calculated;Based on oil cylinder displacement, mechanism inclination and mechanism corner, current motion trajectory is calculated, and compared with safety boundary;If motion trajectory exceeds safety boundary, then through PID algorithm, PWM control signal of the superimposed compensation coefficient is output to proportional valve;The application solves the problem that the motion trajectory deviates in the process of loading or unloading due to the increase of hydraulic system leakage caused by the change of hydraulic oil temperature, improves the performance of vehicle operation efficiency, safety and the like.

Description

Technical Field

[0001] This invention belongs to the field of detachable vehicle technology, specifically relating to a control method, system, device, and storage medium for detachable vehicles. Background Technology

[0002] Existing detachable truck bodies cannot be fitted with radiators due to limited installation space. At the same time, the hoisting operation of the entire machine requires high precision and is sensitive to changes in the flow rate of the hydraulic system.

[0003] During vehicle operation, as the hydraulic oil temperature rises, the internal leakage hydraulic oil flow of the hydraulic system inevitably increases. At the same time, the consistency of leakage between the various working links of the hydraulic multi-way valve is uncontrollable. This leads to inconsistent action speeds when the same control current changes with hydraulic oil temperature during compound actions, causing the movement trajectory to exceed the safety boundary and resulting in potential hazards such as collisions with the gearbox or misalignment of the lifting device. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a control method, system, device and storage medium for detachable car bodies, so as to solve the technical problem that the movement trajectory deviates during the loading or unloading process due to the increased leakage in the hydraulic system caused by changes in hydraulic oil temperature.

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0006] In a first aspect, the present invention provides a control method for a vehicle with a detachable cargo compartment, comprising:

[0007] The controller calculates the current hydraulic fluid viscosity based on the pre-collected hydraulic fluid temperature using the viscosity-temperature equation.

[0008] Calculate the valve flow rate based on the current oil viscosity and the pre-measured load pressure difference;

[0009] Input the valve port flow rate into the cylinder speed equation to calculate the current cylinder speed;

[0010] Calculate the compensation coefficient based on the current speed of the hydraulic cylinder and the preset target speed;

[0011] Based on the pre-collected cylinder displacement, mechanism tilt angle, and mechanism rotation angle, the current motion trajectory is calculated and compared with the preset safety boundary;

[0012] If the motion trajectory exceeds the safety boundary, a PWM control signal with superimposed compensation coefficient is output to the proportional valve through the PID algorithm;

[0013] The PWM control signal is used to correct the cylinder's movement speed in real time, so that the movement trajectory returns to the safe boundary.

[0014] Furthermore, the controller calculates the current hydraulic fluid viscosity based on the pre-collected hydraulic fluid temperature using a viscosity-temperature equation, as shown in the following formula: ; in, Given the current oil viscosity, The hydraulic fluid temperature is measured in degrees Celsius by a temperature sensor. The viscosity-temperature characteristic coefficient, is the exponential constant in the viscosity-temperature relationship.

[0015] Furthermore, the valve orifice flow rate is calculated based on the current oil viscosity and the pre-measured load pressure difference, using the following formula:

[0016] ;

[0017] in, For valve orifice flow rate, The equivalent hydraulic diameter of the valve core; The length of the valve orifice flow channel. For load pressure difference;

[0018] Furthermore, the flow rate at the valve port is input into the cylinder speed equation to calculate the current cylinder speed, as shown in the following formula:

[0019] ;

[0020] in, The current speed of the hydraulic cylinder. This indicates the cross-sectional area of ​​the hydraulic cylinder.

[0021] Furthermore, based on the current speed of the hydraulic cylinder and the preset target speed, the dynamic compensation coefficient is calculated using the following formula:

[0022] ;

[0023] in, For dynamic compensation coefficients, The preset reference viscosity, For the preset target speed, This is the preset reference temperature.

[0024] Furthermore, the calculation formula for the PWM control signal is as follows:

[0025] ;

[0026] in, This is a PWM control signal. Temperature weighting coefficient, This is the output value of the PID algorithm;

[0027] ;

[0028] in, , representing the instantaneous error at time t. Indicates proportional gain. Indicates integral gain. Represents differential gain. This represents the integral of the error over the sampling period. Indicates the accumulation of error. Indicates the sampling period. This represents the differential of the error.

[0029] In a second aspect, the present invention provides a vehicle control system with a detachable cargo compartment, comprising:

[0030] Temperature sensors, wire sensors, tilt sensors, and encoders are used to collect real-time data on hydraulic oil temperature, cylinder displacement, mechanism tilt angle, and mechanism rotation angle.

[0031] The controller is configured to receive data on hydraulic fluid temperature, cylinder displacement, mechanism tilt angle, and mechanism rotation angle, and to execute instructions of the demountable vehicle control method described in any of the preceding claims.

[0032] Thirdly, the present invention provides a computer program, characterized in that it includes:

[0033] Non-transitory computer-readable storage media; and

[0034] Computer program code encoded on a medium, for performing the steps of a program that executes any of the methods described above.

[0035] Fourthly, the present invention provides a non-transitory computer-readable storage medium storing computer-readable instructions, which, when executed by at least one processor, are used to implement the method described in any of the preceding claims.

[0036] Fifthly, the present invention provides a detachable vehicle control device, the device comprising:

[0037] One or more processors; and

[0038] One or more memory devices storing instructions that, when executed, cause the one or more processors to perform the method described in any of the preceding descriptions.

[0039] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0040] This invention provides a control method, system, device, and storage medium for a detachable vehicle body. By reading the displacement of the hydraulic cylinder, the tilt angle of the mechanism, the rotation angle of the mechanism, and the temperature of the hydraulic oil, a temperature-speed following relationship is calculated based on the hydraulic oil temperature, target operating parameters, and boundary conditions. A compensation coefficient is determined, and the output parameters of the controller are adjusted in real time using the compensation coefficient to compensate for and correct the deviation caused by the hydraulic oil temperature in the control process. This solves the problem of the movement trajectory deviating during loading or unloading due to increased internal leakage in the hydraulic system caused by changes in hydraulic oil temperature, thereby improving the vehicle's operating efficiency and safety. Attached Figure Description

[0041] Figure 1 This is a hydraulic schematic diagram of the detachable vehicle control system provided in an embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram of the electrical control system provided in an embodiment of the present invention;

[0043] Figure 3 This is a flowchart of the control method for a detachable vehicle provided in an embodiment of the present invention. Detailed Implementation

[0044] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention, and should not be used to limit the scope of protection of the present invention. In the absence of conflict, the following embodiments and features can be combined with each other.

[0045] In order to solve the technical problems mentioned in the background art.

[0046] This embodiment provides at least one control method for a vehicle with a detachable cargo compartment, which may specifically include:

[0047] The controller calculates the current hydraulic fluid viscosity based on the pre-collected hydraulic fluid temperature using the viscosity-temperature equation.

[0048] Calculate the valve flow rate based on the current oil viscosity and the pre-measured load pressure difference;

[0049] Input the valve port flow rate into the cylinder speed equation to calculate the current cylinder speed;

[0050] Calculate the compensation coefficient based on the current speed of the hydraulic cylinder and the preset target speed;

[0051] Based on the pre-collected cylinder displacement, mechanism tilt angle, and mechanism rotation angle, the current motion trajectory is calculated and compared with the preset safety boundary;

[0052] If the motion trajectory exceeds the safety boundary, a PWM control signal with superimposed compensation coefficient is output to the proportional valve through the PID algorithm;

[0053] The PWM control signal is used to correct the cylinder's movement speed in real time, so that the movement trajectory returns to the safe boundary.

[0054] Some embodiments also provide a control method for detachable vehicles, the application of which specifically involves the following steps:

[0055] Velocity-temperature model:

[0056] Oil viscosity calculation

[0057] Input sensor data (°C), calculate the current dynamic viscosity of the oil using the ASTM D341 standard equation:

[0058] ;

[0059] Parameter definition:

[0060] Current oil viscosity (unit: Pa·s);

[0061] Hydraulic oil temperature (unit: degrees Celsius, directly measured by a temperature sensor);

[0062] The viscosity-temperature characteristic coefficient, is the exponential constant in the viscosity-temperature relationship.

[0063] Valve orifice flow prediction

[0064] Previously output in one step As input, combined with load pressure difference Calculate the theoretical flow rate at the valve orifice (measured by a pressure sensor):

[0065] ;

[0066] in, For valve orifice flow rate, The equivalent hydraulic diameter of the valve core; This is the length of the valve orifice flow channel.

[0067] Actuator velocity modeling

[0068] Will Input to the cylinder speed equation:

[0069] ;

[0070] in, The current speed of the hydraulic cylinder. This indicates the cross-sectional area of ​​the hydraulic cylinder.

[0071] Compensation coefficient generation algorithm

[0072] Based on target speed Current speed of the hydraulic cylinder Deviation calculation:

[0073] ;

[0074] in, For dynamic compensation coefficients, The preset reference viscosity, For the preset target speed, Preset reference temperature;

[0075] ;

[0076] in, This is a PWM control signal. Temperature weighting coefficient, This is the output value of the PID algorithm;

[0077] Temperature weighting coefficient :

[0078] =0.5; ≤20℃;

[0079] =0.8; 20℃< ≤50℃;

[0080] =1.2; >50℃;

[0081] PID calculation example:

[0082] ;

[0083] in, , representing the instantaneous error at time t. Indicates proportional gain. Indicates integral gain. Represents differential gain. This represents the integral of the error over the sampling period. Indicates the accumulation of error. Indicates the sampling period. This represents the differential of the error.

[0084] At least one embodiment also provides a control method for a detachable vehicle body, which reads feedback data of cylinder displacement, mechanism tilt angle, mechanism rotation angle and hydraulic oil temperature, calculates a temperature-speed following relationship based on hydraulic oil temperature, target working parameters and boundary conditions, determines a compensation coefficient, and continuously monitors hydraulic oil temperature to adjust the output current of the controller in real time, thereby compensating for and correcting deviations caused by hydraulic oil temperature in the loading or unloading control process.

[0085] The following description, in conjunction with a preferred embodiment, illustrates the content involved in the above embodiments.

[0086] Figure 1 The main functions of each component shown are as follows:

[0087] The main function of hydraulic oil tank 1 is to store oil and dissipate heat for the hydraulic system of a detachable vehicle.

[0088] Hydraulic pump 2 is installed and is driven by an electric motor to provide power to the system.

[0089] The multi-way valve 3 controls the flow direction and on / off state of hydraulic oil, and includes a safety valve to prevent system overload and protect pipelines and components. The multi-way valve 3 comprises a three-way flow control valve for regulating flow, an LS relief valve, an LS unloading valve, and an LS check valve.

[0090] Hydraulic motor 4 drives the actuator to rotate.

[0091] Hydraulic cylinder 5 drives the actuator to move.

[0092] Figure 2 The main functions of each component shown are as follows:

[0093] The main function of temperature sensor 1 is to monitor the oil temperature in the hydraulic oil tank in real time. The temperature sensor is installed on the hydraulic oil tank.

[0094] The main function of encoder 2 is to monitor the rotation angle of the motor drive mechanism in real time. The encoder is mounted on the motor-driven actuator or on the motor itself.

[0095] The main function of the pull-wire sensor 3 is to monitor the displacement of the hydraulic cylinder drive mechanism in real time. The pull-wire sensor is installed on the hydraulic cylinder drive mechanism.

[0096] The main function of the tilt sensor 4 is to monitor the attitude of the hydraulic cylinder drive mechanism in real time. The tilt sensor is mounted on the hydraulic cylinder drive mechanism.

[0097] The main function of controller 5 is to receive feedback data from each sensor and adjust the control current parameters output to the multi-way valve based on the feedback data.

[0098] Figure 3The diagram shows the basic control logic flowchart. First, the controller acquires temperature data from the temperature sensor, rotation angle data from the encoder, displacement data from the cable sensor, and angle data from the tilt sensor. Second, based on vehicle data, it sets safety boundaries for the vehicle body, frame, and front end that the cargo box might collide with during its movement trajectory, ensuring the cargo box always adjusts its posture within these safety boundaries. The controller calculates the following coefficient (a comparison of the actual value fed back by the sensors with the preset value) based on feedback data from each actuator and adjusts the control current in real time, causing the cargo box to move along the preset trajectory. When an error occurs in the movement trajectory, falling within or exceeding the safety boundaries, the controller promptly adds a compensation coefficient to adjust the output, eliminating the error and returning the cargo box trajectory to within the safety boundaries.

[0099] like Figure 1 The diagram shown illustrates a hydraulic schematic of a control method for a detachable vehicle compartment.

[0100] First, calibrate the hydraulic valves in the system at the hydraulic oil temperature. The control current ensures that the movement trajectory of the mechanism remains within the movement boundaries during the packing and unpacking process. In multi-way valves, pressure compensation valves are installed after each working link, ensuring that all actions occur simultaneously even if the loads between the hydraulic valve's working links are inconsistent, and making the mechanism's operating speed independent of the load.

[0101] This solution can achieve compound actions of different mechanisms, and the actions are stable and reliable;

[0102] like Figure 2 The diagram shown is a schematic of the electrical control system scheme of this solution.

[0103] By installing sensors on each actuator and sending the data collected by the sensors to the controller, the controller compares the motion trajectory of the mechanism with the safety boundary during the movement of the mechanism, and increases or decreases the control current of the hydraulic valve in real time to keep the motion trajectory within the safety boundary.

[0104] This embodiment provides a vehicle control system with a detachable cargo compartment, including:

[0105] Temperature sensors, wire sensors, tilt sensors, and encoders are used to collect real-time data on hydraulic oil temperature, cylinder displacement, mechanism tilt angle, and mechanism rotation angle.

[0106] The controller is used to receive data on hydraulic oil temperature, load pressure difference, cylinder displacement, mechanism tilt angle and mechanism rotation angle, and to execute the detachable vehicle control method described in any one of Embodiment 1.

[0107] Some embodiments also provide a computer program characterized by comprising:

[0108] Non-transitory computer-readable storage media; and

[0109] Computer program code encoded on a medium, used to perform the steps of the program for the methods provided in the above embodiments.

[0110] This embodiment provides a non-transitory computer-readable storage medium storing computer-readable instructions, which, when executed by at least one processor, are used to implement the methods described in the above embodiment.

[0111] Some embodiments also provide a detachable vehicle control device, the device comprising:

[0112] One or more processors; and

[0113] One or more memory devices storing instructions that, when executed, cause the one or more processors to perform the methods described in the above embodiments.

[0114] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0115] In addition, the functional modules in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0116] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention.

[0117] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A control method for a vehicle with a detachable cargo box, characterized in that, include: The controller calculates the current hydraulic fluid viscosity based on the pre-collected hydraulic fluid temperature using the viscosity-temperature equation. Calculate the valve flow rate based on the current oil viscosity and the pre-measured load pressure difference; Input the valve port flow rate into the cylinder speed equation to calculate the current cylinder speed; Calculate the compensation coefficient based on the current speed of the hydraulic cylinder and the preset target speed; Based on the pre-collected cylinder displacement, mechanism tilt angle, and mechanism rotation angle, the current motion trajectory is calculated and compared with the preset safety boundary; If the motion trajectory exceeds the safety boundary, a PWM control signal with superimposed compensation coefficient is output to the proportional valve through the PID algorithm; The PWM control signal is used to correct the cylinder's movement speed in real time, so that the movement trajectory returns to the safe boundary. The dynamic compensation coefficient is calculated based on the current speed of the hydraulic cylinder and the preset target speed, using the following formula: ； in, For dynamic compensation coefficients, The preset reference viscosity, For the preset target speed, Preset reference temperature; This represents the current speed of the hydraulic cylinder. This is the current oil viscosity; Hydraulic oil temperature; The formula for calculating the PWM control signal is as follows: ； in, For PWM control signals, Temperature weighting coefficient, This is the output value of the PID algorithm; ； in, , representing the instantaneous error at time t. Indicates proportional gain. Indicates integral gain. Represents differential gain. This represents the integral of the error over the sampling period. Indicates the accumulation of error. Indicates the sampling period. Represents the differential of the error; Among them, the temperature weighting coefficient : =0.5； ≤20℃； =0.8；20℃< ≤50℃； =1.2； >50℃。 2. The control method for a detachable vehicle body according to claim 1, characterized in that, The controller calculates the current hydraulic fluid viscosity based on the pre-collected hydraulic fluid temperature using a viscosity-temperature equation, as shown in the following formula: ； in, Given the current oil viscosity, The hydraulic fluid temperature is measured in degrees Celsius by a temperature sensor. This is the viscosity-temperature characteristic coefficient. is the exponential constant in the viscosity-temperature relationship.

3. The control method for a detachable vehicle body according to claim 2, characterized in that, The valve orifice flow rate is calculated based on the current oil viscosity and the pre-measured load pressure difference, using the following formula: ； in, For valve orifice flow rate, The equivalent hydraulic diameter of the valve core; The length of the valve orifice flow channel. This is the load pressure difference.

4. The control method for a detachable vehicle body according to claim 3, characterized in that, The flow rate at the valve port is input into the cylinder speed equation to calculate the current cylinder speed, as shown in the following formula: ； in, The current speed of the hydraulic cylinder. This indicates the cross-sectional area of ​​the hydraulic cylinder.

5. A vehicle control system with a detachable cargo box, characterized in that, include: Temperature sensors, wire sensors, tilt sensors, and encoders are used to collect real-time data on hydraulic oil temperature, cylinder displacement, mechanism tilt angle, and mechanism rotation angle. The controller is configured to receive data on hydraulic fluid temperature, cylinder displacement, mechanism tilt angle, and mechanism rotation angle, and to execute instructions of the detachable vehicle control method according to any one of claims 1-4.

6. A computer program, characterized in that, include: Non-transitory computer-readable storage medium; and Computer program code encoded on a medium for performing the steps of a program for the method of any one of claims 1-4.

7. A non-transitory computer-readable storage medium storing computer-readable instructions, which, when executed by at least one processor, are used to implement the method of any one of claims 1-4.

8. A detachable vehicle control device, the device comprising: One or more processors; and One or more memory devices storing instructions that, when executed, cause the one or more processors to perform the method according to any one of claims 1-4.

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