Control method, processor, engineering device, and storage medium for engineering device

Abstract

This application discloses a control method, processor, engineering equipment, and storage medium for engineering equipment, belonging to the field of electrical control technology for engineering equipment. The method includes: acquiring the target current and actual current of a proportional solenoid valve; when the target current is within a first target current range, adjusting the current of the proportional solenoid valve according to the target current, actual current, the rated operating voltage of the proportional solenoid valve, and a preset chatter duty cycle; when the target current is within a second target current range, controlling the operation of the proportional solenoid valve according to the rated operating voltage and the preset duty cycle to make the actual current reach a preset current threshold; when the actual current reaches the preset current threshold, adjusting the current of the proportional solenoid valve using negative feedback control according to the target current and actual current, so that the actual current changes from the preset current threshold to the target current, thereby completing the control of the actuator. This application can improve the execution efficiency of the actuator.

Description

Technical Field

[0001] This application relates to the field of electrical control technology for engineering equipment, and more specifically to a control method, processor, engineering equipment, and storage medium for engineering equipment. Background Technology

[0002] Proportional solenoid valves are key components of engineering equipment, and the control of the equipment's actuators is typically achieved by controlling these valves. The performance of the proportional solenoid valve directly determines the overall performance of the engineering machinery. Hydraulic solenoid valve control conventionally employs the Proportional-Integral-Differential (PID) algorithm; however, due to its inherent characteristics, the PID control algorithm is prone to overshoot and long steady-state times, significantly impacting the efficiency of the engineering equipment's actuators. Summary of the Invention

[0003] The purpose of this application is to provide a control method, processor, engineering equipment, and storage medium for engineering equipment, in order to solve the problem of low execution efficiency of existing engineering equipment actuators.

[0004] To achieve the above objectives, a first aspect of this application provides a control method for engineering equipment, the engineering equipment including an actuator and a proportional solenoid valve corresponding to the actuator, the control method comprising:

[0005] Obtain the target current and actual current of the proportional solenoid valve;

[0006] When the target current is within the first target current range, the current of the proportional solenoid valve is adjusted according to the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle so that the actual current reaches the target current.

[0007] When the target current is within the second target current range, the proportional solenoid valve is controlled to work according to the rated operating voltage and preset duty cycle so that the actual current reaches the preset current threshold. The second target current range is greater than the first target current range, and the preset current threshold is less than the target current.

[0008] When the actual current reaches the preset current threshold, the current of the proportional solenoid valve is adjusted by negative feedback control according to the target current and the actual current, so that the actual current changes from the preset current threshold to the target current, thereby completing the control of the actuator.

[0009] In this embodiment, the current of the proportional solenoid valve is adjusted according to the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle. This includes: determining a first negative feedback control duty cycle based on the target current and the actual current; adding the first negative feedback control duty cycle and the preset chatter duty cycle to obtain a first target duty cycle; and outputting a voltage pulse width modulation signal to the proportional solenoid valve according to the first target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0010] In this embodiment, the current of the proportional solenoid valve is adjusted using negative feedback control based on the target current and the actual current, so that the actual current changes from a preset current threshold to the target current. This includes: determining the current chatter duty cycle; determining an initial duty cycle based on the ratio of the actual current to the duty cycle; determining a second negative feedback control duty cycle based on the target current and the actual current; and adjusting the current of the proportional solenoid valve based on the current chatter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage, so that the actual current changes from the preset current threshold to the target current.

[0011] In this embodiment of the application, determining the current jitter duty cycle includes: acquiring a preset pulse width modulation frequency, a preset jitter frequency, a preset jitter amplitude, and a jitter control period; adjusting the preset pulse width modulation frequency to obtain the adjusted pulse width modulation frequency; using a high-frequency pulse width modulation wave as the carrier wave, determining the current jitter duty cycle based on the adjusted pulse width modulation frequency, the preset jitter frequency, the preset jitter amplitude, and the jitter control period.

[0012] In this embodiment, the negative feedback control is PI control. The duty cycle of the second negative feedback control is determined based on the target current and the actual current, including: obtaining the proportional and integral parameters of the PI control; subtracting the target current from the actual current to determine the current difference; and determining the duty cycle of the second negative feedback control based on the proportional and integral parameters and the current difference.

[0013] In this embodiment, the current of the proportional solenoid valve is adjusted according to the current flutter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage. This includes: adding the initial duty cycle, the second negative feedback control duty cycle, and the current flutter duty cycle to obtain a second target duty cycle; and outputting a voltage pulse width modulation signal to the proportional solenoid valve according to the second target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0014] In this embodiment, the actual current satisfies formula (1):

[0015]

[0016] Among them, Iact K is the actual current, Adsample is the pulse width modulation feedback current, Refvolt is the theoretical voltage of the sampling circuit, K1 is the accuracy parameter corresponding to the number of bits of the analog signal, and K2 is the gain of the sampling circuit.

[0017] A second aspect of this application provides a processor configured to execute the control method for engineering equipment described above.

[0018] A third aspect of this application provides an engineering device, including: an actuator; a proportional solenoid valve corresponding to the actuator; and a processor.

[0019] A fourth aspect of this application provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned control method for engineering equipment.

[0020] The above technical solution obtains the target current and actual current of the proportional solenoid valve. When the target current is within a first target current range, the current of the proportional solenoid valve is adjusted according to the target current, actual current, rated operating voltage of the proportional solenoid valve, and preset chatter duty cycle to ensure the actual current reaches the target current. Furthermore, when the target current is within a second target current range, the proportional solenoid valve is controlled to operate according to the rated operating voltage and preset duty cycle to ensure the actual current reaches a preset current threshold. Once the actual current reaches the preset current threshold, negative feedback control is used to adjust the current of the proportional solenoid valve according to the target current and actual current, causing the actual current to change from the preset current threshold to the target current, thereby completing the control of the actuator. This application, by determining the range of the target current and adopting different control methods for the proportional solenoid valve based on different ranges, can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0021] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0022] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0023] Figure 1 The illustration shows a schematic flowchart of a control method for engineering equipment according to an embodiment of this application. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0025] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0026] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0027] Figure 1 The illustration schematically shows a flow chart of a control method for engineering equipment according to an embodiment of this application. Figure 1 As shown, this application provides a control method for engineering equipment. Taking the application of this control method to a processor as an example, the control method may include the following steps:

[0028] Step S101: Obtain the target current and actual current of the proportional solenoid valve.

[0029] Step S102: When the target current is within the first target current range, adjust the current of the proportional solenoid valve according to the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle so that the actual current reaches the target current.

[0030] Step S103: When the target current is within the second target current range, control the proportional solenoid valve to work according to the rated operating voltage and preset duty cycle so that the actual current reaches the preset current threshold. The second target current range is greater than the first target current range, and the preset current threshold is less than the target current.

[0031] Step S104: When the actual current reaches the preset current threshold, the current of the proportional solenoid valve is adjusted by negative feedback control according to the target current and the actual current, so that the actual current changes from the preset current threshold to the target current, thereby completing the control of the actuator.

[0032] Existing control methods for engineering equipment typically use PID control to regulate the current of proportional solenoid valves. However, this approach fails to consider the response characteristics of the proportional solenoid valves when starting from zero, resulting in low actuator efficiency. Taking excavators as an example, if only PID control is used to regulate the current of the proportional solenoid valve, the actuator will experience slight vibrations at the initial moment, severely impacting the user experience and the efficiency of the actuator.

[0033] To address the aforementioned issues, in this embodiment, the processor can employ different proportional solenoid valve current adjustment methods based on the target current range in which the target current is located, thereby improving the execution efficiency of the actuator. Simultaneously, to further enhance the response speed of the proportional solenoid valve, a chatter signal can be superimposed during the control process. Specifically, firstly, when the pulse width modulation output is enabled, the processor can acquire the target current and actual current of the proportional solenoid valve. The target current is the current required to adjust the opening of the proportional solenoid valve, and the actual current is the currently acquired current for adjusting the proportional solenoid valve. Subsequently, the processor can determine the target current range in which the target current is located. The target current range can include a first target current range and a second target current range, with the second target current range being larger than the first target current range. When the target current is within the first target current range, the target current is relatively small. The processor can then use negative feedback control to adjust the current of the proportional solenoid valve based on the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and a preset chatter duty cycle, thereby ensuring that the actual current reaches the target current.

[0034] When the target current is within the second target current range, due to its relatively large size, simply using negative feedback control to adjust the proportional solenoid valve's current would slow down its response, resulting in sluggish actuator operation. Therefore, to improve the proportional solenoid valve's response speed, the processor can first use open-loop control to adjust the valve's current. This involves using the rated operating voltage as a high level and outputting a pulse-width modulation signal to the proportional solenoid valve according to a preset duty cycle, thereby controlling the valve's operation to bring the actual current to a preset current threshold. The preset current threshold is less than the target current and is proportional to it; the specific ratio is determined based on the actual situation. Furthermore, the preset duty cycle also needs to be determined based on the actual situation. In the open-loop control phase, the preset duty cycle can be 100% to increase the speed of pre-charging the proportional solenoid valve.

[0035] When the actual current reaches the preset current threshold, the open-loop control ends. To accelerate the current to a steady state, the processor can adjust the current of the proportional solenoid valve through negative feedback control. Negative feedback control can employ either PID or PI control. During the negative feedback control phase, the processor adjusts the current of the proportional solenoid valve based on the target current and the actual current, causing the actual current to change from the preset current threshold to the target current, thus completing the control of the actuator. It should be noted that a certain error is permissible when adjusting the current of the proportional solenoid valve; that is, if the difference between the actual current and the target current is less than a preset difference, the actual current of the proportional solenoid valve is considered to have reached the target current. The preset difference can be determined based on the actual control accuracy requirements.

[0036] Furthermore, before adjusting the proportional solenoid valve, the processor can detect the state of the pulse width modulation output. If the pulse width modulation output is detected to be off, the proportional solenoid valve is closed, and the processor does not adjust the proportional solenoid valve. If the pulse width modulation output is detected to be on, the processor can obtain the target current and the actual current of the proportional solenoid valve, and adjust the current of the proportional solenoid valve according to the aforementioned steps.

[0037] The above technical solution obtains the target current and actual current of the proportional solenoid valve. When the target current is within a first target current range, the current of the proportional solenoid valve is adjusted according to the target current, actual current, rated operating voltage of the proportional solenoid valve, and preset chatter duty cycle to ensure the actual current reaches the target current. Furthermore, when the target current is within a second target current range, the proportional solenoid valve is controlled to operate according to the rated operating voltage and preset duty cycle to ensure the actual current reaches a preset current threshold. Once the actual current reaches the preset current threshold, negative feedback control is used to adjust the current of the proportional solenoid valve according to the target current and actual current, causing the actual current to change from the preset current threshold to the target current, thereby completing the control of the actuator. This application, by determining the range of the target current and adopting different control methods for the proportional solenoid valve based on different ranges, can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0038] In this embodiment, adjusting the current of the proportional solenoid valve based on the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle may include: determining a first negative feedback control duty cycle based on the target current and the actual current; adding the first negative feedback control duty cycle and the preset chatter duty cycle to obtain a first target duty cycle; and outputting a voltage pulse width modulation signal to the proportional solenoid valve according to the first target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0039] When the target current is within the first target current range, which is relatively small, the processor can use negative feedback control to adjust the current of the proportional solenoid valve based on the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle, thereby bringing the actual current to the target current. Specifically, when using PI control, the processor can acquire proportional and integral parameters. Based on these parameters, the processor can determine the first negative feedback control duty cycle according to the target current and the actual current. Furthermore, when using PID control, the processor can acquire proportional, integral, and derivative parameters, and determine the first negative feedback control duty cycle based on these parameters, along with the target current and the actual current. The derivative parameter can be zero. It is worth noting that the actual current will change during this process, therefore the first negative feedback control duty cycle will change with the actual current. The preset chatter duty cycle can be predetermined when the pulse width modulation output is off. When the pulse width modulation (PWM) output is off, the processor can acquire the preset PWM frequency, preset dither frequency, preset dither amplitude, and dither control period. The processor can then further determine the preset dither duty cycle based on these parameters. The specific method for determining the preset dither duty cycle can be found in existing technologies and will not be elaborated here. The processor can then add the first negative feedback control duty cycle and the preset dither duty cycle to obtain the first target duty cycle. Using the rated operating voltage as a high level, the processor outputs a voltage PWM signal to the proportional solenoid valve according to the first target duty cycle to adjust the current of the proportional solenoid valve, ensuring the actual current reaches the target current.

[0040] In this embodiment, the current of the proportional solenoid valve is adjusted using negative feedback control based on the target current and the actual current, so that the actual current changes from a preset current threshold to the target current. This can include: determining the current chatter duty cycle; determining an initial duty cycle based on the ratio of the actual current to the duty cycle; determining a second negative feedback control duty cycle based on the target current and the actual current; and adjusting the current of the proportional solenoid valve based on the current chatter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage, so that the actual current changes from the preset current threshold to the target current.

[0041] Specifically, in the negative feedback control stage when the target current is within the second target current range, the actual current, after open-loop control, has reached the preset current threshold. The processor can adjust the current of the proportional solenoid valve using negative feedback control based on the target current and the actual current, causing the actual current to change from the preset current threshold to the target current. Since the processor needs to adjust the pulse width modulation frequency in this stage, the dithering duty cycle will also change with the pulse width modulation frequency, thus allowing the processor to determine the current dithering duty cycle. Simultaneously, the processor pre-stores the ratio of actual current to duty cycle, which can be used to determine the initial duty cycle of the negative feedback control stage after pre-charging. Therefore, the processor can obtain the actual current of the proportional solenoid valve after open-loop pre-charging through the sampling circuit, and then determine the corresponding duty cycle based on the actual current of the proportional solenoid valve after open-loop pre-charging and the ratio of actual current to duty cycle, setting this duty cycle as the initial duty cycle. Furthermore, the processor can determine the second negative feedback control duty cycle using negative feedback control based on the target current and the actual current. It is worth noting that since the actual current changes during this process, the second negative feedback control duty cycle will change with the actual current. With the rated operating voltage at a high level, the processor can output a pulse width modulation signal to the proportional solenoid valve based on the current flutter duty cycle, the initial duty cycle, and the second negative feedback control duty cycle, so as to adjust the current of the proportional solenoid valve and change the actual current from the preset current threshold to the target current.

[0042] In this embodiment of the application, determining the current jitter duty cycle may include: acquiring a preset pulse width modulation frequency, a preset jitter frequency, a preset jitter amplitude, and a jitter control period; adjusting the preset pulse width modulation frequency to obtain the adjusted pulse width modulation frequency; using a high-frequency pulse width modulation wave as the carrier wave, determining the current jitter duty cycle based on the adjusted pulse width modulation frequency, the preset jitter frequency, the preset jitter amplitude, and the jitter control period.

[0043] Specifically, when the pulse width modulation (PWM) output is off, the processor can acquire the preset PWM frequency, preset dither frequency, preset dither amplitude, and dither control period. When the PWM output is on, during the negative feedback control phase where the target current is within the second target current range, to accelerate the current to a steady state, the processor can increase the PWM frequency by a multiple of the preset PWM frequency to obtain the adjusted PWM frequency. At this time, the dither duty cycle also changes with the PWM frequency. Therefore, the processor needs to use a high-frequency PWM wave as the carrier wave and determine the current dither duty cycle based on the adjusted PWM frequency, preset dither frequency, preset dither amplitude, and dither control period. The specific method for determining the current dither duty cycle can refer to existing technologies and will not be elaborated here.

[0044] In this embodiment, the negative feedback control is PI control. The duty cycle of the second negative feedback control is determined based on the target current and the actual current. This can include: obtaining the proportional and integral parameters of the PI control; subtracting the target current from the actual current to determine the current difference; and determining the duty cycle of the second negative feedback control based on the proportional and integral parameters and the current difference.

[0045] Specifically, the processor can employ PI control in the negative feedback control stage. The processor can acquire the proportional and integral parameters of the PI control. After subtracting the target current from the actual current to obtain the current difference, it can determine the duty cycle of the second negative feedback control based on the proportional and integral parameters and the current difference. Alternatively, the processor can employ PID control. In this case, it can acquire the proportional, integral, and derivative parameters, and determine the duty cycle of the second negative feedback control based on these parameters and the target current and the actual current. The derivative parameter can be zero.

[0046] In this embodiment, adjusting the current of the proportional solenoid valve based on the current flutter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage may include: adding the initial duty cycle, the second negative feedback control duty cycle, and the current flutter duty cycle to obtain a second target duty cycle; and outputting a voltage pulse width modulation signal to the proportional solenoid valve according to the second target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0047] Specifically, after determining the current chatter duty cycle, the initial duty cycle, and the second negative feedback control duty cycle, the processor can add the initial duty cycle, the second negative feedback control duty cycle, and the current chatter duty cycle to obtain the second target duty cycle. Thus, with the rated operating voltage at a high level, the processor can output a voltage pulse width modulation signal to the proportional solenoid valve according to the second target duty cycle, causing the current in the proportional solenoid valve to reach the target current from a preset current threshold, thereby completing the control of the actuator.

[0048] In this embodiment, the actual current can satisfy formula (1):

[0049]

[0050] Among them, I act K is the actual current, Adsample is the pulse width modulation feedback current, Refvolt is the theoretical voltage of the sampling circuit, K1 is the accuracy parameter corresponding to the number of bits of the analog signal, and K2 is the gain of the sampling circuit.

[0051] Specifically, the processor can obtain the pulse width modulation feedback current through the sampling circuit and convert the pulse width modulation feedback current to obtain the actual current. The correspondence between the actual current and the pulse width modulation feedback current satisfies the above formula (1).

[0052] In summary, compared with the prior art, the technical solution provided in this application has the following advantages:

[0053] 1) This application adopts a combined control strategy of open-loop control and negative feedback control, which improves the performance of negative feedback control, reduces current overshoot, rise time of negative feedback control current and steady-state time of negative feedback control, and improves the response speed of proportional solenoid valve and the execution efficiency of actuator.

[0054] 2) By introducing a chatter signal, this application can reduce the hysteresis of the proportional solenoid valve, improve the consistency of the proportional solenoid valve parameters, and thus further improve the response characteristics of the hydraulic system of the engineering equipment.

[0055] This application also provides a processor configured to execute the above-described control method for engineering equipment.

[0056] Specifically, in this embodiment, the processor can be configured to: acquire the target current and actual current of the proportional solenoid valve; when the target current is within a first target current range, adjust the current of the proportional solenoid valve according to the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and a preset chatter duty cycle, so that the actual current reaches the target current; when the target current is within a second target current range, control the proportional solenoid valve to operate according to the rated operating voltage and the preset duty cycle, so that the actual current reaches a preset current threshold, wherein the second target current range is greater than the first target current range, and the preset current threshold is less than the target current; when the actual current reaches the preset current threshold, adjust the current of the proportional solenoid valve using negative feedback control according to the target current and the actual current, so that the actual current changes from the preset current threshold to the target current, thereby completing the control of the actuator.

[0057] In one embodiment, the processor is further configured to: determine a first negative feedback control duty cycle based on a target current and an actual current; add the first negative feedback control duty cycle and a preset chatter duty cycle to obtain a first target duty cycle; and output a voltage pulse width modulation signal to a proportional solenoid valve according to the first target duty cycle and a rated operating voltage to adjust the current of the proportional solenoid valve.

[0058] In one embodiment, the processor is further configured to: determine the current flutter duty cycle; determine an initial duty cycle based on the ratio of the acquired actual current to the duty cycle; determine a second negative feedback control duty cycle using negative feedback control based on the target current and the actual current; and adjust the current of the proportional solenoid valve according to the current flutter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage, so that the actual current changes from a preset current threshold to the target current.

[0059] In one embodiment, the processor is further configured to: acquire a preset pulse width modulation frequency, a preset jitter frequency, a preset jitter amplitude, and a jitter control period; adjust the preset pulse width modulation frequency to obtain the adjusted pulse width modulation frequency; and determine the current jitter duty cycle based on the adjusted pulse width modulation frequency, the preset jitter frequency, the preset jitter amplitude, and the jitter control period, using a high-frequency pulse width modulation wave as the carrier wave.

[0060] In one embodiment, the processor is further configured to: acquire the proportional and integral parameters of the PI control; subtract the target current from the actual current to determine the current difference; and determine the duty cycle of the second negative feedback control based on the proportional and integral parameters and the current difference.

[0061] In one embodiment, the processor is further configured to: add the initial duty cycle, the second negative feedback control duty cycle, and the current flutter duty cycle to obtain a second target duty cycle; and output a voltage pulse width modulation signal to the proportional solenoid valve according to the second target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0062] In one embodiment, the actual current satisfies formula (1):

[0063]

[0064] Among them, I act K is the actual current, Adsample is the pulse width modulation feedback current, Refvolt is the theoretical voltage of the sampling circuit, K1 is the accuracy parameter corresponding to the number of bits of the analog signal, and K2 is the gain of the sampling circuit.

[0065] The above technical solution obtains the target current and actual current of the proportional solenoid valve. When the target current is within a first target current range, the current of the proportional solenoid valve is adjusted according to the target current, actual current, rated operating voltage of the proportional solenoid valve, and preset chatter duty cycle to ensure the actual current reaches the target current. Furthermore, when the target current is within a second target current range, the proportional solenoid valve is controlled to operate according to the rated operating voltage and preset duty cycle to ensure the actual current reaches a preset current threshold. Once the actual current reaches the preset current threshold, negative feedback control is used to adjust the current of the proportional solenoid valve according to the target current and actual current, causing the actual current to change from the preset current threshold to the target current, thereby completing the control of the actuator. This application, by determining the range of the target current and adopting different control methods for the proportional solenoid valve based on different ranges, can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0066] This application also provides an engineering device, including: an actuator; a proportional solenoid valve corresponding to the actuator; and a processor.

[0067] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned control method for engineering equipment.

[0068] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0070] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0072] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0073] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0074] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0075] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0076] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A control method for a construction machine, characterized by, The engineering equipment includes an actuator and a proportional solenoid valve corresponding to the actuator, and the control method includes: Obtain the target current and actual current of the proportional solenoid valve; When the target current is within the first target current range, the current of the proportional solenoid valve is adjusted according to the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle so that the actual current reaches the target current. When the target current is within the second target current range, the proportional solenoid valve is controlled to operate according to the rated operating voltage and the preset duty cycle so that the actual current reaches the preset current threshold, wherein the second target current range is greater than the first target current range, and the preset current threshold is less than the target current; When the actual current reaches the preset current threshold, the current of the proportional solenoid valve is adjusted by negative feedback control according to the target current and the actual current, so that the actual current changes from the preset current threshold to the target current, thereby completing the control of the actuator.

2. The control method according to claim 1, characterized by, The adjustment of the current of the proportional solenoid valve based on the target current, the actual current, the rated operating voltage of the proportional solenoid valve, and the preset chatter duty cycle includes: The duty cycle of the first negative feedback control is determined based on the target current and the actual current. The first negative feedback control duty cycle and the preset flutter duty cycle are added together to obtain the first target duty cycle; According to the first target duty cycle and the rated operating voltage, a voltage pulse width modulation signal is output to the proportional solenoid valve to adjust the current of the proportional solenoid valve.

3. The control method according to claim 1, characterized by, The step of adjusting the current of the proportional solenoid valve using negative feedback control based on the target current and the actual current, so that the actual current changes from the preset current threshold to the target current, includes: Determine the current flutter duty cycle; Based on the ratio between the actual current and the duty cycle, the initial duty cycle is determined according to the actual current. Based on the target current and the actual current, the duty cycle of the second negative feedback control is determined using negative feedback control. The current of the proportional solenoid valve is adjusted according to the current flutter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage, so that the actual current is changed from the preset current threshold to the target current.

4. The control method according to claim 3, characterized by Determining the current flutter duty cycle includes: Obtain the preset pulse width modulation frequency, preset jitter frequency, preset jitter amplitude, and jitter control period; Adjust the preset pulse width modulation frequency to obtain the adjusted pulse width modulation frequency; Using a high-frequency pulse width modulation wave as the carrier wave, the current jitter duty cycle is determined based on the adjusted pulse width modulation frequency, the preset jitter frequency, the preset jitter amplitude, and the jitter control period.

5. The control method according to claim 3, characterized by, The negative feedback control is PI control. The step of determining the duty cycle of the second negative feedback control based on the target current and the actual current includes: Obtain the proportional and integral parameters of the PI control; Subtract the target current from the actual current to determine the current difference; The duty cycle of the second negative feedback control is determined based on the proportional parameter and the integral parameter, according to the current difference.

6. The control method according to claim 3, characterized by The adjustment of the current of the proportional solenoid valve based on the current chatter duty cycle, the initial duty cycle, the second negative feedback control duty cycle, and the rated operating voltage includes: The initial duty cycle, the second negative feedback control duty cycle, and the current flutter duty cycle are added together to obtain the second target duty cycle; According to the second target duty cycle and the rated operating voltage, an output voltage pulse width modulation signal is sent to the proportional solenoid valve to adjust the current of the proportional solenoid valve.

7. The control method according to claim 1, characterized by, The actual current satisfies formula (1): Where I act is the actual current, Adsample is the pulse width modulated feedback current, Refvolt is the theoretical voltage of the sampling circuit, K1 is the precision parameter corresponding to the number of analog signal bits, and K2 is the gain of the sampling circuit.

8. A processor, comprising: It is configured to perform a control method for engineering equipment according to any one of claims 1 to 7.

9. An engineering apparatus characterised in that, include: Executive agency; The proportional solenoid valve corresponding to the actuator; as well as The processor according to claim 8.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a control method for an engineering device according to any one of claims 1 to 7.

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