A method and device for dither compensation control of a construction machine

Abstract

The application relates to the technical field of engineering machinery, and discloses a shaking compensation control method and device for engineering machinery, which comprises the following steps: determining a shaking factor state parameter of the engineering machinery, the shaking factor state parameter being used for representing the state performance of a shaking factor in the engineering machinery, and the shaking factor being used for representing a factor causing the shaking of the engineering machinery when walking; analyzing a state change degree parameter of the corresponding shaking factor according to the shaking factor state parameter; generating a target compensation parameter of the engineering machinery according to the obtained historical compensation parameter of the engineering machinery, the state change degree parameter and a preset adaptive global optimization algorithm; and generating a shaking compensation control instruction of the engineering machinery according to the target compensation parameter. It can be seen that the application can improve the accuracy of the shaking compensation control of the engineering machinery, so that the shaking of the engineering machinery is effectively reduced.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a vibration compensation control method and device for engineering machinery. Background Technology

[0002] Construction machinery (such as hydraulic excavators) is prone to vibration when moving under complex working conditions, especially in special scenarios such as low temperature environments, wetlands, or water operations.

[0003] Currently, in order to reduce vibration in construction machinery, the rigidity of the cab connection is generally increased artificially. However, in practice, it has been found that this solution still cannot adapt to the different operating habits of different operators (such as quickly pulling or releasing the pedal), and cannot effectively alleviate the vibration caused by sudden speed changes.

[0004] Therefore, improving the accuracy of vibration compensation control in construction machinery is of paramount importance in order to effectively reduce vibration. Summary of the Invention

[0005] This invention provides a vibration compensation control method and device for construction machinery, which can improve the accuracy of vibration compensation control for construction machinery and effectively reduce vibration of construction machinery.

[0006] To address the aforementioned technical problems, the first aspect of this invention discloses a vibration compensation control method for engineering machinery, the method comprising:

[0007] Determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate while moving.

[0008] Based on the jitter factor state parameters, analyze the corresponding jitter factor state change degree parameters;

[0009] Based on the historical compensation parameters of the construction machinery, the state change degree parameters, and the preset adaptive global optimization algorithm, the target compensation parameters of the construction machinery are generated.

[0010] Based on the target compensation parameters, a vibration compensation control command for the construction machinery is generated.

[0011] As an optional implementation, in the first aspect of the present invention, the jitter factor state parameter includes at least one of a first rate of change parameter and a hydraulic oil temperature parameter; the first rate of change parameter is used to represent the change in the travel pedal opening of the construction machinery; the first rate of change parameter is calculated based on the collected travel pedal opening parameter.

[0012] And, the step of analyzing the degree of state change parameters corresponding to the jitter factor based on the jitter factor state parameters includes:

[0013] Based on the jitter factor state parameters and the corresponding preset change threshold parameters, calculate the state change degree parameters corresponding to the jitter factor;

[0014] Wherein, the preset change threshold parameter corresponding to the first change rate parameter is a preset first threshold parameter; the state change degree parameter corresponding to the first change rate parameter is an operation change degree parameter.

[0015] The preset change threshold parameter corresponding to the hydraulic oil temperature parameter is a preset second threshold parameter; the state change degree parameter corresponding to the hydraulic oil temperature parameter is an oil temperature change degree parameter.

[0016] As an optional implementation, in the first aspect of the present invention, the target compensation parameter includes at least one of the following: travel pilot valve current compensation parameter and main pump displacement valve current change rate correction parameter.

[0017] The state change parameter corresponding to the current compensation parameter of the walking pilot valve is the operation change parameter.

[0018] The state change degree parameter corresponding to the main pump displacement valve current change rate correction parameter is the operation change degree parameter and the oil temperature change degree parameter.

[0019] As an optional implementation, in the first aspect of the present invention, the jitter compensation control command includes at least one of the target travel pilot valve current control command and the target main pump displacement valve current change rate control command.

[0020] The target travel pilot valve current control command corresponds to the travel pilot valve current compensation parameter.

[0021] The target main pump displacement valve current change rate control command corresponds to the main pump displacement valve current change rate correction parameter.

[0022] And, the step of generating vibration compensation control commands for the construction machinery based on the target compensation parameters includes:

[0023] When the target compensation parameter includes the travel pilot valve current compensation parameter, the current travel pilot valve current control command corresponding to the travel pedal opening parameter is collected.

[0024] Based on the current travel pilot valve current control command and the travel pilot valve current compensation parameters, the target travel pilot valve current control command for the engineering machinery is generated.

[0025] When the target compensation parameter includes the main pump displacement valve current change rate correction parameter, the reference main pump displacement valve current change rate parameter of the construction machinery is collected. The reference main pump displacement valve current change rate parameter is used to represent the rate of change of the main pump displacement command current of the construction machinery under standard working conditions.

[0026] Based on the main pump displacement valve current change rate correction parameter and the benchmark main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate parameter of the engineering machinery is generated.

[0027] Collect the current change rate control command of the main pump displacement valve of the construction machinery;

[0028] Based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

[0029] As an optional implementation, in the first aspect of the present invention, generating the target main pump displacement valve current change rate control command for the construction machinery based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter includes:

[0030] Determine the current main pump discharge valve current change rate parameter corresponding to the current main pump discharge valve current change rate control command.

[0031] Based on the current main pump displacement valve current change rate parameter and the target main pump displacement valve current change rate parameter, calculate the expected current change rate adjustment parameter of the construction machinery, and the expected current change rate adjustment parameter corresponds to the expected current change rate adjustment amount of the construction machinery.

[0032] Based on the target main pump displacement valve current change rate parameter and the preset time interval, calculate the maximum allowable current change rate parameter of the engineering machinery in a single step;

[0033] Based on the single-step maximum allowable current change rate parameter and the preset limit ratio condition, the target current change compensation ratio parameter of the engineering machinery is determined. The preset limit ratio condition is used to indicate that the target current change compensation ratio parameter is determined as the minimum parameter between the single-step maximum allowable current change rate parameter and the preset compensation ratio parameter.

[0034] Based on the current main pump displacement valve current change rate control command, the target current change compensation ratio parameter, and the desired current change rate adjustment parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

[0035] As an optional implementation, in the first aspect of the present invention, the vibration factor state parameter further includes a second rate of change parameter; the second rate of change parameter is used to represent the change in the air pressure of the seat airbag of the engineering machinery.

[0036] The second rate of change parameter is calculated based on the collected seat airbag pressure parameters;

[0037] The preset change threshold parameter corresponding to the second rate of change parameter is a preset third threshold parameter;

[0038] The state change degree parameter corresponding to the second rate of change parameter is the seat airbag pressure change degree parameter; the target compensation parameter also includes a seat airbag pressure compensation parameter, and the state change degree parameter corresponding to the seat airbag pressure compensation parameter is the seat airbag pressure change degree parameter;

[0039] Furthermore, the vibration compensation control command further includes an airbag pressure adaptive transition control command, and the step of generating the vibration compensation control command for the construction machinery based on the target compensation parameters further includes:

[0040] Calculate the target seat airbag pressure parameters of the engineering machinery based on the seat airbag pressure parameters and the seat airbag pressure compensation parameters;

[0041] Based on the obtained seat airbag pressure change rate limit parameter, the current seat airbag pressure parameter, and the target seat airbag pressure parameter, the adaptive transition control command for the airbag pressure of the construction machinery is generated.

[0042] As an optional implementation, in the first aspect of the present invention, the preset adaptive global optimization algorithm includes a preset genetic algorithm and / or a preset gradient descent algorithm.

[0043] A second aspect of this invention discloses a vibration compensation control device for engineering machinery, the device comprising:

[0044] The determination module is used to determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate while walking.

[0045] The analysis module is used to analyze the degree of state change parameters corresponding to the jitter factor based on the jitter factor state parameters.

[0046] The generation module is used to generate target compensation parameters for the construction machinery based on the historical compensation parameters of the construction machinery, the state change degree parameters, and a preset adaptive global optimization algorithm.

[0047] The generation module is also used to generate vibration compensation control commands for the engineering machinery based on the target compensation parameters.

[0048] As an optional implementation, in the second aspect of the present invention, the jitter factor state parameter includes at least one of a first rate of change parameter and a hydraulic oil temperature parameter; the first rate of change parameter is used to represent the change in the travel pedal opening of the construction machinery; the first rate of change parameter is calculated based on the collected travel pedal opening parameter.

[0049] Furthermore, the specific methods by which the analysis module analyzes the degree of state change parameters corresponding to the jitter factor based on the jitter factor state parameters include:

[0050] Based on the jitter factor state parameters and the corresponding preset change threshold parameters, calculate the state change degree parameters corresponding to the jitter factor;

[0051] Wherein, the preset change threshold parameter corresponding to the first change rate parameter is a preset first threshold parameter; the state change degree parameter corresponding to the first change rate parameter is an operation change degree parameter.

[0052] The preset change threshold parameter corresponding to the hydraulic oil temperature parameter is a preset second threshold parameter; the state change degree parameter corresponding to the hydraulic oil temperature parameter is an oil temperature change degree parameter.

[0053] As an optional implementation, in the second aspect of the present invention, the target compensation parameter includes at least one of the following: travel pilot valve current compensation parameter and main pump displacement valve current change rate correction parameter.

[0054] The state change parameter corresponding to the current compensation parameter of the walking pilot valve is the operation change parameter.

[0055] The state change degree parameter corresponding to the main pump displacement valve current change rate correction parameter is the operation change degree parameter and the oil temperature change degree parameter.

[0056] As an optional implementation, in the second aspect of the present invention, the jitter compensation control command includes at least one of the target travel pilot valve current control command and the target main pump displacement valve current change rate control command.

[0057] The target travel pilot valve current control command corresponds to the travel pilot valve current compensation parameter.

[0058] The target main pump displacement valve current change rate control command corresponds to the main pump displacement valve current change rate correction parameter.

[0059] Furthermore, the specific method by which the generation module generates the vibration compensation control command for the construction machinery based on the target compensation parameters includes:

[0060] When the target compensation parameter includes the travel pilot valve current compensation parameter, the current travel pilot valve current control command corresponding to the travel pedal opening parameter is collected.

[0061] Based on the current travel pilot valve current control command and the travel pilot valve current compensation parameters, the target travel pilot valve current control command for the engineering machinery is generated.

[0062] When the target compensation parameter includes the main pump displacement valve current change rate correction parameter, the reference main pump displacement valve current change rate parameter of the construction machinery is collected. The reference main pump displacement valve current change rate parameter is used to represent the rate of change of the main pump displacement command current of the construction machinery under standard working conditions.

[0063] Based on the main pump displacement valve current change rate correction parameter and the benchmark main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate parameter of the engineering machinery is generated.

[0064] Collect the current change rate control command of the main pump displacement valve of the construction machinery;

[0065] Based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

[0066] As an optional implementation, in a second aspect of the present invention, the specific method by which the generation module generates the target main pump displacement valve current change rate control command for the construction machinery based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter includes:

[0067] Determine the current main pump discharge valve current change rate parameter corresponding to the current main pump discharge valve current change rate control command.

[0068] Based on the current main pump displacement valve current change rate parameter and the target main pump displacement valve current change rate parameter, calculate the expected current change rate adjustment parameter of the construction machinery, and the expected current change rate adjustment parameter corresponds to the expected current change rate adjustment amount of the construction machinery.

[0069] Based on the target main pump displacement valve current change rate parameter and the preset time interval, calculate the maximum allowable current change rate parameter of the engineering machinery in a single step;

[0070] Based on the single-step maximum allowable current change rate parameter and the preset limit ratio condition, the target current change compensation ratio parameter of the engineering machinery is determined. The preset limit ratio condition is used to indicate that the target current change compensation ratio parameter is determined as the minimum parameter between the single-step maximum allowable current change rate parameter and the preset compensation ratio parameter.

[0071] Based on the current main pump displacement valve current change rate control command, the target current change compensation ratio parameter, and the desired current change rate adjustment parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

[0072] As an optional implementation, in a second aspect of the present invention, the vibration factor state parameter further includes a second rate of change parameter; the second rate of change parameter is used to represent the change in air pressure of the seat airbag of the engineering machinery.

[0073] The second rate of change parameter is calculated based on the collected seat airbag pressure parameters;

[0074] The preset change threshold parameter corresponding to the second rate of change parameter is a preset third threshold parameter;

[0075] The state change degree parameter corresponding to the second rate of change parameter is the seat airbag pressure change degree parameter; the target compensation parameter also includes a seat airbag pressure compensation parameter, and the state change degree parameter corresponding to the seat airbag pressure compensation parameter is the seat airbag pressure change degree parameter;

[0076] Furthermore, the vibration compensation control command also includes an airbag pressure adaptive transition control command, and the specific method by which the generation module generates the vibration compensation control command for the construction machinery based on the target compensation parameters further includes:

[0077] Calculate the target seat airbag pressure parameters of the engineering machinery based on the seat airbag pressure parameters and the seat airbag pressure compensation parameters;

[0078] Based on the obtained seat airbag pressure change rate limit parameter, the current seat airbag pressure parameter, and the target seat airbag pressure parameter, the adaptive transition control command for the airbag pressure of the construction machinery is generated.

[0079] As an optional implementation, in a second aspect of the present invention, the preset adaptive global optimization algorithm includes a preset genetic algorithm and / or a preset gradient descent algorithm.

[0080] A third aspect of the present invention discloses another vibration compensation control device for engineering machinery, the device comprising:

[0081] Memory containing executable program code;

[0082] A processor coupled to the memory;

[0083] The processor calls the executable program code stored in the memory to execute the vibration compensation control method for engineering machinery disclosed in the first aspect of the present invention.

[0084] The fourth aspect of the present invention discloses a computer storage medium storing computer instructions, which, when invoked, are used to execute the vibration compensation control method for engineering machinery disclosed in the first aspect of the present invention.

[0085] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0086] In this embodiment of the invention, the vibration factor state parameters of the construction machinery are determined. The vibration factor state parameters represent the state performance of the vibration factors in the construction machinery, and the vibration factors represent the factors that cause the construction machinery to vibrate during movement. Based on the vibration factor state parameters, the corresponding vibration factor state change degree parameters are analyzed. Based on the obtained historical compensation parameters, state change degree parameters, and preset adaptive global optimization algorithm of the construction machinery, target compensation parameters of the construction machinery are generated. Based on the target compensation parameters, vibration compensation control commands for the construction machinery are generated. As can be seen, implementing this invention can determine the state parameters of the vibration factor through real-time acquisition. The system can quantify the causes of vibration (such as sudden operational changes or low-temperature conditions), overcoming the shortcomings of traditional mechanical solutions that cannot perceive changes in operating conditions. By combining the historical compensation parameters and state change parameters of the construction machinery with a preset adaptive global optimization algorithm, target compensation parameters are generated to achieve adaptive global optimization. This adapts to the operator's operating habits and the recent working conditions of the construction machinery, improving the adaptability, analytical comprehensiveness, and control accuracy of the vibration compensation control of the construction machinery, thereby effectively reducing vibration. Furthermore, based on the target compensation parameters, vibration compensation control commands are generated for the construction machinery to achieve smooth vibration reduction and improve the comfort and safety of construction machinery operation. Attached Figure Description

[0087] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0088] Figure 1 This is a flowchart illustrating a vibration compensation control method for engineering machinery disclosed in an embodiment of the present invention;

[0089] Figure 2 This is a schematic diagram of the structure of a vibration compensation control device for engineering machinery disclosed in an embodiment of the present invention;

[0090] Figure 3 This is a schematic diagram of another vibration compensation control device for engineering machinery disclosed in an embodiment of the present invention. Detailed Implementation

[0091] To enable those skilled in the art to better understand the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0092] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, apparatus, product, or end that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or ends.

[0093] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0094] This invention discloses a vibration compensation control method and device for construction machinery. It can determine vibration factor state parameters through real-time data acquisition, and the system can quantify vibration causes (such as sudden operational changes or low-temperature conditions), overcoming the shortcomings of traditional mechanical solutions that cannot perceive changes in operating conditions. By combining historical compensation parameters and state change degree parameters of the construction machinery with a preset adaptive global optimization algorithm, target compensation parameters are generated to achieve adaptive global optimization. This adapts to the operator's habits and the recent working conditions of the construction machinery, improving the adaptability, analytical comprehensiveness, and control accuracy of vibration compensation control, thereby effectively reducing vibration. Furthermore, based on the target compensation parameters, vibration compensation control commands are generated to achieve smooth vibration reduction, improving the comfort and safety of construction machinery operation. Detailed descriptions follow.

[0095] Example 1

[0096] Please see Figure 1 , Figure 1 This is a flowchart illustrating a vibration compensation control method for engineering machinery disclosed in an embodiment of the present invention. Figure 1 The described vibration compensation control method for construction machinery can be applied to construction machinery, such as excavators, and can also be applied to intelligent devices associated with construction machinery. These intelligent devices include, but are not limited to, one or more of battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. This invention does not limit the application of these methods. Figure 1 As shown, the vibration compensation control method for this construction machinery may include the following operations:

[0097] 101. Determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate when moving.

[0098] In this embodiment of the invention, optionally, for the above-mentioned determination of the vibration factor state parameters, key parameters that cause vibration of the construction machinery can be collected in real time, including the rate of change of the travel pedal opening, hydraulic oil temperature, seat airbag pressure, etc., to quantify the real-time state of the vibration cause and provide a data basis for subsequent analysis;

[0099] Specifically, sensors can be used to acquire the pedal opening signal and calculate its rate of change; read the temperature value from the hydraulic oil temperature sensor; and monitor changes in seat airbag pressure, etc.

[0100] Further optionally, the aforementioned jitter factors may also include mechanical vibration factors, such as the vibration amplitude of the walking mechanism, to collect the vibration intensity of the track / tire through an acceleration sensor and quantify the overall machine jitter caused by mechanical structure resonance; or structural resonance frequency, to analyze the spectral characteristics of the vibration signal and capture resonance phenomena at specific frequencies; the corresponding jitter factor state parameters are vibration acceleration value, vibration dominant frequency, etc.

[0101] The aforementioned jitter factors can also include hydraulic system fluctuation factors, such as the hydraulic circuit pressure fluctuation frequency, to calculate the standard deviation of the main pump outlet pressure fluctuation and reflect the instability of hydraulic flow; or the hydraulic motor speed fluctuation, to monitor the travel motor speed change rate and identify speed oscillations caused by sudden load changes (such as slipping on wet ground); the corresponding jitter factor state parameters are the standard deviation of pressure change rate, speed fluctuation rate, etc.

[0102] The aforementioned vibration factors can also include environmental and operating condition factors, such as ground unevenness, which is used to calculate the pitch / roll rate of the vehicle body through IMU sensors to quantify the impact of road conditions on the stability of the whole machine; and external impact loads, which are used to detect the instantaneous impact force of the working device (such as the bucket) and predict the shaking of the whole machine caused by sudden load changes; the corresponding vibration factor state parameters are the vehicle body tilt angle change rate, instantaneous impact force peak value, etc.

[0103] The aforementioned jitter factors may also include operation extension factors, such as the degree of abrupt change in joystick operation, to monitor abrupt changes in the joystick operation of the working device (such as rapid bucket retraction) and avoid the transmission of action shock to the walking system; or the engine load abrupt change rate, to calculate the acceleration of engine speed change and identify power fluctuations caused by sudden acceleration and deceleration; the corresponding jitter factor state parameters are joystick opening change rate, engine speed change gradient, etc.

[0104] 102. Based on the jitter factor state parameters, analyze the corresponding jitter factor state change parameters;

[0105] In this embodiment of the invention, optionally, for the parameter of the degree of change in the analysis state, the dynamic fluctuation intensity of the jitter factor (such as the degree of sudden operation change, the degree of oil temperature deviation) can be evaluated to convert the original signal into a quantifiable and controllable feature value.

[0106] Specifically, the rate of change of the walking pedal opening can be compared with a preset threshold to calculate the degree of operational abrupt change;

[0107] The hydraulic oil temperature is compared with the low temperature threshold to calculate the degree of oil temperature deviation.

[0108] In this embodiment of the invention, as an optional implementation, the above-mentioned jitter factor state parameters include at least one of a first rate of change parameter and a hydraulic oil temperature parameter; the first rate of change parameter is used to represent the change in the travel pedal opening of the construction machinery; the first rate of change parameter is calculated based on the collected travel pedal opening parameter.

[0109] Optionally, based on the jitter factor state parameters, analyze the corresponding jitter factor state change parameters, including:

[0110] Calculate the degree of state change parameter of the corresponding jitter factor based on the jitter factor state parameter and the corresponding preset change threshold parameter;

[0111] Among them, the preset change threshold parameter corresponding to the first change rate parameter is the preset first threshold parameter; the state change degree parameter corresponding to the first change rate parameter is the operation change degree parameter.

[0112] The preset change threshold parameter corresponding to the hydraulic oil temperature parameter is the preset second threshold parameter; the state change degree parameter corresponding to the hydraulic oil temperature parameter is the oil temperature change degree parameter.

[0113] In this embodiment of the invention, optionally, the first rate of change parameter (the rate of change of the walking pedal opening) reflects the real-time trend of the pedal operation speed in order to capture differences in operating habits (such as pressing hard / releasing the pedal slowly).

[0114] Specifically, it can be obtained by differential calculation of the walking pedal opening parameter;

[0115] Optionally, the parameter for the degree of operational change is a quantified value that reflects the intensity of the operational abrupt change, in order to determine the current compensation strength (the larger the value, the stronger the suppression).

[0116] Specifically, it can be obtained by subtracting the preset first threshold parameter from the absolute value of the first rate of change parameter;

[0117] Optionally, the oil temperature change parameter is a quantitative value that reflects the low temperature of the hydraulic system, in order to control the main pump response speed (the larger the value, the slower the rate of change).

[0118] Specifically, it can be obtained by subtracting the hydraulic oil temperature parameter from the preset second threshold parameter.

[0119] As can be seen, implementing this optional embodiment can generate an operation change parameter by comparing the first change rate parameter (pedal opening change rate) with a preset threshold, transforming subjective operating habits into objective control basis, avoiding speed abrupt changes caused by "sudden pressing / releasing," and achieving precise quantification of operation abrupt changes; by generating an oil temperature change parameter by the deviation of hydraulic oil temperature from the threshold, it specifically breaks the vicious cycle of "low temperature-oil viscosity-response lag," which is superior to the traditional manual displacement reduction strategy and achieves dynamic response in low-temperature conditions; by constraining the validity of the parameter by the preset threshold, it prevents overcompensation from causing control failure (such as current over-limit), and achieves threshold drive safety.

[0120] 103. Based on the historical compensation parameters, state change parameters, and preset adaptive global optimization algorithm of the engineering machinery, generate the target compensation parameters for the engineering machinery.

[0121] In this embodiment of the invention, optionally, the target compensation parameters are generated by dynamically generating compensation parameters (such as current correction amount and rate of change coefficient) based on historical data and optimization algorithms, so as to adaptively adjust the control intensity and match different operating conditions.

[0122] Specifically, this can be achieved by calling control parameter samples from the historical database;

[0123] Parameters can be fine-tuned online using gradient descent or globally optimized offline using a genetic algorithm.

[0124] In this embodiment of the invention, as another optional implementation, the target compensation parameter mentioned above includes at least one of the following: travel pilot valve current compensation parameter and main pump displacement valve current change rate correction parameter.

[0125] Among them, the state change parameter corresponding to the current compensation parameter of the travel pilot valve is the operation change parameter;

[0126] The parameters corresponding to the correction parameters for the current change rate of the main pump displacement valve are the parameters for the degree of change in operation and the parameters for the degree of change in oil temperature.

[0127] In this embodiment of the invention, optionally, the current compensation parameter of the travel pilot valve, i.e., the dynamic correction amount of the reference current, is used to suppress hydraulic shock caused by sudden changes in operation from the source.

[0128] Optionally, when the operation change parameter is greater than 0, a negative compensation value is generated;

[0129] The compensation intensity is positively correlated with the parameter of operational variation.

[0130] Optionally, the main pump displacement valve current change rate correction parameter, i.e. the adjustment coefficient of the main pump response speed, is used to synergistically suppress flow supply and demand imbalance.

[0131] Optionally, it can be dynamically generated by combining parameters of operational change and oil temperature change.

[0132] When vibration needs to be suppressed, the correction parameter for the change rate of the main pump displacement valve current should be <1 (speed reduction), and when the operating conditions are good, the correction parameter for the change rate of the main pump displacement valve current should be ≥1 (speed increase).

[0133] As can be seen, implementing this optional embodiment can directly offset the sudden energy of operation through the current compensation parameter of the travel valve; the main pump rate of change correction parameter synchronously adjusts the hydraulic response speed, doubly blocking the flow oscillation caused by "valve-pump response mismatch", achieving source suppression and execution synergy; by participating in the generation of main pump correction parameters through the degree of oil temperature change, the influence of low-temperature oil viscosity is specifically alleviated, the stability of the hydraulic system is improved, and special optimization for low-temperature working conditions is achieved; by generating current compensation and rate of change correction independently, the control lag caused by excessive suppression of a single parameter is avoided, achieving parameter decoupling design.

[0134] 104. Generate vibration compensation control commands for the construction machinery based on the target compensation parameters.

[0135] In this embodiment of the invention, optionally, for generating jitter compensation control instructions, the compensation parameters are converted into executable instructions (such as current value, rate of change limit value) to directly drive the actuator to suppress jitter;

[0136] Specifically, the travel valve current compensation command can be used as the reference current plus a correction amount;

[0137] In addition, the main pump displacement change rate command is the base change rate multiplied by the correction factor;

[0138] As can be seen, implementing this invention can determine the state parameters of the vibration factor through real-time acquisition. The system can quantify the causes of vibration (such as sudden operational changes or low-temperature conditions), overcoming the shortcomings of traditional mechanical solutions that cannot perceive changes in operating conditions. By combining the historical compensation parameters and state change parameters of the construction machinery with a preset adaptive global optimization algorithm, target compensation parameters are generated to achieve adaptive global optimization. This adapts to the operator's operating habits and the recent working conditions of the construction machinery, improving the adaptability, analytical comprehensiveness, and control accuracy of the vibration compensation control of the construction machinery, thereby effectively reducing vibration. Furthermore, based on the target compensation parameters, vibration compensation control commands are generated for the construction machinery to achieve smooth vibration reduction and improve the comfort and safety of construction machinery operation.

[0139] In another optional implementation of this invention, the jitter compensation control command mentioned above includes at least one of the target travel pilot valve current control command and the target main pump displacement valve current change rate control command.

[0140] Among them, the target travel pilot valve current control command corresponds to the travel pilot valve current compensation parameter;

[0141] The target main pump displacement valve current change rate control command corresponds to the main pump displacement valve current change rate correction parameter.

[0142] Optionally, based on the target compensation parameters, vibration compensation control commands for the construction machinery are generated, including:

[0143] When the target compensation parameter includes the travel pilot valve current compensation parameter, the current travel pilot valve current control command corresponding to the travel pedal opening parameter is collected.

[0144] Based on the current travel pilot valve current control command and travel pilot valve current compensation parameters, generate the target travel pilot valve current control command for the construction machinery.

[0145] When the target compensation parameter includes the main pump displacement valve current change rate correction parameter, the reference main pump displacement valve current change rate parameter of the construction machinery is collected. The reference main pump displacement valve current change rate parameter is used to represent the rate of change of the main pump displacement command current of the construction machinery under standard working conditions.

[0146] Based on the main pump displacement valve current change rate correction parameter and the benchmark main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate parameter for the construction machinery is generated.

[0147] Collect the current change rate control command of the main pump displacement valve of the construction machinery;

[0148] Based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter, generate the target main pump displacement valve current change rate control command for the construction machinery.

[0149] In this embodiment of the invention, optionally, for the target travel pilot valve current control command, specifically, the current travel valve current value can be read; current compensation parameters can be superimposed to generate the final command; and the output can be constrained to be within the effective operating range of the proportional valve.

[0150] Further optionally, for the target main pump displacement valve current change rate control command, the reference main pump change rate (preset standard operating condition value) can be obtained; multiplied by the correction coefficient to obtain the target change rate; and a smooth transition algorithm can be executed based on the target change rate.

[0151] As can be seen, implementing this optional embodiment can generate target commands by superimposing compensation parameters on the current, ensuring real-time transmission of operational intentions, avoiding the mechanical delay of traditional valve cores, and achieving immediacy of travel valve commands; by dynamically adjusting the reference change rate with a correction coefficient, it balances response speed and stability requirements, eliminates abrupt changes in displacement, and achieves controllability of the main pump change rate; the direct output of travel valve current and the smooth transition of the main pump change rate are compatible with the physical characteristics of different actuators (fast response of solenoid valves / large inertia of hydraulic pumps), achieving actuator-specific adaptation.

[0152] In this optional embodiment, as an optional implementation, the above-mentioned generation of the target main pump displacement valve current change rate control command for the construction machinery based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter includes:

[0153] Determine the current change rate parameter of the current main pump discharge valve corresponding to the current change rate control command of the current main pump discharge valve.

[0154] Based on the current main pump displacement valve current change rate parameter and the target main pump displacement valve current change rate parameter, calculate the expected current change rate adjustment parameter of the construction machinery. The expected current change rate adjustment parameter corresponds to the expected current change rate adjustment amount of the construction machinery.

[0155] Based on the target main pump displacement valve current change rate parameter and the preset time interval, calculate the maximum allowable current change rate parameter for the construction machinery in a single step.

[0156] Based on the single-step maximum allowable current change rate parameter and the preset limit ratio condition, the target current change compensation ratio parameter of the engineering machinery is determined. The preset limit ratio condition is used to indicate that the target current change compensation ratio parameter is determined as the minimum parameter between the single-step maximum allowable current change rate parameter and the preset compensation ratio parameter.

[0157] Based on the current main pump displacement valve current change rate control command, the target current change compensation ratio parameter, and the desired current change rate adjustment parameter, the target main pump displacement valve current change rate control command for the construction machinery is generated.

[0158] In this embodiment of the invention, optionally, the expected rate of change adjustment, i.e., the theoretical difference between the target current and the current current, is calculated to determine the total adjustment range to be determined.

[0159] To calculate the maximum permissible rate of change in a single step, i.e. the maximum allowable change in current within a single control cycle, in order to prevent abrupt changes; specifically, optionally, it can be obtained by multiplying the target rate of change by the control cycle time;

[0160] To determine the current change compensation ratio, i.e. the actual allowable change ratio (take 1 or the minimum of the maximum single-step change rate), ensure that the single-step change does not exceed the limit.

[0161] For generating the final instruction, the new current can be calculated as: new current = current current + desired adjustment amount × compensation ratio.

[0162] Repeat the process until the target value is approached.

[0163] Example: If the target current needs to be increased by 50mA, and the maximum allowable change in a single step is 10mA, then it should be completed in 5 gradual steps.

[0164] As can be seen, implementing this optional embodiment can force the segmentation of the current adjustment amount by the single-step maximum allowable rate of change parameter, transform the step jump into a gradual ramp, eliminate hydraulic shock, and achieve a radical cure for step jumps; by constraining the single-step adjustment amplitude together with the target rate of change parameter and the time interval, it can adapt to different control cycle requirements and achieve a dynamic speed limiting mechanism; and by preventing overshoot due to excessive Δt through the minimum proportional limit (min function), it can ensure system stability and achieve safety boundary protection.

[0165] In this optional embodiment, as another optional implementation, the above-mentioned shaking factor state parameter further includes a second rate of change parameter; the second rate of change parameter is used to represent the change in air pressure of the seat airbag of the construction machinery.

[0166] The second rate of change parameter is calculated based on the collected seat airbag pressure parameters;

[0167] The preset change threshold parameter corresponding to the second rate of change parameter is the preset third threshold parameter;

[0168] The second rate of change parameter corresponds to the state change degree parameter, which is the seat airbag pressure change degree parameter; the target compensation parameter also includes the seat airbag pressure compensation parameter, and the state change degree parameter corresponding to the seat airbag pressure compensation parameter is the seat airbag pressure change degree parameter.

[0169] Optionally, the vibration compensation control command also includes an airbag pressure adaptive transition control command, which generates vibration compensation control commands for the construction machinery based on the target compensation parameters, and also includes:

[0170] Calculate the target seat airbag pressure parameters for the construction machinery based on the seat airbag pressure parameters and seat airbag pressure compensation parameters.

[0171] Based on the obtained airbag pressure change rate limit parameter, current airbag pressure parameter, and target airbag pressure parameter, an adaptive transition control command for the airbag pressure of the construction machinery is generated.

[0172] In this embodiment of the invention, optionally, the airbag compensation force is determined by the parameter of sudden change in airbag pressure, i.e., the quantitative value of the intensity of sitting posture deviation.

[0173] Specifically, it can be calculated by subtracting a preset threshold from the absolute value of the rate of change of air pressure;

[0174] For seat airbag pressure compensation parameters, that is, the dynamic correction amount of airbag pressure, to counteract the inertial offset of the human body;

[0175] Specifically, the execution logic can be: if the air pressure change rate is positive (reclining), increase the pressure of the seat back airbag;

[0176] If it is negative (leaning forward), increase the pressure of the seat cushion airbag;

[0177] For the airbag pressure adaptive transition control command, the specific execution logic can be to calculate the target air pressure value (current air pressure + compensation amount).

[0178] The air pressure is adjusted in segments according to the preset change rate limit to avoid the impact of inflation and deflation.

[0179] As can be seen, implementing this optional embodiment can quantify the intensity of human body inertial impact through the second rate of change parameter (airbag pressure change rate), solve the problem of secondary deterioration caused by "mechanical vibration transmitted to the human body", and achieve dynamic capture of sitting posture deviation; based on the differential generation of target air pressure parameters (forward / backward tilt) based on the air pressure change direction, improve comfort and achieve precise compensation in zones; and output compensation commands in segments through the air pressure change rate limit parameter to avoid secondary shaking caused by excessively rapid airbag inflation, thus achieving an anti-impact design for inflation and deflation.

[0180] In an optional embodiment, the aforementioned preset adaptive global optimization algorithm includes a preset genetic algorithm and / or a preset gradient descent algorithm.

[0181] Optionally, a preset gradient descent algorithm can be used for online real-time fine-tuning of the target compensation parameters, which is achieved through the following steps:

[0182] Historical compensation parameters and associated state change parameters within a preset time window are selected from the historical database of construction machinery to form a small batch training dataset. The historical compensation parameters include at least the historical travel pilot valve current compensation parameters and the historical main pump displacement valve current change rate correction parameters. The associated state change parameters include at least the corresponding historical operation change parameters and the corresponding historical oil temperature change parameters.

[0183] The loss function is defined as a weighted combination of the historical sway amplitude mean and the compensation parameter stability term. The historical sway amplitude mean is obtained from the historical average of the cab acceleration signal and is used to represent the long-term comfort target. The compensation parameter stability term is calculated from the offset of the target compensation parameter relative to the reference value and is used to represent the system response efficiency index of the engineering machinery.

[0184] The target compensation parameters are iteratively updated along the negative direction of the loss function gradient, and the update results are constrained within a preset safety boundary. The safety boundary is determined according to the physical limits of the actuator to ensure that the compensation parameters can be executed safely.

[0185] Further, optionally, a pre-defined genetic algorithm can be used for offline, periodic, global optimization of the target compensation parameters, which is achieved through the following steps:

[0186] The target compensation parameters are encoded as binary gene sequences, with each gene segment corresponding to a range of values ​​for a compensation parameter;

[0187] An initial population containing multiple sets of gene sequences is randomly generated, with each set of sequences representing a candidate parameter combination;

[0188] Based on the historical database of engineering machinery, the fitness value of each individual in the population is calculated, and the fitness value is negatively correlated with the loss function;

[0189] The individuals with the best fitness are retained to form an elite subgroup, while individuals with fitness below a preset threshold are eliminated.

[0190] Perform a crossover operation on the elite subgroup, exchanging gene fragments from different individuals to explore new parameter combinations;

[0191] Perform mutation operations on the crossover population, randomly flipping some gene loci to enhance diversity;

[0192] Repeat the evolution process until the termination condition is met, and output the globally optimal combination of objective compensation parameters.

[0193] Further, optionally, the aforementioned preset gradient descent algorithm and preset genetic algorithm can be implemented collaboratively. The specific collaborative logic can be as follows:

[0194] The global optimal solution output by the preset genetic algorithm is used as the initial parameters for the preset gradient descent algorithm;

[0195] The real-time optimization results of the preset gradient descent algorithm are periodically fed back to the historical database of the preset genetic algorithm;

[0196] When the state change parameter is detected to continuously exceed the preset fluctuation range, the preset gradient descent algorithm is called first for real-time suppression; when the system is in an idle state, the preset genetic algorithm is automatically triggered to perform periodic global optimization.

[0197] As can be seen, implementing this optional embodiment can fine-tune the gradient descent algorithm in real time to adapt to the current working conditions, and use the genetic algorithm to mine the optimal solution offline globally, thus breaking through the local optimum trap and achieving complementary optimization of short-term and long-term. By continuously feeding back the algorithm with the historical compensation parameter library, it can achieve long-term adaptability of "understanding driver habits better the more it is used" and realize data-driven self-evolution. By enabling gradient descent to respond quickly when the working conditions change and triggering the genetic algorithm for deep optimization when the system is idle, it can balance real-time performance and computational load and achieve optimal resource scheduling.

[0198] Example 2

[0199] Please see Figure 2 , Figure 2 This is a schematic diagram of a vibration compensation control device for construction machinery disclosed in an embodiment of the present invention. This vibration compensation control device can be applied to construction machinery, such as excavators, and can also be applied to intelligent devices associated with construction machinery. These intelligent devices include, but are not limited to, one or more of the following: battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The present invention does not limit the application of these devices. Figure 2 As shown, the vibration compensation control device for this construction machinery may include:

[0200] The determination module 201 is used to determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate while walking.

[0201] Analysis module 202 is used to analyze the degree of state change parameters of the corresponding jitter factor based on the jitter factor state parameters;

[0202] The generation module 203 is used to generate target compensation parameters for the construction machinery based on the historical compensation parameters, state change degree parameters and preset adaptive global optimization algorithm of the construction machinery.

[0203] The generation module 203 is also used to generate vibration compensation control commands for construction machinery based on the target compensation parameters.

[0204] As can be seen, implementing this invention can determine the state parameters of the vibration factor through real-time acquisition. The system can quantify the causes of vibration (such as sudden operational changes or low-temperature conditions), overcoming the shortcomings of traditional mechanical solutions that cannot perceive changes in operating conditions. By combining the historical compensation parameters and state change degree parameters of the construction machinery with a preset adaptive global optimization algorithm, target compensation parameters are generated to achieve adaptive global optimization, adapting to the operator's operating habits and the recent working conditions of the construction machinery, thereby improving the adaptability, analytical comprehensiveness, and control accuracy of the vibration compensation control of the construction machinery. Furthermore, based on the target compensation parameters, vibration compensation control commands for the construction machinery are generated to achieve smooth vibration reduction and improve the comfort and safety of construction machinery operation.

[0205] In this embodiment of the invention, as an optional implementation, the above-mentioned jitter factor state parameters include at least one of a first rate of change parameter and a hydraulic oil temperature parameter; the first rate of change parameter is used to represent the change in the travel pedal opening of the construction machinery; the first rate of change parameter is calculated based on the collected travel pedal opening parameter.

[0206] Optionally, the specific methods by which the analysis module 202 analyzes the degree of state change parameters of the corresponding jitter factor based on the jitter factor state parameters include:

[0207] Calculate the degree of state change parameter of the corresponding jitter factor based on the jitter factor state parameter and the corresponding preset change threshold parameter;

[0208] Among them, the preset change threshold parameter corresponding to the first change rate parameter is the preset first threshold parameter; the state change degree parameter corresponding to the first change rate parameter is the operation change degree parameter.

[0209] The preset change threshold parameter corresponding to the hydraulic oil temperature parameter is the preset second threshold parameter; the state change degree parameter corresponding to the hydraulic oil temperature parameter is the oil temperature change degree parameter.

[0210] As can be seen, implementing this optional embodiment can generate an operation change parameter by comparing the first change rate parameter (pedal opening change rate) with a preset threshold, transforming subjective operating habits into objective control basis, avoiding speed abrupt changes caused by "sudden pressing / releasing," and achieving precise quantification of operation abrupt changes; by generating an oil temperature change parameter by the deviation of hydraulic oil temperature from the threshold, it specifically breaks the vicious cycle of "low temperature-oil viscosity-response lag," which is superior to the traditional manual displacement reduction strategy and achieves dynamic response in low-temperature conditions; by constraining the validity of the parameter by the preset threshold, it prevents overcompensation from causing control failure (such as current over-limit), and achieves threshold drive safety.

[0211] In this embodiment of the invention, as another optional implementation, the target compensation parameter mentioned above includes at least one of the following: travel pilot valve current compensation parameter and main pump displacement valve current change rate correction parameter.

[0212] The state change parameter corresponding to the current compensation parameter of the traveling pilot valve is the operation change parameter.

[0213] The parameters corresponding to the correction parameters for the current change rate of the main pump displacement valve are the parameters for the degree of change in operation and the parameters for the degree of change in oil temperature.

[0214] As can be seen, implementing this optional embodiment can directly offset the sudden energy of operation through the current compensation parameter of the travel valve; the main pump rate of change correction parameter synchronously adjusts the hydraulic response speed, doubly blocking the flow oscillation caused by "valve-pump response mismatch", achieving source suppression and execution synergy; by participating in the generation of main pump correction parameters through the degree of oil temperature change, the influence of low-temperature oil viscosity is specifically alleviated, the stability of the hydraulic system is improved, and special optimization for low-temperature working conditions is achieved; by generating current compensation and rate of change correction independently, the control lag caused by excessive suppression of a single parameter is avoided, achieving parameter decoupling design.

[0215] In another optional implementation of this invention, the jitter compensation control command mentioned above includes at least one of the target travel pilot valve current control command and the target main pump displacement valve current change rate control command.

[0216] The target travel pilot valve current control command corresponds to the travel pilot valve current compensation parameter.

[0217] The target main pump displacement valve current change rate control command corresponds to the main pump displacement valve current change rate correction parameter.

[0218] Optionally, the specific methods by which the generation module 203 generates vibration compensation control commands for the construction machinery based on the target compensation parameters include:

[0219] When the target compensation parameter includes the travel pilot valve current compensation parameter, the current travel pilot valve current control command corresponding to the travel pedal opening parameter is collected.

[0220] Based on the current travel pilot valve current control command and travel pilot valve current compensation parameters, generate the target travel pilot valve current control command for the construction machinery.

[0221] When the target compensation parameter includes the main pump displacement valve current change rate correction parameter, the reference main pump displacement valve current change rate parameter of the construction machinery is collected. The reference main pump displacement valve current change rate parameter is used to represent the rate of change of the main pump displacement command current of the construction machinery under standard working conditions.

[0222] Based on the main pump displacement valve current change rate correction parameter and the benchmark main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate parameter for the construction machinery is generated.

[0223] Collect the current change rate control command of the main pump displacement valve of the construction machinery;

[0224] Based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter, generate the target main pump displacement valve current change rate control command for the construction machinery.

[0225] As can be seen, implementing this optional embodiment can generate target commands by superimposing compensation parameters on the current, ensuring real-time transmission of operational intentions, avoiding the mechanical delay of traditional valve cores, and achieving immediacy of travel valve commands; by dynamically adjusting the reference change rate with a correction coefficient, it balances response speed and stability requirements, eliminates abrupt changes in displacement, and achieves controllability of the main pump change rate; the direct output of travel valve current and the smooth transition of the main pump change rate are compatible with the physical characteristics of different actuators (fast response of solenoid valves / large inertia of hydraulic pumps), achieving actuator-specific adaptation.

[0226] In this optional embodiment, as an optional implementation method, the specific way in which the generation module 203 generates the target main pump displacement valve current change rate control command for the construction machinery based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter includes:

[0227] Determine the current change rate parameter of the current main pump discharge valve corresponding to the current change rate control command of the current main pump discharge valve.

[0228] Based on the current main pump displacement valve current change rate parameter and the target main pump displacement valve current change rate parameter, calculate the expected current change rate adjustment parameter of the construction machinery. The expected current change rate adjustment parameter corresponds to the expected current change rate adjustment amount of the construction machinery.

[0229] Based on the target main pump displacement valve current change rate parameter and the preset time interval, calculate the maximum allowable current change rate parameter for the construction machinery in a single step.

[0230] Based on the single-step maximum allowable current change rate parameter and the preset limit ratio condition, the target current change compensation ratio parameter of the engineering machinery is determined. The preset limit ratio condition is used to indicate that the target current change compensation ratio parameter is determined as the minimum parameter between the single-step maximum allowable current change rate parameter and the preset compensation ratio parameter.

[0231] Based on the current main pump displacement valve current change rate control command, the target current change compensation ratio parameter, and the desired current change rate adjustment parameter, the target main pump displacement valve current change rate control command for the construction machinery is generated.

[0232] As can be seen, implementing this optional embodiment can force the segmentation of the current adjustment amount by the single-step maximum allowable rate of change parameter, transform the step jump into a gradual ramp, eliminate hydraulic shock, and achieve a radical cure for step jumps; by constraining the single-step adjustment amplitude together with the target rate of change parameter and the time interval, it can adapt to different control cycle requirements and achieve a dynamic speed limiting mechanism; and by preventing overshoot due to excessive Δt through the minimum proportional limit (min function), it can ensure system stability and achieve safety boundary protection.

[0233] In an optional embodiment, the above-mentioned jitter factor state parameter further includes a second rate of change parameter; the second rate of change parameter is used to represent the change in air pressure of the seat airbag of the construction machinery.

[0234] The second rate of change parameter is calculated based on the collected seat airbag pressure parameters;

[0235] The preset change threshold parameter corresponding to the second rate of change parameter is the preset third threshold parameter;

[0236] The second rate of change parameter corresponds to the state change degree parameter, which is the seat airbag pressure change degree parameter; the target compensation parameter also includes the seat airbag pressure compensation parameter, and the state change degree parameter corresponding to the seat airbag pressure compensation parameter is the seat airbag pressure change degree parameter.

[0237] Optionally, the aforementioned vibration compensation control commands also include airbag pressure adaptive transition control commands. The specific method by which the generation module 203 generates vibration compensation control commands for the construction machinery based on the target compensation parameters further includes:

[0238] Calculate the target seat airbag pressure parameters for the construction machinery based on the seat airbag pressure parameters and seat airbag pressure compensation parameters.

[0239] Based on the obtained airbag pressure change rate limit parameter, current airbag pressure parameter, and target airbag pressure parameter, an adaptive transition control command for the airbag pressure of the construction machinery is generated.

[0240] As can be seen, implementing this optional embodiment can quantify the intensity of human body inertial impact through the second rate of change parameter (airbag pressure change rate), solve the problem of secondary deterioration caused by "mechanical vibration transmitted to the human body", and achieve dynamic capture of sitting posture deviation; based on the differential generation of target air pressure parameters (forward / backward tilt) based on the air pressure change direction, improve comfort and achieve precise compensation in zones; and output compensation commands in segments through the air pressure change rate limit parameter to avoid secondary shaking caused by excessively rapid airbag inflation, thus achieving an anti-impact design for inflation and deflation.

[0241] In another optional embodiment, the aforementioned preset adaptive global optimization algorithm includes a preset genetic algorithm and / or a preset gradient descent algorithm.

[0242] As can be seen, implementing this optional embodiment can fine-tune the gradient descent algorithm in real time to adapt to the current working conditions, and use the genetic algorithm to mine the optimal solution offline globally, thus breaking through the local optimum trap and achieving complementary optimization of short-term and long-term. By continuously feeding back the algorithm with the historical compensation parameter library, it can achieve long-term adaptability of "understanding driver habits better the more it is used" and realize data-driven self-evolution. By enabling gradient descent to respond quickly when the working conditions change and triggering the genetic algorithm for deep optimization when the system is idle, it can balance real-time performance and computational load and achieve optimal resource scheduling.

[0243] Example 3

[0244] Please see Figure 3 , Figure 3 This is a schematic diagram of another vibration compensation control device for construction machinery disclosed in an embodiment of the present invention. This vibration compensation control device for construction machinery can be applied to construction machinery, such as excavators, and can also be applied to intelligent devices associated with construction machinery. These intelligent devices include, but are not limited to, one or more of the following: battery devices, cloud devices, edge computing devices, relay devices, base station devices, urban management devices, and intelligent connected devices. The embodiments of the present invention do not impose limitations on this. Figure 3 As shown, the vibration compensation control device for this construction machinery may include:

[0245] Memory 301 that stores executable program code.

[0246] Processor 302 coupled to memory 301.

[0247] The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the vibration compensation control method for engineering machinery described in Embodiment 1 of the present invention.

[0248] Example 4

[0249] This invention discloses a computer storage medium storing computer instructions. When these computer instructions are invoked, they are used to execute the steps in the vibration compensation control method for engineering machinery described in Embodiment 1 of this invention.

[0250] Example 5

[0251] This invention discloses a computer program product, which includes a non-transient computer storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps in the vibration compensation control method for engineering machinery described in Embodiment 1.

[0252] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0253] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0254] Finally, it should be noted that the vibration compensation control method and device for engineering machinery disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention, and are only used to illustrate the technical solutions of the present invention, not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vibration compensation control method for engineering machinery, characterized in that, The method includes: Determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate while moving. Based on the jitter factor state parameters, analyze the corresponding jitter factor state change degree parameters; Based on the historical compensation parameters of the construction machinery, the state change degree parameters, and the preset adaptive global optimization algorithm, the target compensation parameters of the construction machinery are generated. Based on the target compensation parameters, generate vibration compensation control commands for the construction machinery; Furthermore, the vibration factor state parameter includes at least one of a first rate of change parameter and a hydraulic oil temperature parameter; the first rate of change parameter is used to represent the change in the travel pedal opening of the construction machinery; the first rate of change parameter is calculated based on the collected travel pedal opening parameter. And, the step of analyzing the degree of state change parameters corresponding to the jitter factor based on the jitter factor state parameters includes: Based on the jitter factor state parameters and the corresponding preset change threshold parameters, calculate the state change degree parameters corresponding to the jitter factor; Wherein, the preset change threshold parameter corresponding to the first change rate parameter is a preset first threshold parameter; the state change degree parameter corresponding to the first change rate parameter is an operation change degree parameter. The preset change threshold parameter corresponding to the hydraulic oil temperature parameter is a preset second threshold parameter; the state change degree parameter corresponding to the hydraulic oil temperature parameter is an oil temperature change degree parameter.

2. The vibration compensation control method for engineering machinery according to claim 1, characterized in that, The target compensation parameters include at least one of the following: travel pilot valve current compensation parameters and main pump displacement valve current change rate correction parameters. The state change parameter corresponding to the current compensation parameter of the walking pilot valve is the operation change parameter. The state change degree parameter corresponding to the main pump displacement valve current change rate correction parameter is the operation change degree parameter and the oil temperature change degree parameter.

3. The vibration compensation control method for engineering machinery according to claim 2, characterized in that, The jitter compensation control command includes at least one of the target travel pilot valve current control command and the target main pump displacement valve current change rate control command. The target travel pilot valve current control command corresponds to the travel pilot valve current compensation parameter. The target main pump displacement valve current change rate control command corresponds to the main pump displacement valve current change rate correction parameter. And, the step of generating vibration compensation control commands for the construction machinery based on the target compensation parameters includes: When the target compensation parameter includes the travel pilot valve current compensation parameter, the current travel pilot valve current control command corresponding to the travel pedal opening parameter is collected. Based on the current travel pilot valve current control command and the travel pilot valve current compensation parameters, the target travel pilot valve current control command for the engineering machinery is generated. When the target compensation parameter includes the main pump displacement valve current change rate correction parameter, the reference main pump displacement valve current change rate parameter of the construction machinery is collected. The reference main pump displacement valve current change rate parameter is used to represent the rate of change of the main pump displacement command current of the construction machinery under standard working conditions. Based on the main pump displacement valve current change rate correction parameter and the benchmark main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate parameter of the engineering machinery is generated. Collect the current change rate control command of the main pump displacement valve of the construction machinery; Based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

4. The vibration compensation control method for engineering machinery according to claim 3, characterized in that, The step of generating the target main pump displacement valve current change rate control command for the construction machinery based on the current main pump displacement valve current change rate control command and the target main pump displacement valve current change rate parameter includes: Determine the current main pump discharge valve current change rate parameter corresponding to the current main pump discharge valve current change rate control command. Based on the current main pump displacement valve current change rate parameter and the target main pump displacement valve current change rate parameter, calculate the expected current change rate adjustment parameter of the construction machinery, and the expected current change rate adjustment parameter corresponds to the expected current change rate adjustment amount of the construction machinery. Based on the target main pump displacement valve current change rate parameter and the preset time interval, calculate the maximum allowable current change rate parameter of the engineering machinery in a single step; Based on the single-step maximum allowable current change rate parameter and the preset limit ratio condition, the target current change compensation ratio parameter of the engineering machinery is determined. The preset limit ratio condition is used to indicate that the target current change compensation ratio parameter is determined as the minimum parameter between the single-step maximum allowable current change rate parameter and the preset compensation ratio parameter. Based on the current main pump displacement valve current change rate control command, the target current change compensation ratio parameter, and the desired current change rate adjustment parameter, the target main pump displacement valve current change rate control command for the engineering machinery is generated.

5. The vibration compensation control method for engineering machinery according to claim 3 or 4, characterized in that, The vibration factor state parameter also includes a second rate of change parameter; the second rate of change parameter is used to represent the change in the air pressure of the seat airbag of the engineering machinery. The second rate of change parameter is calculated based on the collected seat airbag pressure parameters; The preset change threshold parameter corresponding to the second rate of change parameter is a preset third threshold parameter; The state change degree parameter corresponding to the second rate of change parameter is the seat airbag pressure change degree parameter; the target compensation parameter also includes a seat airbag pressure compensation parameter, and the state change degree parameter corresponding to the seat airbag pressure compensation parameter is the seat airbag pressure change degree parameter; Furthermore, the vibration compensation control command further includes an airbag pressure adaptive transition control command, and the step of generating the vibration compensation control command for the construction machinery based on the target compensation parameters further includes: Calculate the target seat airbag pressure parameters of the engineering machinery based on the seat airbag pressure parameters and the seat airbag pressure compensation parameters; Based on the obtained seat airbag pressure change rate limit parameter, the current seat airbag pressure parameter, and the target seat airbag pressure parameter, the adaptive transition control command for the airbag pressure of the construction machinery is generated.

6. The vibration compensation control method for engineering machinery according to any one of claims 1-4, characterized in that, The preset adaptive global optimization algorithm includes a preset genetic algorithm and / or a preset gradient descent algorithm.

7. A vibration compensation control device for engineering machinery, characterized in that, The device is used to perform the vibration compensation control method for engineering machinery as described in any one of claims 1-6, and the device comprises: The determination module is used to determine the vibration factor state parameters of the construction machinery. The vibration factor state parameters are used to represent the state performance of the vibration factor in the construction machinery. The vibration factor is used to represent the factors that cause the construction machinery to vibrate while walking. The analysis module is used to analyze the degree of state change parameters corresponding to the jitter factor based on the jitter factor state parameters. The generation module is used to generate target compensation parameters for the construction machinery based on the historical compensation parameters of the construction machinery, the state change degree parameters, and a preset adaptive global optimization algorithm. The generation module is also used to generate vibration compensation control commands for the engineering machinery based on the target compensation parameters.

8. A vibration compensation control device for engineering machinery, characterized in that, The device includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the vibration compensation control method for engineering machinery as described in any one of claims 1-6.

9. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which, when invoked, are used to execute the vibration compensation control method for engineering machinery as described in any one of claims 1-6.

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