Control methods, control devices and control systems for engineering equipment

Abstract

This application discloses a control method, control device, and control system for engineering equipment, belonging to the field of electrical control technology for engineering equipment. The control method includes: acquiring the target current of a proportional solenoid valve; when the target current changes from zero to non-zero, controlling the proportional solenoid valve to operate for a preset duration according to its rated operating voltage and preset duty cycle, so that the proportional solenoid valve transitions from a non-operating state to a critical operating state; acquiring the actual current of the proportional solenoid valve; and adjusting the current of the proportional solenoid valve using negative feedback control based on the actual current and the target current, so that the proportional solenoid valve transitions from a critical operating state to an operating state, thereby completing the control of the actuator. This application can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

Description

Technical Field

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

[0002] Proportional solenoid valves are key components of engineering equipment, typically used to control the actuators of such equipment. The performance of the proportional solenoid valve directly determines the overall performance of the engineering machinery. Currently, the control of proportional solenoid valves mainly employs the Proportional-Integral-Differential (PID) algorithm. The PID algorithm significantly improves the continuous control of solenoid valves. However, existing engineering equipment control methods do not consider the response characteristics of proportional solenoid valves during startup, resulting in slow response speeds and significantly impacting the efficiency of the equipment's actuators. Summary of the Invention

[0003] The purpose of this application is to provide a control method, control device, and control system 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 of the proportional solenoid valve;

[0006] When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to work for a preset duration according to the rated operating voltage and preset duty cycle of the proportional solenoid valve, so that the proportional solenoid valve changes from the non-working state to the critical working state.

[0007] Obtain the actual current of the proportional solenoid valve;

[0008] Based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, so that the proportional solenoid valve changes from the critical working state to the working state, thereby completing the control of the actuator.

[0009] In this embodiment of the application, the determination of the preset duration includes: obtaining the start-up speed and stability curves of the actuator; and calibrating the preset duration based on the start-up speed and stability curves.

[0010] In this embodiment, adjusting the current of the proportional solenoid valve using negative feedback control based on the actual current and the target current includes: determining the initial duty cycle based on the ratio between the actual current and the duty cycle; determining the negative feedback control duty cycle using negative feedback control based on the actual current and the target current; and adjusting the current of the proportional solenoid valve based on the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage.

[0011] In this embodiment of the application, the duty cycle of negative feedback control is determined by using negative feedback control based on the actual current and the target current, including: obtaining the proportional parameter, integral parameter and derivative parameter of the negative feedback control; subtracting the target current from the actual current to determine the current difference; and determining the duty cycle of negative feedback control based on the proportional parameter, integral parameter and derivative parameter and the current difference.

[0012] In this embodiment of the application, the determination of the chatter duty cycle includes: obtaining the preset chatter amplitude value corresponding to the proportional solenoid valve; multiplying the preset chatter amplitude value and the preset proportional coefficient to determine the chatter duty cycle.

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

[0014] In this embodiment of the application, the control method further includes: when the target current changes from non-zero to zero, controlling the proportional solenoid valve to switch from a critical working state or a working state to a non-working state, wherein the non-working state is the state in which the proportional solenoid valve is closed.

[0015] A second aspect of this application provides a processor configured to execute the control method for engineering equipment described above.

[0016] A third aspect of this application provides a control system, including: an actuator; a proportional solenoid valve corresponding to the actuator; and a processor.

[0017] 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.

[0018] The above technical solution acquires the target current of the proportional solenoid valve. When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to operate for a preset duration based on its rated operating voltage and preset duty cycle, thus transitioning from a non-operating state to a critical operating state. Subsequently, the actual current of the proportional solenoid valve is acquired, and based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, causing it to transition from a critical operating state to an operating state, thereby completing the control of the actuator. This application utilizes the fast response characteristic of open-loop control to pre-charge the proportional solenoid valve and uses negative feedback control to control the pre-charged proportional solenoid valve, which can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0019] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0020] 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:

[0021] Figure 1 The illustration shows a flowchart of a control method for engineering equipment according to an embodiment of this application;

[0022] Figure 2 The diagram illustrates a schematic representation of an open-loop and negative feedback joint control strategy according to an embodiment of this application.

[0023] Figure 3 The schematic diagram illustrates a state transition process of a proportional solenoid valve 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 of the proportional solenoid valve.

[0029] Step S102: When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to work for a preset duration according to the rated operating voltage and preset duty cycle of the proportional solenoid valve, so that the proportional solenoid valve changes from the non-working state to the critical working state.

[0030] Step S103: Obtain the actual current of the proportional solenoid valve.

[0031] Step S104: Based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, so that the proportional solenoid valve changes from the critical working state to the working state, thereby completing the control of the actuator.

[0032] Existing control methods for engineering equipment typically employ PID control to regulate the current of proportional solenoid valves during stepless speed regulation. However, this approach fails to consider the response characteristics of the proportional solenoid valves when starting from zero, resulting in low actuator efficiency. Taking an excavator as an example, if only PID control is used to regulate the current of the proportional solenoid valve, the boom will exhibit slight vibration at the initial moment of its upward movement, and the initial boom speed will be low, severely impacting the user experience and actuator efficiency.

[0033] To address the aforementioned issues, in this embodiment, the processor can acquire the target current of the proportional solenoid valve. The target current, input by the user, is the current required for the proportional solenoid valve to perform a specific action. The target current can be zero or a non-zero value. Therefore, the processor can determine whether the target current changes from zero to a non-zero value. If the target current changes from zero to non-zero, it can be determined that the proportional solenoid valve needs to be opened. To improve the response speed of the proportional solenoid valve, taking advantage of the fast response of open-loop control, the proportional solenoid valve can be pre-charged through open-loop control. During open-loop control, the processor can acquire a preset duty cycle, and then, using the rated operating voltage of the proportional solenoid valve as a high level, output a voltage pulse width modulation signal of a preset duration to the proportional solenoid valve according to the preset duty cycle, thereby controlling the proportional solenoid valve to transition from a non-operating state to a critical operating state. The preset duty cycle can be adjusted by the user; during the open-loop control phase, the preset duty cycle can be 100% to improve the speed of pre-charging the proportional solenoid valve. The preset duration can be input by the user or calibrated by the processor based on relevant parameters of the actuator. Critical operating state refers to the state of the proportional solenoid valve after it has completed pre-charging.

[0034] After the proportional solenoid valve transitions to a critical operating state, to improve control accuracy and the smoothness of the actuator's movement, the processor can adjust the current of the proportional solenoid valve through negative feedback control, causing the valve to transition from the critical operating state to the operating state. The operating state refers to the state where the difference between the actual current and the target current of the proportional solenoid valve is less than a preset difference. The preset difference can be determined based on the control accuracy requirements. During the negative feedback control process, the processor can acquire the actual current of the proportional solenoid valve after open-loop control pre-charging, and based on the actual current and the target current, adjust the current of the proportional solenoid valve using negative feedback control to transition it to the operating state, thereby completing the control of the actuator.

[0035] The above technical solution acquires the target current of the proportional solenoid valve. When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to operate for a preset duration based on its rated operating voltage and preset duty cycle, thus transitioning from a non-operating state to a critical operating state. Subsequently, the actual current of the proportional solenoid valve is acquired, and based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, causing it to transition from a critical operating state to an operating state, thereby completing the control of the actuator. This application utilizes the fast response characteristic of open-loop control to pre-charge the proportional solenoid valve and uses negative feedback control to control the pre-charged proportional solenoid valve, which can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0036] In this embodiment of the application, determining the preset duration may include: obtaining the start-up speed and stability curves of the actuator; and calibrating the preset duration based on the start-up speed and stability curves.

[0037] Specifically, the processor can calibrate the preset duration based on relevant parameters of the actuator. The startup speed and stability curves represent the correlation between the startup speed and stability of the actuator. Based on these curves, the processor can determine a preset duration that balances the startup speed and stability requirements.

[0038] Figure 2 The diagram illustrates a combined open-loop and negative feedback control strategy according to an embodiment of this application. Figure 2 As shown in the embodiments of this application, adjusting the current of the proportional solenoid valve using negative feedback control based on the actual current and the target current may include: determining the initial duty cycle based on the ratio between the actual current and the duty cycle; determining the negative feedback control duty cycle using negative feedback control based on the actual current and the target current; and adjusting the current of the proportional solenoid valve based on the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage.

[0039] Specifically, the processor can precharge the proportional solenoid valve for a preset duration using open-loop control. During the negative feedback control phase after precharging, the processor can obtain the actual current of the proportional solenoid valve after precharging via a sampling circuit. The processor pre-stores the ratio of the actual current to the duty cycle, which can be used to determine the initial duty cycle of the negative feedback control phase after precharging. Therefore, based on the actual current of the proportional solenoid valve after open-loop precharging and the ratio of the actual current to the duty cycle, the processor can determine the corresponding duty cycle and set it as the initial duty cycle. Simultaneously, the processor can determine the negative feedback control duty cycle based on the actual current and the target current. It is worth noting that the actual current will change during this process, and the negative feedback control duty cycle will also change accordingly. Furthermore, to further improve the response speed of the proportional solenoid valve, a chatter signal can be superimposed. Thus, with the rated operating voltage at a high level, based on the initial duty cycle, the negative feedback control duty cycle, and the pre-determined chatter duty cycle, the processor can adjust the current of the proportional solenoid valve, causing it to transition from a critical operating state to an operating state.

[0040] In this embodiment of the application, determining the duty cycle of negative feedback control based on the actual current and the target current may include: obtaining the proportional parameter, integral parameter, and derivative parameter of the negative feedback control; subtracting the target current from the actual current to determine the current difference; and determining the duty cycle of negative feedback control based on the proportional parameter, integral parameter, and derivative parameter and the current difference.

[0041] Specifically, the processor can determine the duty cycle of the negative feedback control based on the actual current and the target current. When the negative feedback control is PID control, the processor can acquire the proportional, integral, and derivative parameters of the negative feedback control, subtract the actual current from the target current to determine the current difference, and then determine the duty cycle of the negative feedback control based on the current difference. Alternatively, negative feedback control can also employ PI control. In this case, the processor can acquire the proportional and integral parameters and determine the duty cycle of the negative feedback control based on the current difference. This facilitates subsequent control of the proportional solenoid valve by the processor combining the initial duty cycle, the negative feedback control duty cycle, and the chatter duty cycle.

[0042] In this embodiment of the application, determining the chatter duty cycle may include: obtaining a preset chatter amplitude value corresponding to the proportional solenoid valve; multiplying the preset chatter amplitude value and a preset proportional coefficient to determine the chatter duty cycle.

[0043] To further improve the response speed of the proportional solenoid valve, a chatter signal can be superimposed when controlling it. Specifically, the processor can predetermine the chatter duty cycle, allowing the proportional solenoid valve to be controlled during the negative feedback control phase by combining the initial duty cycle and the negative feedback control duty cycle. The processor can obtain the preset chatter amplitude value corresponding to the proportional solenoid valve. The preset chatter amplitude value is related to the specifications of the proportional solenoid valve and can be determined from the recommended chatter amplitude range specified at the factory or set by the user. Subsequently, the processor can multiply the preset chatter amplitude value by a preset proportional coefficient to determine the chatter duty cycle. The preset proportional coefficient can be determined based on actual conditions.

[0044] In this embodiment, adjusting the current of the proportional solenoid valve based on the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage may include: adding the initial duty cycle, the negative feedback control duty cycle, and the chatter duty cycle to determine the target duty cycle; and outputting a voltage pulse width modulation signal to the proportional solenoid valve according to the target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0045] Specifically, the processor can add the initial duty cycle, the negative feedback control duty cycle, and the chatter duty cycle to determine the target duty cycle. Then, with the rated operating voltage of the proportional solenoid valve at a high level, a pulse-width modulated (PWM) signal is output to the proportional solenoid valve according to the target duty cycle. This adjusts the current of the proportional solenoid valve so that its actual current reaches the target current. It should be noted that a certain error is allowed when adjusting the current of the proportional solenoid valve; 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.

[0046] Figure 3 A schematic diagram illustrating a state transition process of a proportional solenoid valve according to an embodiment of this application is shown. Figure 3 As shown in the embodiments of this application, the control method may further include: when the target current changes from non-zero to zero, controlling the proportional solenoid valve to switch from a critical working state or a working state to a non-working state, wherein the non-working state is the state in which the proportional solenoid valve is closed.

[0047] Specifically, when the target current changes from zero to non-zero, the processor can pre-charge the proportional solenoid valve through open-loop control, causing the valve to transition from a non-operating state to a critical operating state. After a preset time, it transitions from the critical operating state to the operating state. When the proportional solenoid valve is in the critical or operating state, if the user-inputted target current changes from non-zero to zero, the proportional solenoid valve switches to a non-operating state, i.e., the closed state. After switching to the non-operating state, the processor can still continue to acquire the user-inputted target current and change its state when the target current changes from zero to non-zero, thus implementing a state cycle for the proportional solenoid valve.

[0048] In summary, compared with the prior art, the technical solution provided in this application has the following advantages:

[0049] 1) This application adopts a combined control strategy of open-loop control and negative feedback control. The open-loop control in the starting stage can solve the problems of slow response and slight vibration of the vehicle actuator. The negative feedback control strategy of superimposed flutter signal in the negative feedback control stage can solve the problem of poor stability of the actuator when the handle is continuously variable, thus improving the comfort of operation and the efficiency of the actuator.

[0050] 2) This application can control the switching time from open-loop control to negative feedback control by adjusting the preset duration, and can be adapted to different types of proportional solenoid valves.

[0051] 3) This application can adapt to the real-time and stability requirements of different engineering equipment by using adjustable flutter parameters (i.e., preset flutter amplitude and preset proportional coefficient).

[0052] This application also provides a processor configured to execute the above-described control method for engineering equipment.

[0053] Specifically, in this embodiment, the processor can be configured to: acquire the target current of the proportional solenoid valve; when the target current changes from zero to non-zero, control the proportional solenoid valve to operate for a preset duration according to the rated operating voltage and preset duty cycle of the proportional solenoid valve, so that the proportional solenoid valve changes from a non-operating state to a critical operating state; acquire the actual current of the proportional solenoid valve; and adjust the current of the proportional solenoid valve using negative feedback control according to the actual current and the target current, so that the proportional solenoid valve changes from a critical operating state to an operating state, thereby completing the control of the actuator.

[0054] In one embodiment, the processor is further configured to: acquire the startup speed and stability curves of the actuator; and calibrate a preset duration based on the startup speed and stability curves.

[0055] In one embodiment, the processor is further configured to: determine an initial duty cycle based on the ratio of actual current to duty cycle; determine a negative feedback control duty cycle using negative feedback control based on the actual current and the target current; and adjust the current of the proportional solenoid valve based on the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage.

[0056] In one embodiment, the processor is further configured to: acquire the proportional, integral, and derivative parameters of the negative feedback control; subtract the target current from the actual current to determine the current difference; and determine the duty cycle of the negative feedback control based on the proportional, integral, and derivative parameters and the current difference.

[0057] In one embodiment, the processor is further configured to: obtain a preset chatter amplitude value corresponding to the proportional solenoid valve; and multiply the preset chatter amplitude value and a preset proportional coefficient to determine the chatter duty cycle.

[0058] In one embodiment, the processor is further configured to: add the initial duty cycle, the negative feedback control duty cycle, and the chatter duty cycle to determine the target duty cycle; and output a voltage pulse width modulation signal to the proportional solenoid valve according to the target duty cycle and the rated operating voltage to adjust the current of the proportional solenoid valve.

[0059] In one embodiment, the processor is further configured to control the proportional solenoid valve to switch from a critical operating state or an operating state to a non-operating state when the target current changes from non-zero to zero, wherein the non-operating state is the state in which the proportional solenoid valve is closed.

[0060] The above technical solution acquires the target current of the proportional solenoid valve. When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to operate for a preset duration based on its rated operating voltage and preset duty cycle, thus transitioning from a non-operating state to a critical operating state. Subsequently, the actual current of the proportional solenoid valve is acquired, and based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, causing it to transition from a critical operating state to an operating state, thereby completing the control of the actuator. This application utilizes the fast response characteristic of open-loop control to pre-charge the proportional solenoid valve and uses negative feedback control to control the pre-charged proportional solenoid valve, which can improve the response speed and control accuracy of the proportional solenoid valve, thereby improving the execution efficiency of the actuator.

[0061] This application also provides a control system, including: an actuator; a proportional solenoid valve corresponding to the actuator; and a processor.

[0062] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the aforementioned control method for engineering equipment.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 engineering equipment, characterized in that, The engineering equipment includes an actuator and a proportional solenoid valve corresponding to the actuator, and the control method includes: Obtain the target current of the proportional solenoid valve; When the target current changes from zero to non-zero, the proportional solenoid valve is controlled to work for a preset duration according to the rated operating voltage and preset duty cycle of the proportional solenoid valve, so that the proportional solenoid valve changes from a non-working state to a critical working state. Obtain the actual current of the proportional solenoid valve; Based on the actual current and the target current, negative feedback control is used to adjust the current of the proportional solenoid valve, so that the proportional solenoid valve changes from the critical working state to the working state, thereby completing the control of the actuator.

2. The control method according to claim 1, characterized in that, The determination of the preset duration includes: Obtain the start-up speed and smoothness curves of the actuator; The preset duration is calibrated based on the startup speed and stability curves.

3. The control method according to claim 1, characterized in that, The step of adjusting the current of the proportional solenoid valve using negative feedback control based on the actual current and the target current includes: Based on the ratio of actual current to duty cycle, the initial duty cycle is determined according to the actual current. The negative feedback control duty cycle is determined by using negative feedback control based on the actual current and the target current. The current of the proportional solenoid valve is adjusted according to the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage.

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

5. The control method according to claim 3, characterized in that, The determination of the flutter duty cycle includes: Obtain the preset chatter amplitude value corresponding to the proportional solenoid valve; The preset flutter amplitude value and the preset proportional coefficient are multiplied together to determine the flutter duty cycle.

6. The control method according to claim 3, characterized in that, The adjustment of the current of the proportional solenoid valve based on the initial duty cycle, the negative feedback control duty cycle, the chatter duty cycle, and the rated operating voltage includes: The initial duty cycle, the negative feedback control duty cycle, and the flutter duty cycle are added together to determine the target duty cycle; According to the 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.

7. The control method according to claim 1, characterized in that, The control method further includes: When the target current changes from non-zero to zero, the proportional solenoid valve is controlled to switch from the critical operating state or the operating state to the non-operating state, wherein the non-operating state is the state in which the proportional solenoid valve is closed.

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

9. A control system, characterized 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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