Working arm control system and method and electric engineering machinery

Abstract

The invention provides a working arm control system and method and electric engineering machinery, and relates to the technical field of electric engineering machinery. The system comprises a control device, a battery, a driving motor, a hydraulic motor, a sensor, a hydraulic cylinder and a hydraulic loop, wherein the control device is electrically connected with the battery, the control device is electrically connected with the driving motor, the driving motor is in transmission connection with the hydraulic motor, the hydraulic motor is communicated with the hydraulic cylinder through a hydraulic loop, the sensor is installed on the hydraulic cylinder, and the hydraulic cylinder is rotationally connected with the working arm. Through the structural design, the energy loss can be effectively reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electric engineering machinery, and in particular to a working arm control system, method and electric engineering machinery. BACKGROUND

[0002] During the operation of the lifting device, the system power consumption problem is particularly prominent due to the large self-weight of the working arm and the high kinetic energy consumption. The system energy saving performance and power feedback efficiency have become key factors restricting the endurance of the equipment.

[0003] At present, the lifting device generally uses a single power source oil pump to drive the hydraulic cylinder to realize joint movement, and each actuator is controlled by a multi-way valve, and the flow regulation is completely realized by the valve orifice throttling method, resulting in significant energy loss of the system. SUMMARY

[0004] The present application provides a working arm control system, method and electric engineering machinery to solve the problem of high energy loss caused by the existing lifting device.

[0005] In a first aspect, the present application provides a working arm control system, comprising: a control device, a battery, a drive motor, a hydraulic motor, a sensor, a hydraulic cylinder and a hydraulic circuit;

[0006] The control device is electrically connected to the battery, the control device is electrically connected to the drive motor, the drive motor is drivingly connected to the hydraulic motor, the hydraulic motor is connected to the hydraulic cylinder through the hydraulic circuit, the sensor is installed on the hydraulic cylinder, and the hydraulic cylinder is rotatably connected to the working arm.

[0007] In a possible design, the control device comprises an operating handle, a controller and a motor driver;

[0008] The operating handle is data-connected to the controller, the controller is data-connected to the motor driver, and the motor driver is electrically connected to the drive motor.

[0009] In a possible design, the drive motor is a permanent magnet synchronous motor, the hydraulic motor is a bidirectional hydraulic motor, and the hydraulic cylinder is a single-rod symmetric hydraulic cylinder;

[0010] The single-rod symmetric hydraulic cylinder is provided with a rodless cavity and a rod cavity, the acting areas of the rodless cavity and the rod cavity are equal, and the rodless cavity and the rod cavity and the bidirectional hydraulic motor form a closed circuit through the hydraulic circuit.

[0011] In a possible design, the motor driver is a multi-in-one driver, and the hydraulic motor is a four-quadrant pump.

[0012] In a second aspect, the application provides a working arm control method applied to the controller of the working arm control system provided in the first aspect of the application. The working arm control method comprises the following steps:

[0013] receiving an arm support control instruction sent by an operation handle, wherein the arm support control instruction is generated by the operation handle in response to a control operation of an operator;

[0014] when it is detected that the arm support control instruction is a lowering control instruction, performing signal analysis and conversion processing on the lowering control instruction to obtain a first torque control parameter, and sending the first torque control parameter to a motor driver, so that the motor driver performs matching control of current according to the first torque control parameter to generate regenerative electric energy, and transmits the regenerative electric energy to a battery for storage, wherein the regenerative electric energy is generated by the driving motor driven by the reverse rotation of the hydraulic motor into a regenerative power generation mode, the reverse rotation of the hydraulic motor is generated by the driving force of the hydraulic oil in the hydraulic circuit, and the driving force of the hydraulic oil is generated by the self-weight of the working arm driving the hydraulic cylinder to perform a retracting action.

[0015] In a possible design, the working arm control method further comprises the following steps:

[0016] when it is detected that the arm support control instruction is a lifting control instruction, performing signal analysis and conversion processing on the lifting control instruction to obtain a second torque control parameter, and sending the second torque control parameter to the motor driver, so that the motor driver performs driving control on the driving motor according to the second torque control parameter to drive the hydraulic motor to rotate and drive the hydraulic cylinder to perform an extension and retraction action to control the working arm to complete lifting work.

[0017] In a possible design, the working arm control method further comprises the following steps:

[0018] obtaining an end displacement signal of the hydraulic cylinder;

[0019] determining real-time position feedback data according to the displacement signal;

[0020] triggering a multi-stage gradient caching mechanism according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

[0021] In a possible design, the multi-stage gradient caching mechanism is to implement flow matching compensation according to a preset displacement-velocity curve.

[0022] Correspondingly, the step of triggering the multi-stage gradient caching mechanism according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder comprises the following steps:

[0023] According to the real-time position feedback data, flow matching compensation is implemented according to the preset displacement-speed curve, and the displacement of the hydraulic motor is dynamically corrected to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

[0024] In a possible design, when the multi-stage gradient buffer mechanism is triggered according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder, the method further includes:

[0025] The speed hysteresis caused by the hydraulic oil in the closed loop is eliminated through the dynamic compensation algorithm.

[0026] In a third aspect, the present application provides an electric engineering machinery, comprising at least one work arm with one or more sections, a carrying vehicle and the work arm control system provided in the first aspect of the present application.

[0027] One end of the work arm is rotatably connected to the carrying vehicle.

[0028] The work arm control system is installed on the carrying vehicle, one end of the hydraulic cylinder in the work arm control system is rotatably connected to the carrying vehicle, and the other end of the hydraulic cylinder is rotatably connected to the work arm.

[0029] In a fourth aspect, the present application provides an electronic device, comprising a processor and a memory connected in communication with the processor.

[0030] The memory stores computer execution instructions.

[0031] The processor executes the computer execution instructions stored in the memory to realize the work arm control method provided in the second aspect of the present application.

[0032] In a fifth aspect, the present application provides a computer readable storage medium, the computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by a processor to realize the work arm control method provided in the second aspect of the present application.

[0033] In a sixth aspect, the present application provides a computer program product, comprising a computer program, and the computer program is executed by a processor to realize the work arm control method provided in the second aspect of the present application.

[0034] The application provides a working arm control system, method and electric engineering machinery, the system comprises a control device, a battery, a driving motor, a hydraulic motor, a sensor, a hydraulic cylinder and a hydraulic circuit; the control device is electrically connected with the battery, the control device is electrically connected with the driving motor, the driving motor is in transmission connection with the hydraulic motor, the hydraulic motor is communicated with the hydraulic cylinder through the hydraulic circuit, the sensor is installed on the hydraulic cylinder, and the hydraulic cylinder is in rotation connection with the working arm. Based on the design on the above structure, the following technical effects are realized: the independent driving circuit is constructed according to the control device, the battery, the driving motor, the hydraulic motor, the sensor, the hydraulic cylinder and the hydraulic circuit, the flow-pressure decoupling control can be realized, and the energy loss is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0036] Figure 1 The structural schematic diagram of the working arm control system provided by the embodiment of the present application is shown in the figure.

[0037] Figure 2 The flowchart of the working arm control method provided by the embodiment of the present application is shown in the figure. Figure One

[0038] Figure 3 The flowchart of the working arm control method provided by the embodiment of the present application is shown in the figure. Figure Two

[0039] Figure 4 The flowchart of the working arm control method provided by the embodiment of the present application is shown in the figure. Figure Three

[0040] Figure 5 The structural schematic diagram of the electric engineering machinery provided by the embodiment of the present application is shown in the figure.

[0041] Figure 6 The structural schematic diagram of the electronic device provided by the embodiment of the present application is shown in the figure.

[0042] Explanation of reference signs:

[0043] 110-control device; 1101-operation handle; 1102-controller; 1103-motor driver; 111-battery; 112-driving motor; 113-hydraulic motor; 114-sensor; 115-hydraulic cylinder; 116-hydraulic circuit; 117-working arm; 118-carrying vehicle; 601-processor; 602-memory; 603-communication component; 604-bus.​​​ DETAILED DESCRIPTION

[0044] The exemplary embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The following description is not intended to represent all embodiments in accordance with the present application. Rather, they merely represent some examples of devices and methods in accordance with some aspects of the present application, as detailed in the appended claims. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0045] In the embodiments of the present application, the terms "first", "second", etc. are used to distinguish the same or similar items with substantially the same function and effect. Those skilled in the art can understand that the terms "first", "second", etc. do not limit the quantity and execution order, and the terms "first", "second", etc. do not necessarily mean different. It should be noted that in the embodiments of the present application, the words "exemplary" or "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the words "exemplary" or "for example" are intended to present the relevant concept in a specific manner. In the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more.

[0046] In order to clearly understand the technical solutions of the present application, the prior art solutions are first described in detail.

[0047] In the prior art, the lifting device generally uses a single power source oil pump to drive a hydraulic oil cylinder to realize joint movement, and each actuator is controlled by a multi-way valve, and the flow regulation completely relies on the valve port throttling mode, which leads to significant energy loss of the system.

[0048] In summary, how to design a lifting device that can solve the problem of high energy loss caused by the existing lifting device is a problem that needs to be solved urgently in the present application.

[0049] Therefore, in view of the above technical problems existing in the prior art, the embodiments of the present application provide a working arm control system and method and an electric engineering machinery, which can be used in the technical field of electric engineering machinery, and aims to effectively reduce energy loss.

[0050] The application scenarios of the working arm control system, method and electric engineering machinery provided by the embodiments of the present application are described below. The following application scenarios are only examples, and the purpose is to help those skilled in the art understand the technical content of the present application, but it does not mean that the embodiments of the present application cannot be used in other devices, systems, environments or scenarios.

[0051] Engineering machinery field: including hydraulic excavators, cranes and loaders and other equipment, in the working process, through the working arm control system, method and electric engineering machinery provided by the embodiments of the present application, the gravitational potential energy can be effectively recovered, and the energy loss can be reduced.

[0052] The technical solutions of the present application and how the technical solutions of the present application solve the above technical problems are described in detail below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0053] Figure 1 The structural diagram of the working arm control system provided by the embodiments of the present application is shown in FIG. 1, the embodiments of the present application provide a working arm control system, which comprises a control device 110, a battery 111, a driving motor 112, a hydraulic motor 113, a sensor 114, a hydraulic cylinder 115 and a hydraulic circuit 116. Figure 1 As shown in FIG. 1, the embodiments of the present application provide a working arm control system, which comprises a control device 110, a battery 111, a driving motor 112, a hydraulic motor 113, a sensor 114, a hydraulic cylinder 115 and a hydraulic circuit 116.

[0054] Among them, the control device 110 is electrically connected with the battery 111, the control device 110 is electrically connected with the driving motor 112, the driving motor 112 is in transmission connection with the hydraulic motor 113, the hydraulic motor 113 is communicated with the hydraulic cylinder 115 through the hydraulic circuit 116, the sensor 114 is installed on the hydraulic cylinder 115, and the hydraulic cylinder 115 is in rotary connection with the working arm 117.

[0055] In the embodiment, the driving motor 112 and the hydraulic motor 113 are connected through a mechanical transmission shaft, and the hydraulic cylinder 115 is fixed on the working arm 117 through a hinged connection.

[0056] The battery 111 can adopt a fuel cell, a lead-acid battery or a sodium-sulfur battery, and the embodiments of the present application do not make specific limitations.

[0057] The sensor 114 can adopt an external pull rope sensor, an external magnetic ring sensor or a limit switch, and the embodiments of the present application do not make specific limitations.

[0058] According to the control device, the battery, the driving motor, the hydraulic motor, the sensor, the hydraulic cylinder and the hydraulic circuit, an independent driving circuit is constructed, flow-pressure decoupling control can be realized, and energy loss can be reduced.

[0059] The application provides a working arm control system, which comprises a control device, a battery, a driving motor, a hydraulic motor, a sensor, a hydraulic cylinder and a hydraulic circuit; the control device is electrically connected with the battery, the control device is electrically connected with the driving motor, the driving motor is in transmission connection with the hydraulic motor, the hydraulic motor is communicated with the hydraulic cylinder through the hydraulic circuit, the sensor is installed on the hydraulic cylinder, and the hydraulic cylinder is in rotation connection with a working arm.

[0060] Based on the above-mentioned embodiment, the working arm control system is provided, and specifically, the control device 110 comprises an operation handle 1101, a controller 1102 and a motor driver 1103.

[0061] The operation handle 1101 is in data connection with the controller 1102, the controller 1102 is in data connection with the motor driver 1103, and the motor driver 1103 is electrically connected with the driving motor 112.

[0062] In the embodiment, the data connection can be wired data connection through a data transmission line or wireless data connection through a communication module.

[0063] The operation handle is controlled by an operator to input corresponding control instructions, the controller processes the control instructions and then transmits the processed data information to the motor driver. The operator directly inputs the control instructions through the operation handle, so that the operation process is simplified and the control efficiency is improved.

[0064] Based on the above-mentioned embodiment, the working arm control system is provided, and specifically, the driving motor 112 is a permanent magnet synchronous motor, the hydraulic motor 113 is a bidirectional hydraulic motor, and the hydraulic cylinder 115 is a single-rod symmetric hydraulic cylinder.

[0065] In the embodiment, the control circuit is constructed based on the single-rod symmetric hydraulic cylinder, so that the dynamic performance and hydraulic stiffness consistency of the hydraulic cylinder 115 in the extension and retraction stages can be ensured, the response speed and control accuracy are improved, and the difficulty of multi-motion speed coordination control of the working arm can be greatly simplified.

[0066] The closed circuit combination design of the single-rod symmetric hydraulic cylinder and the bidirectional hydraulic motor is simple, can effectively avoid the demand of complex hydraulic topology structure, can effectively reduce the working temperature of the hydraulic cylinder and the installed power of the control system, and improves the system energy efficiency.

[0067] The permanent magnet synchronous motor-bidirectional hydraulic motor directly drives the hydraulic cylinder 115, so that the flow pressure demand can be accurately matched in combination with direct drive volume speed regulation.

[0068] The bidirectional hydraulic motor has a significant cost advantage and is more conducive to marketization and application under the premise of ensuring system performance.

[0069] The single-rod symmetric hydraulic cylinder is internally provided with a rodless cavity and a rod cavity, the acting area of the rodless cavity is equal to that of the rod cavity, and the rodless cavity and the rod cavity form a closed circuit with the bidirectional hydraulic motor through a hydraulic circuit 116.

[0070] In this embodiment, the acting area of the rod cavity in the single-rod symmetric hydraulic cylinder is equal to that of the rodless cavity, which can balance the flow of the two working cavities, and the rodless cavity and the rod cavity form a closed circuit with the bidirectional hydraulic motor through the hydraulic circuit 116. This direct volume control strategy can realize precise matching of the bidirectional hydraulic motor flow and the movement demand of the hydraulic cylinder body in the bidirectional action process, eliminate the influence of area difference on dynamic characteristics, and thus ensure bidirectional same-speed control of the working arm lifting and lowering.

[0071] On the basis of the above embodiment, the working arm control system is provided, specifically, the motor driver 1103 is a multi-in-one driver, and the hydraulic motor 113 is a four-quadrant pump.

[0072] In this embodiment, the motor driver 1103 adopts a multi-in-one driver, which can reduce loss and improve system efficiency.

[0073] The hydraulic motor 113 adopts a four-quadrant pump, which can adapt to various complex working conditions.

[0074] Figure 2 Flowchart of the working arm control method provided by the embodiment of the application Figure One The working arm control method provided by the embodiment of the application is applied to the controller in the working arm control system provided by the above embodiment. The working arm control method provided by the embodiment of the application includes the following steps:

[0075] S101, receiving an arm support control instruction sent by an operating handle.

[0076] In this embodiment, the arm support control instruction is generated by the operating handle in response to the control operation of the operator.

[0077] In this embodiment, the arm support control instruction includes a lowering control instruction. When the arm support control instruction is the lowering control instruction, the working arm energy regeneration feedback mode is in the working arm energy regeneration feedback mode.

[0078] S102, when the boom control instruction is detected as a lowering control instruction, the lowering control instruction is signal analyzed and converted to obtain a first torque control parameter, and the first torque control parameter is sent to the motor driver to enable the motor driver to perform matching control of the current according to the first torque control parameter, generate regenerative electric energy, and transmit the regenerative electric energy to the battery for storage.

[0079] In this embodiment, the regenerative electric energy is generated by the reverse rotation of the hydraulic motor driving the drive motor into the regenerative power generation mode, the reverse rotation of the hydraulic motor is caused by the driving force of the hydraulic oil in the hydraulic circuit, and the driving force of the hydraulic oil is caused by the self-weight of the working arm driving the hydraulic cylinder to perform the retracting action.

[0080] In the working arm energy regeneration feedback mode operation process, the operator issues a lowering control instruction indicating the lowering of the working arm through the operating handle. When the lowering control instruction is detected, the control instruction is transmitted to the controller for reverse control signal analysis and conversion processing to generate a negative torque parameter adapted to the motor driver, i.e., a first torque control parameter.

[0081] The hydraulic cylinder is driven by the self-weight of the working arm to perform the retracting action, generating a hydraulic oil driving force on the hydraulic circuit, so that the hydraulic oil in the hydraulic circuit drives the hydraulic motor to rotate in reverse, and the hydraulic motor rotates in reverse and drives the drive motor through the mechanical transmission shaft to enter the regenerative power generation mode, converting mechanical energy into three-phase alternating current energy.

[0082] After obtaining the first torque control parameter, the first torque control parameter is sent to the motor driver, and the motor driver performs reverse regulation of the current based on the first torque control parameter, converts the low-voltage alternating current energy output by the drive motor into high-voltage direct current energy, and performs matching control of the charging voltage and current to generate regenerative electric energy, which is transmitted to the battery.

[0083] The battery receives the regenerative electric energy converted by the motor driver through the high-voltage direct current bus, completes the storage conversion of potential energy to electric energy, and thus achieves the cooperative control goal of energy feedback and system efficiency improvement during the lowering of the working arm.

[0084] In the working arm energy regeneration feedback mode operation process, based on the regenerative power generation cooperative mechanism of the hydraulic motor and the drive motor, 30% of the peak potential energy generated by the lowering of the working arm can be recycled in real time, and through the multi-stage electric energy conversion of the motor driver and the active charging management of the battery, the unified optimization of energy efficient storage and dynamic response can be achieved.

[0085] Figure 3 Flowchart of the working arm control method provided in the embodiments of the present application Figure Two On the basis of the above-mentioned embodiments, the working arm control method is further explained in this embodiment. In this embodiment, it further comprises:

[0086] S201, when it is detected that the boom control instruction is a lifting control instruction, performing signal analysis and conversion processing on the lifting control instruction to obtain a second torque control parameter, and sending the second torque control parameter to the motor driver to enable the motor driver to drive and control the driving motor according to the second torque control parameter, drive the hydraulic motor to rotate, and drive the hydraulic cylinder to perform extension and retraction action through the hydraulic motor to control the working arm to complete lifting operation.

[0087] On the basis of the above-mentioned embodiment, in the embodiment, the boom control instruction further includes a lifting control instruction, and when the boom control instruction is the lifting control instruction, the battery discharge driving operation mode is adopted.

[0088] During the operation of the battery discharge driving operation mode, the operator issues a lifting control instruction indicating the lifting of the working arm through the operation handle. When the lifting control instruction is detected, the control instruction is transmitted to the controller for signal analysis and conversion processing to generate a torque control parameter suitable for the motor driver, i.e., a second torque control parameter.

[0089] After obtaining the second torque control parameter, the second torque control parameter is sent to the motor driver, and the motor driver performs current regulation function according to the second torque control parameter to convert the high-voltage direct-current power output by the battery into low-voltage alternating-current power to realize precise driving control of the driving motor. The driving motor is rigidly connected with the hydraulic motor through a mechanical transmission shaft to directly transmit rotary power to the hydraulic motor to drive the hydraulic motor to rotate. The hydraulic motor and the hydraulic cylinder constitute a linkage system through a closed-loop hydraulic circuit, and the hydraulic cylinder performs linear extension and retraction action through the forward and reverse rotary motion of the hydraulic motor, thereby realizing the final control target of the working arm lifting operation.

[0090] The rigid transmission architecture of the driving motor directly driving the hydraulic motor can simultaneously optimize the response speed and control accuracy of the mechanical and electrical links through the millisecond-level dynamic response and high-precision current closed-loop regulation of the torque control parameter by the motor driver.

[0091] Figure 4 Flowchart of the working arm control method provided by the embodiment Figure Three On the basis of the above-mentioned embodiment, the working arm control method is further explained in the embodiment. In the embodiment, the working arm control method further includes:

[0092] S301, acquiring an end displacement signal of the hydraulic cylinder.

[0093] In the embodiment, a high-precision stroke sensor is integrated inside the hydraulic cylinder piston rod to collect the end displacement signal of the hydraulic cylinder body in real time and transmit it to the controller to build a full-stroke closed-loop control link.

[0094] By building a full stroke closed-loop control system through a high-precision stroke sensor and a hydraulic cylinder, the working pressure of the hydraulic circuit can be reduced through real-time pressure adjustment, the mechanical impact load can be simultaneously relieved, and the service life of the sealing assembly and the mechanical structure can be prolonged.

[0095] S302, determining real-time position feedback data according to the displacement signal.

[0096] As an optional embodiment, the real-time position feedback data can be determined by a laser displacement meter technology, a vibrating wire multi-point displacement meter technology, a potentiometer type linear displacement sensor or an inductive displacement sensor.

[0097] S303, triggering a multi-stage gradient buffering mechanism according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

[0098] In the embodiment, when the real-time position feedback data indicates that the hydraulic cylinder approaches the stroke limit position, the system triggers the multi-stage gradient buffering mechanism according to the real-time position feedback data, and synchronously reduces the hydraulic circuit pressure and the mechanical impact load in combination with the torque rapid unloading function of the motor driver.

[0099] On the basis of the above-mentioned embodiment, the working arm control method is further explained in the embodiment. In the embodiment, the multi-stage gradient buffering mechanism is to implement flow matching compensation according to a preset displacement-velocity curve, and S303 includes:

[0100] S401, implementing flow matching compensation according to a preset displacement-velocity curve according to the real-time position feedback data, dynamically correcting the displacement of the hydraulic motor, to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

[0101] In the embodiment, the controller dynamically corrects the displacement of the hydraulic motor according to the real-time position feedback data according to a preset displacement-velocity curve, implements flow matching compensation by driving the motor to drive the hydraulic motor, and accurately controls the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder. Through accurate gradient control, the hydraulic impact and energy loss can be effectively reduced.

[0102] On the basis of the above-mentioned embodiment, the working arm control method is further explained in the embodiment. In the embodiment, it further includes:

[0103] S501, eliminating the speed hysteresis caused by the hydraulic oil in the closed circuit through a dynamic compensation algorithm.

[0104] In this embodiment, the sensor fusion control strategy not only achieves ±1mm positioning accuracy and ±2% speed control deviation, but also eliminates the speed hysteresis caused by the compressibility of the hydraulic oil through a dynamic compensation algorithm, so that the system has both fast response and flexible docking characteristics in lifting and lowering bidirectional actions, which can effectively extend the service life of the hydraulic cylinder seals and mechanical structure.

[0105] Figure 5 A schematic diagram of the structure of the electric engineering machinery provided in the embodiment of the present application is shown in FIG. Figure 5 As shown, the electric engineering machine includes at least one working arm 117 with one or more sections, a carrier vehicle 118 and the working arm control system provided in the above embodiment.

[0106] One end of the working arm 117 is rotatably connected to the carrying vehicle 118 .

[0107] In this embodiment, the working arm 117 is fixed to the carrier vehicle 118 via at least one hinged connection.

[0108] The working arm control system is installed on the carrier vehicle 118 . One end of the hydraulic cylinder 115 in the working arm control system is rotatably connected to the carrier vehicle 118 , and the other end of the hydraulic cylinder 115 is rotatably connected to the working arm 117 .

[0109] In this embodiment, the working arm control system is installed on the carrier vehicle. The two ends of the hydraulic cylinder 115 in the working arm control system are fixed on the working arm 117 and the carrier vehicle 118 respectively through a hinged connection. The hydraulic cylinder 115 is used to telescope and drive the working arm 117 to perform lifting and lowering actions.

[0110] The working arm control system provided in the above embodiment is a single-joint motion control circuit for the working arm. However, the electric engineering machinery provided in the above embodiment can also be equipped with multiple-joint control circuits, forming a distributed direct-drive control system that shares a common battery power source. A distributed direct-drive control system enables fully decoupled processing of the multi-joint coupled hydraulic control system and independent decoupled control of each working arm joint's motion, significantly simplifying the system circuit structure and improving control response accuracy.

[0111] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device can be any of a variety of electronic devices capable of executing the working arm control method, such as a microcomputer, a single-chip microcomputer, or other suitable computer. The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0112] like Figure 6As shown, the electronic device includes at least one processor 601 and a memory 602. The electronic device also includes a communication component 603. Among them, the processor 601, the memory 602 and the communication component 603 are connected through the bus 604.

[0113] In the implementation process, the at least one processor 601 executes the computer execution instructions stored in the memory 602, so that the at least one processor 601 performs the work arm control method as executed by the electronic device side.

[0114] The specific implementation process of the processor 601 can refer to the work arm control method embodiments described above, which has similar implementation principles and technical effects, and will not be described here.

[0115] In the above embodiments, it should be understood that the processor 601 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), etc. The general-purpose processor 601 can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the application can be directly embodied as hardware processor execution or executed by hardware and software modules in the processor.

[0116] The memory 602 can contain a high-speed RAM memory, and can also include a non-volatile storage NVM, such as at least one disk memory.

[0117] The bus 604 can be an industry standard architecture (ISA) bus, a peripheral component (PCI) bus or an extended industry standard architecture (EISA) bus. The bus 604 can be divided into an address bus, a data bus and a control bus. For the convenience of representation, the bus 604 in the drawings of the present application does not limit only one bus or one type of bus.

[0118] The functions implemented by the electronic device and the host device are described above, and the solutions provided by the embodiments of the present application are introduced. It can be understood that, in order to implement the above functions, the electronic device or the host device comprises a hardware structure and / or a software module corresponding to the execution of each function. In combination with the units and algorithm steps of the examples described in the embodiments of the present application, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or in the form of computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the technical solutions of the embodiments of the present application.

[0119] The present application also provides a computer readable storage medium, which stores computer execution instructions, and when a processor executes the computer execution instructions, the working arm control method is realized.

[0120] The computer readable storage medium described above can be implemented by any type of volatile, non-volatile storage device or a combination thereof, such as static random access memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, programmable read-only memory, read-only memory, magnetic storage, flash memory, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0121] An exemplary readable storage medium is coupled to the processor, so that the processor can read information from the readable storage medium, and can write information to the readable storage medium. The readable storage medium can also be a component of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). The processor and the readable storage medium can also exist as discrete components in the electronic device or the host device.

[0122] The memory 602 is a non-transitory computer readable storage medium provided by the present application. The non-transitory computer readable storage medium of the present application stores computer instructions for causing a computer to execute the working arm control method provided by the present application.

[0123] The memory 602, as a non-transitory computer readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs and modules. The processor 601 executes various functional applications and data processing by running the non-transitory software programs, instructions and modules stored in the memory 602, that is, implements the working arm control method in the above method embodiments.

[0124] Meanwhile, the embodiment also provides a computer program product, comprising a computer program, which is used for realizing the working arm control method of the above embodiment when executed by a processor.

[0125] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in one or more embodiments of the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for user to select authorization or rejection.

[0126] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the action sequence described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification are all optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0127] It should be further noted that, although each step in the flowchart is displayed in sequence according to the arrow, these steps are not necessarily executed in sequence according to the arrow. Unless otherwise stated in this article, the execution of these steps has no strict sequence limitation, and these steps can be executed in other order. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution sequence of these sub-steps or stages is not necessarily sequential, but can be executed alternately or alternately with at least part of other steps or sub-steps or stages of other steps.

[0128] It should be understood that the above-mentioned device embodiment is only schematic, and the device of the present application can also be realized by other ways. For example, the division of units / modules in the above-mentioned embodiment is only a logical function division, and actual implementation can have another division way. For example, multiple units, modules or components can be combined, or can be integrated into another system, or some features can be ignored or not executed.

[0129] In addition, unless otherwise specified, each functional unit / module in each embodiment of the present application can be integrated in one unit / module, or each unit / module can exist physically, or two or more units / modules can be integrated together. The above-mentioned integrated unit / module can be realized in the form of hardware or in the form of software program module.

[0130] If the integrated units / modules are implemented in the form of hardware, the hardware can be a digital circuit, an analog circuit, etc. The physical implementation of the hardware structure includes, but is not limited to, transistors and memristors. Unless otherwise specified, the processor can be any appropriate hardware processor, such as a CPU, a GPU, an FPGA, a DSP, and an ASIC. Unless otherwise specified, the storage unit can be any appropriate magnetic storage medium or magneto-optical storage medium, such as a resistive random access memory (RRAM), a dynamic random access memory (DRAM), a static random access memory (SRAM), an enhanced dynamic random access memory (EDRAM), a high-bandwidth memory (HBM), and a hybrid memory cube (HMC).

[0131] If the integrated units / modules are implemented in the form of software program modules and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the essential part of the prior art or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server or a network device) to execute all or part of the steps of the embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0132] In the above embodiments, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments. The technical features of the above embodiments can be combined arbitrarily, and in order to make the description concise, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combination of the technical features does not exist contradictory, it should be considered as the scope of the present application.

[0133] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0134] It is to be understood that the application is not limited to the precise construction herein disclosed and shown in the drawings, and that various changes in shape, size and arrangements of parts can be made without departing from the scope of the application. The scope of the application is limited only by the claims that follow.

Claims

1. A working arm control system, characterized in that: include: A control device (110), a battery (111), a drive motor (112), a hydraulic motor (113), a sensor (114), a hydraulic cylinder (115), and a hydraulic circuit (116); The control device (110) is electrically connected to the battery (111), the control device (110) is electrically connected to the drive motor (112), the drive motor (112) is transmission-connected to the hydraulic motor (113), the hydraulic motor (113) and the hydraulic cylinder (115) are connected via the hydraulic circuit (116), the sensor (114) is mounted on the hydraulic cylinder (115), and the hydraulic cylinder (115) is rotationally connected to the working arm (117).

2. The working arm control system according to claim 1, characterized in that: The control device (110) includes an operating handle (1101), a controller (1102), and a motor driver (1103); The operating handle (1101) is data-connected to the controller (1102), the controller (1102) is data-connected to the motor driver (1103), and the motor driver (1103) is electrically connected to the drive motor (112).

3. The working arm control system according to claim 2, characterized in that: The driving motor (112) is a permanent magnet synchronous motor, the hydraulic motor (113) is a bidirectional hydraulic motor, and the hydraulic cylinder (115) is a single-rod symmetrical hydraulic cylinder; A rodless chamber and a rod chamber are provided in the single-rod symmetrical hydraulic cylinder, the effective areas of the rodless chamber and the rod chamber are equal, and the rodless chamber and the rod chamber form a closed circuit with the bidirectional hydraulic motor through the hydraulic circuit (116).

4. The working arm control system according to claim 2, characterized in that: The motor driver (1103) is an all-in-one driver, and the hydraulic motor (113) is a four-quadrant pump.

5. A working arm control method, applied to the controller in the working arm control system according to claim 3, characterized in that: The working arm control method comprises: receiving a boom control instruction sent by an operating handle, wherein the boom control instruction is generated by the operating handle in response to a control operation of an operator; When it is detected that the arm control instruction is a descent control instruction, the descent control instruction is subjected to signal analysis and conversion processing to obtain a first torque control parameter, and the first torque control parameter is sent to the motor driver, so that the motor driver performs current matching control according to the first torque control parameter to generate regenerative electric energy, and the regenerative electric energy is transmitted to the battery for storage, wherein the regenerative electric energy is generated by the reverse rotation of the hydraulic motor to drive the drive motor into a regenerative power generation mode, and the reverse rotation of the hydraulic motor is generated by the hydraulic oil driving force in the hydraulic circuit of the hydraulic motor, and the hydraulic oil driving force is generated by the weight of the working arm driving the hydraulic cylinder to perform a retraction action.

6. The working arm control method according to claim 5, characterized in that: Also includes: When it is detected that the arm control instruction is a lifting control instruction, the lifting control instruction is subjected to signal analysis and conversion processing to obtain a second torque control parameter, and the second torque control parameter is sent to the motor driver, so that the motor driver can drive and control the drive motor according to the second torque control parameter to drive the hydraulic motor to rotate, and drive the hydraulic cylinder through the hydraulic motor to perform a telescopic action to control the working arm to complete the lifting operation.

7. The working arm control method according to claim 5, characterized in that: Also includes: Acquiring an end displacement signal of the hydraulic cylinder; determining real-time position feedback data based on the displacement signal; A multi-level gradient buffer mechanism is triggered according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

8. The working arm control method according to claim 7, characterized in that: The multi-level gradient buffering mechanism implements flow matching compensation according to a preset displacement-velocity curve; Accordingly, triggering a multi-level gradient cache mechanism according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder includes: Flow matching compensation is implemented according to the preset displacement-velocity curve based on the real-time position feedback data, and the displacement of the hydraulic motor is dynamically corrected to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder.

9. The working arm control method according to claim 7, characterized in that: When the multi-level gradient cache mechanism is triggered according to the real-time position feedback data to control the acceleration or deceleration gradient of the end stroke of the hydraulic cylinder, the method further includes: The speed hysteresis caused by hydraulic oil in the closed loop is eliminated through a dynamic compensation algorithm.

10. An electric engineering machine, characterized in that: It comprises at least one working arm (117) having one or more sections, a carrier vehicle (118) and the working arm control system according to claim 1; Wherein, one end of the working arm (117) is rotatably connected to the carrying vehicle (118); The working arm control system is mounted on the carrier vehicle (118), one end of a hydraulic cylinder (115) in the working arm control system is rotatably connected to the carrier vehicle (118), and the other end of the hydraulic cylinder is rotatably connected to the working arm (117).

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