Buffering control method, device and equipment of hydraulic cylinder, medium and program product

Abstract

The embodiment of the invention provides a buffer control method, device and equipment of a hydraulic cylinder, a medium and a program product. The method comprises the steps of firstly obtaining real-time displacement information and first speed information of a hydraulic cylinder, and then determining first current information according to the first speed information and a preset buffer curve when the real-time displacement information and the first speed information meet buffer control conditions, the buffer curve is a speed-current-buffer distance curve obtained by calibrating based on the current of the executing mechanism at different speeds of the hydraulic cylinder and the corresponding buffer distance under the condition that the pressure difference between a large cavity and a small cavity in the hydraulic cylinder is constant, and finally, according to the first current information, the executing mechanism is controlled to control the inflow of the hydraulic cylinder. According to the method, variable-distance buffer control over the hydraulic cylinder is achieved, and the precision of buffer control is improved.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic systems, and in particular to a buffer control method, device, equipment, medium and program product for a hydraulic cylinder. Background Art

[0002] As excavator operating conditions become increasingly complex, performance requirements for these machines continue to rise. Within the entire hydraulic system, precise position control is crucial for both overall machine operability and component life. Digital hydraulic cylinders utilize high-precision displacement sensors, significantly improving control accuracy. The most significant design difference between digital hydraulic cylinders and traditional mechanical hydraulic cylinders is the lack of a buffer structure, a key component for smooth operation.

[0003] Existing buffer control methods achieve buffering by changing the area of ​​the oil outlet at the end of the hydraulic cylinder, or by using specific mechanisms (such as screws, balls and motors) to form a buffer control system to achieve buffer control.

[0004] However, the buffer distance of the existing buffer control method is constant, that is, when entering the buffer area at different buffer speeds, the buffer distance remains unchanged, and there is a problem of low buffer control accuracy. Summary of the Invention

[0005] The embodiments of the present application provide a hydraulic cylinder buffer control method, device, equipment, medium and program product for improving the buffer control accuracy.

[0006] In a first aspect, an embodiment of the present application provides a buffer control method for a hydraulic cylinder, comprising:

[0007] Acquiring real-time displacement information and first speed information of the hydraulic cylinder;

[0008] When the real-time displacement information and the first speed information satisfy a buffer control condition, first current information is determined based on the first speed information and a preset buffer curve, wherein the buffer curve is a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder under the condition that the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant;

[0009] According to the first current information, an actuator is controlled to control the inflow flow of the hydraulic cylinder.

[0010] In one or more embodiments, determining the first current information according to the first speed information and a preset buffer curve includes:

[0011] determining a target buffer distance corresponding to the first speed information in the buffer curve;

[0012] Dividing the target buffer distance into at least two sub-buffer distances;

[0013] Determining sub-current information corresponding to the at least two sub-buffer distances in the buffer curve;

[0014] The sub-current information corresponding to the at least two sub-buffer distances is used as the first current information corresponding to the target buffer distance.

[0015] In one or more embodiments, controlling the actuator to control the inflow flow of the hydraulic cylinder according to the first current information includes:

[0016] For each sub-buffer distance, when the real-time displacement information indicates the sub-buffer distance, the actuator is controlled according to the sub-current information corresponding to the sub-buffer distance to control the inflow flow of the hydraulic cylinder.

[0017] In one or more embodiments, determining the first current information according to the first speed information and a preset buffer curve includes:

[0018] updating the first speed information according to a preset speed coefficient to obtain updated first speed information;

[0019] The first current information is determined according to the updated first speed information and the preset buffer curve.

[0020] In one or more embodiments, the buffer control condition includes: the real-time displacement information indicates that the piston of the hydraulic cylinder is located in a preset buffer section and the first speed information is greater than a preset speed critical threshold.

[0021] In one or more embodiments, obtaining the real-time displacement information and first speed information of the hydraulic cylinder includes:

[0022] Acquiring a digital signal from a sensor of the hydraulic cylinder;

[0023] The real-time displacement information and the first speed information are parsed from the digital signal.

[0024] In a second aspect, an embodiment of the present application provides a buffer control device for a hydraulic cylinder, comprising:

[0025] An acquisition module, used to acquire real-time displacement information and first speed information of the hydraulic cylinder;

[0026] a determination module, configured to determine first current information based on the first speed information and a preset buffer curve when the real-time displacement information and the first speed information meet a buffer control condition, the buffer curve being a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder under the condition that the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant;

[0027] A control module is used to control an actuator to control the inflow flow of the hydraulic cylinder according to the first current information.

[0028] In one or more embodiments, the first current information is determined based on the first speed information and a preset buffer curve, and the determining module is specifically configured to:

[0029] determining a target buffer distance corresponding to the first speed information in the buffer curve;

[0030] Dividing the target buffer distance into at least two sub-buffer distances;

[0031] Determining sub-current information corresponding to the at least two sub-buffer distances in the buffer curve;

[0032] The sub-current information corresponding to the at least two sub-buffer distances is used as the first current information corresponding to the target buffer distance.

[0033] In one or more embodiments, the control module is specifically configured to:

[0034] For each sub-buffer distance, when the real-time displacement information indicates the sub-buffer distance, the actuator is controlled according to the sub-current information corresponding to the sub-buffer distance to control the inflow flow of the hydraulic cylinder.

[0035] In one or more embodiments, the first current information is determined based on the first speed information and a preset buffer curve, and the determining module is specifically configured to:

[0036] updating the first speed information according to a preset speed coefficient to obtain updated first speed information;

[0037] The first current information is determined according to the updated first speed information and the preset buffer curve.

[0038] In one or more embodiments, the acquisition module is specifically configured to:

[0039] Acquiring a digital signal from a sensor of the hydraulic cylinder;

[0040] The real-time displacement information and the first speed information are parsed from the digital signal.

[0041] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a memory, a processor;

[0042] The memory stores computer-executable instructions;

[0043] The processor executes the computer-executable instructions stored in the memory, so that the processor is used to implement the method described in the first aspect and any one of the embodiments when executing.

[0044] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the method described in the first aspect and any one of the embodiments above.

[0045] In a fifth aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, is used to implement the buffering control method of the hydraulic cylinder as described in the first aspect and various possible implementations of the first aspect.

[0046] Embodiments of the present application provide a hydraulic cylinder buffer control method, apparatus, device, medium, and program product. The method first obtains real-time displacement information and first velocity information of the hydraulic cylinder. Then, when the real-time displacement information and the first velocity information meet the buffer control condition, first current information is determined based on the first velocity information and a preset buffer curve. The buffer curve is a speed-current-buffer distance curve calibrated based on the current and corresponding buffer distance of the actuator at different hydraulic cylinder speeds, assuming a constant pressure difference between the large and small chambers of the hydraulic cylinder. Finally, based on the first current information, the actuator is controlled to control the inflow flow of the hydraulic cylinder. In the above method, by obtaining the real-time displacement information and speed information of the hydraulic cylinder, the working state of the hydraulic cylinder can be clarified; when the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant, the speed-current-buffer distance curve obtained by calibrating the current and the corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder is used as the buffer curve. According to the first speed information and the preset buffer curve, the first current information when the buffer control condition is met can be accurately and quickly determined; the actuator is controlled by the first current information, and then the inflow flow of the hydraulic cylinder is controlled, so that the inflow flow can be accurately adjusted during the working process of the hydraulic cylinder, thereby improving the accuracy of the buffer control. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0048] Figure 1Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 1 ;

[0049] Figure 2 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 2 ;

[0050] Figure 3 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 3 ;

[0051] Figure 4 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 4 ;

[0052] Figure 5 A schematic structural diagram of a buffer control device for a hydraulic cylinder provided in an embodiment of the present application;

[0053] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application.

[0054] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0055] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0056] Before introducing the embodiments of the present application, the application background of the embodiments of the present application is first explained:

[0057] As excavator operating conditions become increasingly complex, performance requirements for these machines continue to rise. Within the entire hydraulic system, precise position control is crucial for both overall machine operability and component life. Digital hydraulic cylinders utilize high-precision displacement sensors, significantly improving control accuracy. The most significant design difference between digital hydraulic cylinders and traditional mechanical hydraulic cylinders is the lack of a buffer structure, a key component for smooth operation.

[0058] Most existing buffer control methods achieve buffering by changing the area of ​​the oil outlet at the end of the hydraulic cylinder, or use a specific buffer mechanism (such as a screw, ball, and motor) to form a buffer control system to achieve buffer control.

[0059] However, the existing method has a complex design structure, high cost and difficult maintenance on the one hand, and low control accuracy on the other hand, which cannot achieve high-precision operations. More importantly, the buffer distance of the hydraulic cylinder in the existing method is a fixed value, which greatly reduces the effectiveness of the hydraulic cylinder stroke.

[0060] The buffer control method of the hydraulic cylinder provided by the present application is intended to solve the above technical problems of the prior art. The inventive concept of the present application is as follows: the existing buffer control method has poor accuracy in buffer control through the buffer structure. The buffer control mainly achieves buffering by changing the inflow flow of the hydraulic cylinder. When the inflow flow of the liquid in the hydraulic cylinder decreases or the liquid flow rate slows down, the impact is effectively mitigated. If the inflow flow of the hydraulic cylinder can be controlled, effective buffer control can be achieved. Therefore, the present application considers that under the condition that the pressure difference between the large chamber and the small chamber of the hydraulic cylinder is constant, the speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder is used as a preset buffer curve. By obtaining the real-time displacement information and the first speed information of the hydraulic cylinder, when the buffer control condition is met, the corresponding first current information is determined according to the first speed information and the preset buffer curve. According to the first current information, the actuator is controlled to control the inflow flow of the hydraulic cylinder to achieve buffer control.

[0061] The execution subject of the embodiments of the present application is an electronic device, which can be a terminal device, such as a laptop computer, a desktop computer, a tablet computer, etc., or a server. In actual applications, whether the electronic device is a terminal device or a server can be determined based on actual conditions and is not specifically limited to this.

[0062] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0063] Figure 1 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 1 .like Figure 1 As shown, the buffer control method of the hydraulic cylinder includes the following steps:

[0064] S110 : Acquire real-time displacement information and first speed information of the hydraulic cylinder.

[0065] In this step, in order to perform buffer control on the hydraulic cylinder and control and reduce the speed of the hydraulic cylinder, the real-time displacement information and first speed information of the hydraulic cylinder may be obtained first.

[0066] Exemplarily, the real-time displacement information of the hydraulic cylinder may be the real-time position of the piston of the hydraulic cylinder, which is used to indicate the extension or retraction degree of the hydraulic cylinder, and the first speed information of the hydraulic cylinder may be the speed of the piston of the hydraulic cylinder, that is, the displacement change of the piston per unit time.

[0067] In a possible implementation, a possible implementation of the above step S110 further includes the following steps:

[0068] Step 1: Get the digital signal of the hydraulic cylinder sensor.

[0069] Exemplarily, the hydraulic cylinder includes a sensor for collecting digital signals in the hydraulic cylinder in real time.

[0070] In a possible implementation, the sensor of the hydraulic cylinder may include a displacement sensor and a speed sensor.

[0071] The displacement sensor can be a linear displacement sensor or a potentiometer, which directly measures the position of the piston of the hydraulic cylinder. The displacement sensor can also be a fiber optic sensor, which measures the displacement by reflection or refraction of a light beam and converts the measurement data into a digital signal.

[0072] The speed sensor can be a Hall effect sensor that directly measures the speed of the hydraulic cylinder and converts it into a digital signal.

[0073] Step 2: parse the real-time displacement information and the first velocity information from the digital signal.

[0074] Exemplarily, the digital signal includes real-time displacement information and first speed information. By parsing the digital signal, the real-time displacement information and the first speed information can be obtained.

[0075] In a possible implementation, the first velocity information may be accurately calculated based on the real-time displacement information, and may be obtained by taking the difference between two relatively small displacement measurement intervals.

[0076] S120, when the real-time displacement information and the first speed information meet the buffer control condition, determining the first current information according to the first speed information and a preset buffer curve;

[0077] Among them, the buffer curve is a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder when the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant.

[0078] In this step, based on the pressure values ​​corresponding to the large cavity and the small cavity in the hydraulic cylinder, the pressure difference between the large cavity and the small cavity is obtained and kept constant. Based on the current of the actuator and the corresponding buffer distance of the hydraulic cylinder at different speeds of the hydraulic cylinder, a speed-current-buffer distance curve can be calibrated and used as a buffer curve. When the real-time displacement information and the first speed information meet the buffer control conditions, the first current information is determined according to the first speed information and the preset buffer curve.

[0079] Exemplarily, the buffer distance is used to indicate the movement distance required for the hydraulic cylinder to decelerate to a stop, and the preset buffer curve is used to indicate different buffer distances corresponding to different speeds of the hydraulic cylinder and different currents of the actuator corresponding to different buffer distances.

[0080] For example, if the speed of the hydraulic cylinder is V1, the corresponding buffer distance at this speed is S1 according to the buffer curve, and the current of the actuator is I1. If the speed of the hydraulic cylinder is V2, the corresponding buffer distance at this speed is S2 according to the buffer curve, and the current of the actuator is I2.

[0081] In a possible implementation, taking a three-dimensional coordinate system as an example, the X-axis is the speed of the hydraulic cylinder V millimeters per second (mm / s), the Y-axis is the buffer distance S millimeters (mm), and the Z-axis is the current of the actuator I milliamperes (mA).

[0082] In a possible implementation, the buffer control condition includes: the real-time displacement information indicates that the piston of the hydraulic cylinder is located within a preset buffer section and the first speed information is greater than a preset speed critical threshold.

[0083] Exemplarily, the real-time displacement information refers to the real-time position of the piston of the hydraulic cylinder, and the preset buffer section indicates a buffer distance threshold between the position of the piston of the hydraulic cylinder and the position of the end of the hydraulic cylinder.

[0084] In one possible implementation, when the piston of the hydraulic cylinder moves into a preset buffer section, that is, when the distance between the position of the piston of the hydraulic cylinder and the end position of the hydraulic cylinder is less than the buffer distance threshold, the first speed information and the preset speed critical threshold are compared. When the first speed information is greater than the preset speed critical threshold, the buffer control condition is met. If the first speed information is not greater than the preset speed critical threshold, the buffer control condition is not met.

[0085] S130. Control the actuator to control the inflow flow of the hydraulic cylinder according to the first current information.

[0086] In this step, the first current information is used to control the actuator, thereby enabling the actuator to control the inflow flow of the hydraulic cylinder.

[0087] For example, the actuator may be a component such as a solenoid valve or a pump valve that can change the size of the valve and thus control the inflow flow of the hydraulic cylinder.

[0088] In a possible implementation, the first current information can be used to control the opening of the solenoid valve or the pump valve, that is, the size of the valve, to adjust the inflow flow of the hydraulic cylinder.

[0089] For the solenoid valve, the valve opening size is adjusted according to the size of the first current information, which corresponds to the size of the inflow flow of the hydraulic cylinder. For example, the smaller the first current information, the smaller the valve opening of the solenoid valve, the smaller the inflow flow of the hydraulic cylinder, and the slower the speed of the hydraulic cylinder.

[0090] For the pump valve, the opening or pressure of the pump valve is adjusted according to the size of the first current information, and the size of the inflow flow of the hydraulic cylinder is correspondingly controlled.

[0091] The buffer control method for a hydraulic cylinder provided in an embodiment of the present application first obtains real-time displacement information and first velocity information of the hydraulic cylinder. Then, when the real-time displacement information and the first velocity information meet a buffer control condition, first current information is determined based on the first velocity information and a preset buffer curve. The buffer curve is a velocity-current-buffer distance curve obtained by calibrating the current of the actuator at different speeds of the hydraulic cylinder and the corresponding buffer distance, assuming a constant pressure difference between the large and small chambers of the hydraulic cylinder. Finally, the actuator is controlled based on the first current information to control the inflow flow of the hydraulic cylinder. In this embodiment, by obtaining the real-time displacement information and velocity information of the hydraulic cylinder, the working state of the hydraulic cylinder can be determined. The velocity-current-buffer distance curve obtained by calibrating the current of the actuator at different speeds of the hydraulic cylinder and the corresponding buffer distance, assuming a constant pressure difference between the large and small chambers of the hydraulic cylinder, is used as the buffer curve. Based on the first velocity information and the preset buffer curve, the first current information when the buffer control condition is met can be quickly and accurately determined. The actuator is controlled by the first current information, thereby controlling the inflow flow of the hydraulic cylinder. This allows the inflow flow to be precisely adjusted during the operation of the hydraulic cylinder, thereby improving the accuracy of the buffer control.

[0092] Based on the above embodiments, Figure 2 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 2 .like Figure 2 As shown, a possible implementation of determining the first current information according to the first speed information and the preset buffer curve further includes the following steps:

[0093] S210: Determine a target buffer distance corresponding to the first speed information in the buffer curve.

[0094] In this step, based on the first speed information, a buffer distance corresponding to the first speed information is determined in a buffer curve obtained by calibrating the speed-current-buffer distance curve, and the buffer distance is used as a target buffer distance.

[0095] In a possible implementation, the target buffer distance corresponding to the first speed information can be uniquely determined in the buffer curve, and the buffer starting point can be obtained by reverse calculation based on the end of the hydraulic cylinder.

[0096] For example, if the first speed information is 500 mm / s, the target buffer distance corresponding to 500 mm / s is determined to be 100 mm in the buffer curve; if the first speed information is 400 mm / s, the target buffer distance corresponding to 400 mm / s is determined to be 80 mm in the buffer curve.

[0097] S220: Divide the target buffer distance into at least two sub-buffer distances.

[0098] In this step, the target buffer distance is divided into at least two sub-buffer distances, and segmented buffer control can be performed.

[0099] In a possible implementation, the target buffer distance may be evenly divided into at least two sub-buffer distances, or the target buffer distance may be divided into at least two sub-buffer distances as required.

[0100] For example, if the target buffer distance is 100mm, it is divided into three sub-buffer distances: 100mm, 80mm, and 60mm. The corresponding distance ranges are 100mm-80mm, 80mm-60mm, and 60mm-0mm, respectively.

[0101] The target buffer distance is 80mm, which is divided into three sub-buffer distances: 80mm, 50mm, and 40mm. The corresponding distance ranges are 80mm-50mm, 50mm-40mm, and 40mm-0mm.

[0102] In addition, the number of sub-buffer distances can be determined based on the size of the target buffer distance. If the target buffer distance is large, multiple sub-buffer distances can be obtained. If the target buffer distance is small, fewer sub-buffer distances can be obtained.

[0103] S230 : Determine sub-current information corresponding to at least two sub-buffer distances in the buffer curve.

[0104] In this step, sub-current information corresponding to the at least two sub-buffer distances is determined in a buffer curve obtained by calibrating the speed-current-buffer distance curve according to the at least two sub-buffer distances.

[0105] For example, the target buffer distance is 100 mm, and the target buffer distance is divided into three sub-buffer distances: 100 mm, 80 mm, and 60 mm. The three sub-current information corresponding to the three sub-buffer distances are: 1000 mA, 800 mA, and 600 mA.

[0106] The target buffer distance is 80 mm, which is divided into three sub-buffer distances: 80 mm, 50 mm, and 40 mm. The three sub-current information corresponding to the three sub-buffer distances are: 800 mA, 500 mA, and 400 mA.

[0107] S240: Use the sub-current information corresponding to the at least two sub-buffer distances as the first current information corresponding to the target buffer distance.

[0108] In this step, at least two sub-buffer distances are obtained by dividing the target buffer distance, and the sub-current information corresponding to the at least two sub-buffer distances can be used as the first current information corresponding to the target buffer distance.

[0109] In a possible implementation, the first current information corresponding to the target buffer distance includes sub-current information corresponding to at least two sub-buffer distances.

[0110] For example, the target buffer distance is 100 mm, and the three sub-current information corresponding to the three sub-buffer distances are: 1000 mA, 800 mA, and 600 mA, then the first current information corresponding to the target buffer distance may include 1000 mA, 800 mA, and 600 mA in sequence.

[0111] The target buffer distance is 80 mm, and the three sub-current information corresponding to the three sub-buffer distances are: 800 mA, 500 mA, and 400 mA, respectively. Then, the first current information corresponding to the target buffer distance may include 800 mA, 500 mA, and 400 mA in sequence.

[0112] In a possible embodiment, a possible implementation of the above step S130 includes: for each sub-buffer distance, when the real-time displacement information indicates a sub-buffer distance, controlling the actuator to control the inflow flow of the hydraulic cylinder according to the sub-current information corresponding to the sub-buffer distance.

[0113] Exemplarily, for each sub-buffer distance, when the real-time displacement information indicates that the position of the piston of the hydraulic cylinder reaches the sub-buffer distance, the actuator is controlled according to the sub-current information corresponding to the sub-buffer distance, thereby controlling the inflow flow of the hydraulic cylinder.

[0114] For example, the target buffer distance is 100 mm, and the target buffer distance is divided into three sub-buffer distances: 100 mm, 80 mm, and 60 mm. The three sub-current information corresponding to the three sub-buffer distances are: 1000 mA, 800 mA, and 600 mA.

[0115] When the real-time displacement information indicates 100mm, the sub-current information of 1000mA is used to control the actuator to reduce the inflow flow of the hydraulic cylinder, so that the hydraulic cylinder slows down. When the hydraulic cylinder slows down to the real-time displacement information indication of 80mm, the sub-current information of 800mA is used to control the actuator to reduce the inflow flow of the hydraulic cylinder, and the hydraulic cylinder continues to slow down. When the hydraulic cylinder slows down to the real-time displacement information indication of 60mm, the sub-current information of 600mA is used to control the actuator to reduce the inflow flow of the hydraulic cylinder, and the hydraulic cylinder slows down to a stop, completing the staged buffer control.

[0116] The buffer control method for a hydraulic cylinder provided in an embodiment of the present application first determines a target buffer distance corresponding to first speed information in a buffer curve, then divides the target buffer distance into at least two sub-buffer distances, then determines sub-current information corresponding to the at least two sub-buffer distances in the buffer curve, and finally uses the sub-current information corresponding to the at least two sub-buffer distances as the first current information corresponding to the target buffer distance. In this embodiment, by dividing the target buffer distance into at least two sub-buffer distances, the entire buffer process is divided into multiple buffer stages and performed step by step, which allows for more precise control of the buffer process; each sub-buffer distance corresponds to different sub-current information, which can be adjusted according to each buffer stage, ensuring more precise buffer control in each buffer stage, a smoother buffer process, and improved overall motion stability; while improving buffer control, the segmented buffer control avoids the complex structural design caused by adding special buffer mechanisms, achieving a simple structure for buffer control and low cost.

[0117] Based on the above embodiments, Figure 3 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 3 .like Figure 3 As shown, a possible implementation of determining the first current information according to the first speed information and the preset buffer curve further includes the following steps:

[0118] S310: Update the first speed information according to a preset speed coefficient to obtain updated first speed information.

[0119] In this step, a speed coefficient is preset to update the first speed information, and the preset speed coefficient is multiplied by the first speed information to obtain the updated first speed information.

[0120] In one possible implementation, the first speed information obtained after updating the first speed information can be slightly smaller than the first speed information before the update through a preset speed coefficient, that is, the preset speed coefficient is less than 1, which can take into account the error of the first speed information that may occur in the hydraulic cylinder under different load conditions or different buffer control response times.

[0121] For example, the preset speed coefficient can take a value between 0.5 and 1. Generally, the preset speed coefficient can be set to 0.8 or 0.9, which can ensure that the changes in the first speed information may occur within a small allowable error. When the hydraulic cylinder load is large, the preset speed coefficient can be reduced to 0.7 to ensure that the maximum buffer distance corresponding to the first speed information is constant, to prevent the buffer control from being unable to be completed within the maximum buffer distance when the hydraulic cylinder load is large and the speed is fast.

[0122] S320: Determine first current information according to the updated first speed information and a preset buffer curve.

[0123] Exemplarily, based on the updated first speed information, the buffer distance corresponding to the updated first speed information is determined in the buffer curve obtained by calibrating the speed-current-buffer distance curve, and then based on the buffer distance, the corresponding first current information is determined in the preset buffer curve.

[0124] For example, if the speed of the hydraulic cylinder is V1, that is, the first speed information is V1, the corresponding buffer distance at this speed is S1 according to the buffer curve, and the current of the actuator is I1, that is, the first current information is I1. The updated first speed information can be V11, and the corresponding buffer distance at this speed is S11 according to the buffer curve, and the first current information is I11.

[0125] The buffer control method for a hydraulic cylinder provided in an embodiment of the present application first updates first speed information based on a preset speed coefficient to obtain updated first speed information. Then, first current information is determined based on the updated first speed information and a preset buffer curve. In this embodiment, by adjusting the preset speed coefficient to update the first speed information and determining the first current information based on the updated first speed information and a preset buffer curve, the method can adapt to various conditions (such as load changes and environmental factors), improve the adaptability of the buffer control, avoid affecting overall stability due to uneven speed changes, reduce errors and fluctuations, and improve the stability and accuracy of the overall buffer control.

[0126] Based on the above embodiments, Figure 4 Schematic diagram of the process of the buffer control method of the hydraulic cylinder provided in the embodiment of the present application Figure 4 .like Figure 4As shown, a possible implementation of the buffer control method of the hydraulic cylinder includes the following steps:

[0127] S410: Acquire real-time displacement information and first speed information of the hydraulic cylinder.

[0128] Exemplarily, the sensors of the hydraulic cylinder include a displacement sensor and a speed sensor. The real-time position of the piston of the hydraulic cylinder is collected as real-time displacement information through the displacement sensor, and the speed of the piston of the hydraulic cylinder is collected as first speed information through the speed sensor, or the first speed information is obtained by calculating the displacement change of the piston per unit time.

[0129] S420: When the real-time displacement information and the first speed information of the hydraulic cylinder meet the buffer control condition, a target buffer distance is determined according to the first speed information and a preset buffer curve.

[0130] Exemplarily, the buffer control condition includes: the real-time displacement information indicates that the piston of the hydraulic cylinder is located in a preset buffer section and the first speed information is greater than a preset speed critical threshold.

[0131] In one possible implementation, the buffer curve is a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder under the condition that the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant. The target buffer distance can be determined in the preset buffer curve based on the first speed information.

[0132] S430: Divide the target buffer distance into at least two sub-buffer distances.

[0133] Exemplarily, the target buffer distance is divided into at least two sub-buffer distances, and segmented buffer control can be performed. The division method can be to evenly divide the target buffer distance or to perform customized division according to needs.

[0134] In addition, the number of sub-buffer distances can be determined based on the size of the target buffer distance. If the target buffer distance is large, multiple sub-buffer distances can be obtained. If the target buffer distance is small, fewer sub-buffer distances can be obtained.

[0135] S440 : Determine sub-current information corresponding to at least two sub-buffer distances in the buffer curve.

[0136] Exemplarily, according to the at least two sub-buffer distances, sub-current information corresponding to the at least two sub-buffer distances can be determined in a buffer curve obtained by calibrating the speed-current-buffer distance curve.

[0137] S450 , under at least two sub-buffer distances, controlling the actuators respectively according to the sub-current information corresponding to the at least two sub-buffer distances to control the inflow flow of the hydraulic cylinder.

[0138] Exemplarily, under at least two sub-buffer distances, that is, when the real-time displacement information indicates a sub-buffer distance, the actuator is controlled in sequence according to the sub-current information corresponding to the sub-buffer distance, so that under different sub-buffer distances, different inflow flows of the hydraulic cylinder are controlled accordingly, thereby completing precise buffer control of the hydraulic cylinder.

[0139] The buffer control method for a hydraulic cylinder provided in an embodiment of the present application first obtains real-time displacement information and first velocity information of the hydraulic cylinder. When a buffer control condition is met, a target buffer distance is determined based on the first velocity information and a preset buffer curve. The target buffer distance is then divided into at least two sub-buffer distances, and sub-current information corresponding to each of the at least two sub-buffer distances is determined from the buffer curve. Finally, within the at least two sub-buffer distances, the actuator is controlled based on the sub-current information corresponding to each of the at least two sub-buffer distances to control the inflow flow of the hydraulic cylinder. In this embodiment, the target buffer distance is quickly determined using the preset buffer curve. By dividing the target buffer distance into multiple sub-buffer distances, each sub-buffer distance having corresponding sub-current information, the current of the actuator can be more accurately controlled, helping to respond to different working conditions more quickly and accurately, thereby improving the response speed of the buffer control. Moreover, when the hydraulic cylinder or actuator operates in different sub-buffer stages, the current adjustment ensures a smooth transition between stages, avoiding buffer instability caused by excessive current fluctuations.

[0140] On the basis of the above embodiments, the buffer control device of the hydraulic cylinder provided in the embodiments of the present application described below can execute the method provided in the above method embodiments.

[0141] Figure 5 This is a schematic diagram of the structure of the buffer control device of the hydraulic cylinder provided in the embodiment of the present application. Figure 5 As shown, the buffer control device 500 of the hydraulic cylinder includes:

[0142] An acquisition module 510 is configured to acquire real-time displacement information and first velocity information of the hydraulic cylinder;

[0143] Determination module 520 is configured to determine first current information based on the first velocity information and a preset buffer curve when the real-time displacement information and the first velocity information meet the buffer control condition, wherein the buffer curve is a velocity-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different hydraulic cylinder speeds, assuming a constant pressure difference between the large chamber and the small chamber in the hydraulic cylinder;

[0144] The control module 530 is configured to control the actuator to control the inflow flow of the hydraulic cylinder according to the first current information.

[0145] In one or more embodiments, the first current information is determined based on the first speed information and a preset buffer curve, and the determination module 520 is specifically configured to:

[0146] Determining a target buffer distance corresponding to the first speed information in the buffer curve;

[0147] Divide the target buffer distance into at least two sub-buffer distances;

[0148] Determining sub-current information corresponding to at least two sub-buffer distances in the buffer curve;

[0149] The sub-current information corresponding to the at least two sub-buffer distances is used as the first current information corresponding to the target buffer distance.

[0150] In one or more embodiments, the control module 530 is specifically configured to:

[0151] For each sub-buffer distance, when the real-time displacement information indicates a sub-buffer distance, the actuator is controlled according to the sub-current information corresponding to the sub-buffer distance to control the inflow flow of the hydraulic cylinder.

[0152] In one or more embodiments, the first current information is determined based on the first speed information and a preset buffer curve, and the determination module 520 is specifically configured to:

[0153] updating the first speed information according to a preset speed coefficient to obtain updated first speed information;

[0154] The first current information is determined according to the updated first speed information and the preset buffer curve.

[0155] In one or more embodiments, the acquisition module 510 is specifically configured to:

[0156] Get the digital signal of the sensor of the hydraulic cylinder;

[0157] The real-time displacement information and the first velocity information are parsed from the digital signal.

[0158] The buffer control device of the hydraulic cylinder provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effects are similar, and are not described in detail in this embodiment.

[0159] Based on the above embodiments, Figure 6 This is a schematic diagram of the structure of the electronic device provided in the embodiment of the present application. Figure 6 As shown, the electronic device 600 includes: a processor 610, a memory 620 and a bus 630;

[0160] The memory 620 is used to store computer-executable instructions of the processor 610;

[0161] The processor 610 is configured to execute the technical solution of any of the aforementioned method embodiments by executing computer execution instructions.

[0162] Optionally, the memory 620 may be independent or integrated with the processor 610 .

[0163] Optionally, the memory 620 may include a random access memory (RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0164] Bus 630 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, control buses, and the like. For ease of illustration, the drawings of this application use only one bold line, but this does not imply that there is only one bus or only one type of bus.

[0165] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0166] The electronic device is used to execute the technical solution of any of the aforementioned method embodiments, and its implementation principle and technical effects are similar and will not be repeated here.

[0167] An embodiment of the present application also provides a computer-readable storage medium on which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, they are used to implement the technical solution provided by any of the above method embodiments.

[0168] An embodiment of the present application also provides a computer program product, including a computer program, which includes computer instructions stored in a computer-readable storage medium. When the computer program is executed by a processor, it is used to implement the technical solution provided by any of the above method embodiments.

[0169] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all optional embodiments, and the actions and modules involved are not necessarily required by this application.

[0170] It should be further noted that, although the various steps in the flowchart are shown in sequence as indicated by the arrows, these steps are not necessarily performed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and these steps may be performed in other orders. Moreover, at least a portion of the steps in the flowchart may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but may be performed at different times. The execution order of these sub-steps or stages is not necessarily to be performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

[0171] It should be understood that the above-described device embodiments are merely illustrative, and the device of the present application may also be implemented in other ways. For example, the division of units / modules in the above-described embodiments is merely a logical functional division, and actual implementations may employ other division methods. For example, multiple units, modules, or components may be combined or integrated into another system, or some features may be omitted or not implemented.

[0172] In addition, unless otherwise specified, the functional units / modules in the various embodiments of the present application may be integrated into a single unit / module, each unit / module may exist physically separately, or two or more units / modules may be integrated together. The aforementioned integrated units / modules may be implemented in the form of hardware or software program modules.

[0173] If the integrated unit / module is implemented in hardware, the hardware can be digital circuits, analog circuits, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors, memristors, etc. Unless otherwise specified, the processor can be any appropriate hardware processor, such as a CPU, GPU, FPGA, DSP, and ASIC. Unless otherwise specified, the storage unit can be any appropriate magnetic storage medium or magneto-optical storage medium, such as resistive random access memory (RRAM), dynamic random access memory (DRAM), static random access memory (SRAM), enhanced dynamic random access memory (EDRAM), high-bandwidth memory (HBM), hybrid memory cube (HMC), etc.

[0174] If the integrated unit / module is implemented in the form of a software program module and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, magnetic disk, or optical disk, etc., various media that can store program code.

[0175] In the above embodiments, the description of each embodiment has its own emphasis. For parts not described in detail in a particular embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined in any way. To keep the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0176] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

Claims

1. A buffer control method for a hydraulic cylinder, characterized in that: include: Acquiring real-time displacement information and first speed information of the hydraulic cylinder; When the real-time displacement information and the first speed information satisfy a buffer control condition, first current information is determined based on the first speed information and a preset buffer curve, wherein the buffer curve is a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder under the condition that the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant; According to the first current information, an actuator is controlled to control the inflow flow of the hydraulic cylinder.

2. The method according to claim 1, characterized in that The determining of the first current information according to the first speed information and a preset buffer curve includes: determining a target buffer distance corresponding to the first speed information in the buffer curve; Dividing the target buffer distance into at least two sub-buffer distances; Determining sub-current information corresponding to the at least two sub-buffer distances in the buffer curve; The sub-current information corresponding to the at least two sub-buffer distances is used as the first current information corresponding to the target buffer distance.

3. The method according to claim 2, characterized in that The step of controlling the actuator to control the inflow flow of the hydraulic cylinder according to the first current information includes: For each sub-buffer distance, when the real-time displacement information indicates the sub-buffer distance, the actuator is controlled according to the sub-current information corresponding to the sub-buffer distance to control the inflow flow of the hydraulic cylinder.

4. The method according to any one of claims 1 to 3, characterized in that The determining of the first current information according to the first speed information and a preset buffer curve includes: updating the first speed information according to a preset speed coefficient to obtain updated first speed information; The first current information is determined according to the updated first speed information and the preset buffer curve.

5. The method according to any one of claims 1 to 3, characterized in that The buffer control conditions include: the real-time displacement information indicates that the piston of the hydraulic cylinder is located in a preset buffer section and the first speed information is greater than a preset speed critical threshold.

6. The method according to any one of claims 1 to 3, characterized in that The obtaining of the real-time displacement information and the first speed information of the hydraulic cylinder includes: Acquiring a digital signal from a sensor of the hydraulic cylinder; The real-time displacement information and the first speed information are parsed from the digital signal.

7. A buffer control device for a hydraulic cylinder, characterized in that: include: An acquisition module, used to acquire real-time displacement information and first speed information of the hydraulic cylinder; a determination module, configured to determine first current information based on the first speed information and a preset buffer curve when the real-time displacement information and the first speed information meet a buffer control condition, the buffer curve being a speed-current-buffer distance curve obtained by calibrating the current and corresponding buffer distance of the actuator at different speeds of the hydraulic cylinder under the condition that the pressure difference between the large chamber and the small chamber in the hydraulic cylinder is constant; A control module is used to control an actuator to control the inflow flow of the hydraulic cylinder according to the first current information.

8. An electronic device, characterized in that: include: Memory, processor; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the processor performs the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

10. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 6 when the computer program is executed by a processor.

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