A CAN bus handle electronic control method, device, system and medium

Abstract

This invention discloses a CAN bus-based electric control method, device, system, and medium for a control handle, belonging to the field of engineering machinery electric control technology. It includes: acquiring analog signals from the control element and the control handle enable signal, precision gear signal, and level signal from the engineering machinery electric control system; calculating the actual opening ratio of the control element based on the analog signals; performing zero-position correction processing based on the control handle enable signal to obtain the corrected opening ratio; performing precision gear processing on the corrected opening ratio based on the precision gear signal and level signal to obtain the final opening ratio; and encapsulating the final opening ratio and the actual opening ratio data and outputting them to the engineering machinery electric control system. This invention effectively solves the zero-position drift problem by self-calibrating the control handle upon power-up, reducing the handle dead zone and improving operational accuracy; and by integrating multiple precision gears, it achieves rapid switching between normal and precision operation, improving equipment adaptability and operational flexibility.

Description

Technical Field

[0001] This invention relates to a CAN bus handle electronic control method, device, system, and medium, belonging to the field of electronic control technology for engineering machinery equipment. Background Technology

[0002] In recent years, with the rapid development of industry, the market has placed increasingly higher demands on the electrification and intelligence of engineering machinery and equipment. Hydraulic control handles have gradually been upgraded and replaced by electric control handles. As the working conditions of engineering machinery and equipment are becoming more and more complex, the requirements for operating accuracy and reliability are also increasing.

[0003] Currently, fully electric control handles detect the opening degree of the control element through sensors. After analog-to-digital conversion and data encapsulation, the percentage of the control element opening degree is transmitted to the electronic control system of the construction machinery via a CAN transceiver for controlling the machinery's actions. However, existing technology has the following drawbacks:

[0004] 1) Existing fully electric control handles lack zero-position self-calibration function, resulting in zero-position drift due to machining system errors or zero-position drift after long-term operation. This leads to a large dead zone in the electric control handle of the construction machinery equipment's electric control system, or affects the consistency and accuracy of the operation of the construction machinery equipment.

[0005] 2) Existing fully electric control handles lack curve self-adjustment function. They can only be controlled by the electric control system of the construction machinery equipment in combination with the opening ratio of the electric control handle and the parameters of the actuator to adjust the speed of the construction machinery equipment under the same opening ratio of the electric control handle, which is more complicated for the implementation of the function of the electric control system of the construction machinery equipment.

[0006] Therefore, developing a safe, reliable, and intelligent CAN bus handle electronic control system and method is of great practical significance. Summary of the Invention

[0007] The purpose of this invention is to provide a CAN bus handle electric control method, device, system and medium, which effectively solves the zero drift problem and improves operation accuracy and adaptability by powering on the electric handle for zero-position self-calibration and integrating multi-level precision range functions.

[0008] To achieve the above objectives / to solve the above technical problems, the present invention is implemented using the following technical solution.

[0009] On one hand, the present invention provides a CAN bus handle electronic control method, comprising:

[0010] Acquire analog signals of the control elements of the electric control handle, and simultaneously acquire the handle enable signal, precision gear signal, and precision gear level signal of the engineering machinery electric control system;

[0011] The actual opening ratio of the control element is calculated based on the analog signal of the control element.

[0012] The actual opening ratio is corrected based on the handle enable signal to obtain the corrected value of the opening ratio.

[0013] Based on the precision range signal and precision range level signal, the correction value of the opening ratio is processed by precision range to obtain the final processed opening ratio.

[0014] The final processed opening ratio and the actual opening ratio data are encapsulated and output to the engineering machinery electronic control system for monitoring the status of the electronic control handle and controlling its action execution.

[0015] Furthermore, the analog signal of the control element is converted into the actual opening ratio of the control element, expressed as:

[0016] ;

[0017] in: For analog signals, For the minimum value of the analog signal, The maximum value of the analog signal. To control element A in proportion to the actual opening degree, The ratio of the actual opening degree to the control element B;

[0018] Mapping the analog signal linearly to a standard opening ratio value (between 0 and 1) is not only computationally efficient and suitable for real-time processing by microcontrollers, but also provides a unified and standard input reference for subsequent zero-position correction and precision range processing, ensuring the accuracy and consistency of the entire control logic.

[0019] Furthermore, the step of correcting the actual opening ratio based on the handle enable signal to obtain a corrected value for the opening ratio specifically includes:

[0020] When the electric control handle is powered on but does not receive a handle enable signal from the engineering machinery's electric control system, and the operating element remains in its initial position without any displacement, zero-position calibration is performed on the electric control handle after power-on to obtain the opening ratio after zero-position calibration. The expression is:

[0021] when season ,but:

[0022] ;

[0023] when ,but:

[0024] ;

[0025] in: To control element A in proportion to the actual opening degree, To control element B in proportion to the actual opening degree, This refers to the opening ratio of the control element in its initial position. The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. To obtain the maximum value;

[0026] In this case, the opening ratio after zero-position correction is the correction value of the opening ratio;

[0027] By automatically performing zero-point correction when the handle is disabled and remains in the initial position, and by employing different compensation methods for drift in the A and B directions, the zero-point drift (JP0) caused by machining errors or long-term wear can be accurately measured and compensated. This effectively eliminates zero-point deviation, making the handle more sensitive when operating at a small opening, significantly reducing the control dead zone that the system needs to set, and improving the accuracy and consistency of operation.

[0028] Furthermore, the step of correcting the actual opening ratio based on the handle enable signal to obtain a corrected value for the opening ratio also includes:

[0029] If the electric control handle is powered on but zero-position calibration is not performed, the operating element does not maintain its initial position and displacement occurs during operation, or the handle does not experience zero-point drift, the actual opening ratio of the operating element is directly assigned to the opening ratio after zero-position calibration. The expression is:

[0030] ;

[0031] in: To control element A in proportion to the actual opening degree, To control element B in proportion to the actual opening degree, The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element.

[0032] Under these conditions, the actual opening ratio of the control element is directly the correction value of the opening ratio;

[0033] This invention provides a fault-tolerant and default processing mechanism for zero-position calibration. When the zero-position calibration conditions are not met (such as the handle being accidentally touched or no calibration is required), the system can automatically skip the calibration process and directly use the actual value as the calibration value. This ensures the robustness and continuity of the system under various non-ideal working conditions and avoids system lock-up or malfunctions caused by forced calibration failure.

[0034] Furthermore, the step of performing precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal to obtain the final processed opening ratio specifically includes:

[0035] When the electric control handle receives the handle enable signal from the construction machinery's electric control system, and also receives the precision gear signal and precision gear level signal from the system, it performs precision gear processing on the opening ratio correction value to obtain the final processed opening ratio of the control element. The expression is:

[0036] ;

[0037] in: The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. The final A-axis opening ratio after the control element is processed. The B-axis opening ratio is the final processed size of the control element, and N is the precision level.

[0038] Under these conditions, the correction value for the opening ratio during precision processing is the final processed opening ratio.

[0039] This invention introduces a linear attenuation factor (1-0.1N) proportional to the precision gear level N, which can "scale" the effective operating range of the control element. In the precision gear, the same physical displacement corresponds to a smaller output opening, thereby realizing micro-motion control of the actuator of the engineering machinery and greatly improving the operating accuracy and control stability under fine working conditions.

[0040] Furthermore, the step of performing precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal to obtain the final processed opening ratio also includes:

[0041] When the electric control handle receives the handle enable signal from the construction machinery's electric control system, but does not receive the precision gear signal from the system, the zero-position calibrated opening ratio is directly assigned to the final opening ratio processed by the control element. The expression is:

[0042] ;

[0043] in: The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. The final A-axis opening ratio after the control element is processed. The B-axis opening ratio after final processing of the control element;

[0044] Under these conditions, the correction value for the opening ratio is directly the final processed opening ratio;

[0045] When precision operation is not required, it can seamlessly switch to normal operation mode. At this time, the opening ratio after zero-position correction will be directly output to ensure the directness and linearity of the equipment response and meet the requirements of routine operation for operational efficiency.

[0046] Furthermore, the handle enable signal includes: a pilot signal for the engineering machinery electronic control system and a safety handle signal;

[0047] The precision gear includes: a precision gear signal slowly output by the engineering machinery electronic control system according to the opening ratio of the control element, and a coordinated precision gear button;

[0048] The precision levels include: 1-9 levels are set in the electronic control system of engineering machinery.

[0049] In a second aspect, the present invention provides a CAN bus handle electronic control device, comprising:

[0050] The acquisition module is used to acquire the analog signal of the control element of the electric control handle, and at the same time acquire the handle enable signal, precision gear signal and precision gear level signal of the construction machinery electric control system.

[0051] The calculation module is used to calculate the actual opening ratio of the control element based on the analog signal of the control element;

[0052] The calibration module is used to calibrate the actual opening ratio based on the handle enable signal to obtain the calibration value of the opening ratio.

[0053] The precision range processing module is used to perform precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal, so as to obtain the final processed opening ratio.

[0054] The output module is used to encapsulate the final processed opening ratio and the actual opening ratio data and output them to the engineering machinery electronic control system for monitoring the status of the electric control handle and controlling its action execution.

[0055] Thirdly, the present invention provides a CAN bus handle electronic control system, comprising:

[0056] Memory, used to store computer programs / instructions;

[0057] A processor is used to execute the computer program / instructions to implement the steps of the above-described CAN bus handle electronic control method.

[0058] Fourthly, the present invention provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implements the steps of the above-described CAN bus handle electronic control method.

[0059] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The present invention has a zero-position self-calibration function: the electric control handle automatically performs zero-position calibration when powered on, which effectively solves the zero-position drift problem caused by machining system errors or long-term use, reduces the dead zone of the electric control handle, and improves the consistency and accuracy of operation.

[0060] This invention allows for multi-level precision adjustment: integrating 1-9 precision levels, the precision level can be preset according to working conditions, enabling rapid switching between normal and precision operation, and improving equipment adaptability and operational flexibility.

[0061] This invention can be modularly designed: the method can be implemented in microcontrollers or engineering machinery electrical control systems, and has good portability and scalability. Attached Figure Description

[0062] Figure 1 This is a flowchart illustrating the CAN bus handle electronic control method of an embodiment;

[0063] Figure 2 This is a schematic diagram of the zero-position calibration process in an embodiment;

[0064] Figure 3 This is a graph showing the percentage of the control element's opening relative to the analog signal in an embodiment.

[0065] Figure 4 The diagram shows the adjustment curve of the control element after zero-position calibration in the example (JPA>0).

[0066] Figure 5 The diagram shows the adjustment curve of the control element after zero-position calibration in the example (JPB>0).

[0067] Figure 6 This is a schematic diagram of the CAN bus handle electronic control device in an embodiment.

[0068] The components include: 1. Control element; 2. Sensor; 3. Microcontroller; 4. CAN transceiver; and 5. External interface. Detailed Implementation

[0069] It should be noted that:

[0070] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the embodiments of the present invention and the specific features in the embodiments are detailed descriptions of the technical solution of the present invention, rather than limitations thereof. In the absence of conflict, the embodiments of the present invention and the technical features in the embodiments can be combined with each other.

[0071] The term "and / or" simply describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0072] Example 1

[0073] like Figures 1 to 5 The embodiment shown provides a CAN bus handle electronic control method, including the following steps:

[0074] Step 1: Read the voltage-type analog signal U output by the sensor through the microcontroller, and at the same time acquire the handle enable signal, precision gear signal and precision gear level signal of the engineering machinery electronic control system;

[0075] Step 2: Calculate the actual opening ratios JPA and JPB of the control element based on the analog signal U. The expression is:

[0076] ;

[0077] Step 3: Determine if a controller enable signal has been received; if not enabled, proceed to step 4; if enabled, proceed to step 8.

[0078] Step 4: Determine if zero-position calibration has been performed; if not, proceed to Step 5; otherwise, return to Step 1.

[0079] Step 5: Determine if the control element maintains its initial position; if yes, proceed to step 6; otherwise, return to step 1.

[0080] Step 6: Determine if JPA is greater than 0; if so, set JP0 = JPA, calculate JPAR and JPBR, and return to Step 1; otherwise, go to Step 7.

[0081] ;

[0082] Step 7: Determine if JPB is greater than 0; if so, set JP0 = JPB, calculate JPAR and JPBR, and return to Step 1; otherwise, return directly to Step 1.

[0083] ;

[0084] Step 8: Determine if zero-position correction has been performed; if yes, proceed to step 9; otherwise, set JPAR=JPA, JPBR=JPB, and proceed to step 9.

[0085] Step 9: Determine if precision mode is enabled; if so, read the precision mode level N, calculate JPAW and JPBW, and then proceed to step 10.

[0086] ;

[0087] Otherwise, set JPAW = JPAR and JPBW = JPBR, and go to step 10;

[0088] Step 10: Encapsulate the JPA, JPB, JPAW, and JPBW data and output them to the engineering machinery electrical control system via the CAN bus;

[0089] By simultaneously outputting the original actual opening ratio (JPA, JPB) and the final processed opening ratio (JPAW, JPBW), the construction machinery electronic control system can compare the data before and after correction in real time, accurately determine the working status of the electronic control handle, the degree of zero drift, and the effectiveness of the precision gear, and provide complete data support for system fault diagnosis and maintenance.

[0090] The electronic control system of construction machinery can verify the effectiveness of zero-position correction and precision gear processing by comparing the differences between JPA / JPB and JPAW / JPBW. If necessary, it can trigger recalibration to form a closed-loop quality control mechanism.

[0091] Transmitting all relevant proportional data at once via the CAN bus avoids the delay issues caused by time-sharing transmission, ensuring the synchronization and real-time nature of control commands, which is crucial for the precise control and safety of construction machinery.

[0092] Example 2

[0093] like Figure 6 One embodiment shown provides a CAN bus handle electronic control device, comprising:

[0094] The acquisition module is used to acquire the analog signal of the control element of the electric control handle, and at the same time acquire the handle enable signal, precision gear signal and precision gear level signal of the construction machinery electric control system.

[0095] The calculation module is used to calculate the actual opening ratio of the control element based on the analog signal of the control element;

[0096] The calibration module is used to calibrate the actual opening ratio based on the handle enable signal to obtain the calibration value of the opening ratio.

[0097] The precision range processing module is used to perform precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal, so as to obtain the final processed opening ratio.

[0098] The output module is used to encapsulate the final processed opening ratio and the actual opening ratio data and output them to the engineering machinery electronic control system for monitoring the status of the electric control handle and controlling its action execution.

[0099] The acquisition module is sensor 2; the calculation module, calibration module, and precision data processing module are integrated into microcontroller 3; and the output module includes a CAN transceiver 4 and an external interface 5.

[0100] The sensor 2 is physically connected to the control element 1 and is also signal-connected to the microcontroller 3. The microcontroller 3 is also signal-connected to the CAN transceiver 4 and communicates via serial signals. The CAN transceiver 4 is also connected to the external interface 5 CAN bus and communicates via differential signals.

[0101] The control element 1 is a mechanical control element of the CAN bus handle, used to convert the operator's operation command into a displacement amount and transmit it to the sensor 2. It can be a joystick, thumb wheel, etc.

[0102] The sensor 2 is used to detect the displacement of the control element 1 and convert it into a voltage-type analog signal, which can be a potentiometer, Hall sensor, etc. The microcontroller 3 is used to acquire the voltage-type analog signal of the control element 1 and convert it into the actual opening ratio of the control element 1 before adjustment through analog-to-digital conversion. At the same time, it receives the handle enable, precision range and precision range level signals of the CAN transceiver 4, and then performs zero-position correction and precision range processing. The actual opening ratio of the control element 1 and the processed opening ratio of the control element 1 are encapsulated and transmitted to the CAN transceiver 4.

[0103] The handle enable signal can be a pilot signal for the engineering machinery electronic control system, a safety handle signal, etc. The precision gear can be a precision gear signal slowly output by the engineering machinery electronic control system according to the opening ratio of the control element, a coordinated precision gear button, etc. The precision gear level can be set from 1 to 9 in the engineering machinery electronic control system.

[0104] The CAN transceiver 4 is used to receive the serial port signal from the microcontroller 3, convert it into a differential signal, and transmit it to the external interface 5. Specifically, it receives the differential signal from the external interface 5, converts it into a serial port signal, and transmits it to the microcontroller 3.

[0105] The microcontroller 3 converts the serial signals, such as the opening ratio of the control element 1 after zero-position calibration and precision gear processing, and the actual opening ratio of the control element 1 before adjustment, into differential signals and transmits them to the external interface 5 via the CAN bus. At the same time, the differential signals, such as handle enable, precision gear, and precision gear level, received by the external interface 5 from the engineering machinery electronic control system, are converted into serial signals and transmitted to the microcontroller 3.

[0106] Example 3

[0107] This embodiment provides a CAN bus handle electronic control system, including:

[0108] Memory, used to store computer programs / instructions;

[0109] A processor is used to execute the computer program / instructions to implement the steps of the above-described CAN bus handle electronic control method.

[0110] Example 4

[0111] This embodiment provides a computer-readable storage medium storing a computer program / instruction thereon, which, when executed by a processor, implements the steps of the above-described CAN bus handle electronic control method.

[0112] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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.

[0113] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] 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.

[0115] 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.

[0116] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A CAN bus handle electronic control method, characterized in that, include: Acquire analog signals of the control elements of the electric control handle, and simultaneously acquire the handle enable signal, precision gear signal, and precision gear level signal of the engineering machinery electric control system; The actual opening ratio of the control element is calculated based on the analog signal of the control element. The actual opening ratio is corrected based on the handle enable signal to obtain the corrected value of the opening ratio. Based on the precision range signal and precision range level signal, the correction value of the opening ratio is processed by precision range to obtain the final processed opening ratio. The final processed opening ratio and the actual opening ratio data are encapsulated and output to the engineering machinery electronic control system for monitoring the status of the electronic control handle and controlling its action execution. The step of correcting the actual opening ratio based on the handle enable signal to obtain a corrected value for the opening ratio specifically includes: When the electric control handle does not receive the handle enable signal from the construction machinery's electric control system after being powered on, and the operating element remains in its initial position without any displacement, zero-position calibration is performed on the electric control handle after power-on to obtain the opening ratio after zero-position calibration. The expression is: when season ,but: ； when ,but: ； in: To control element A in proportion to the actual opening degree, To control element B in proportion to the actual opening degree, This refers to the opening ratio of the control element in its initial position. The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. To obtain the maximum value; In this case, the opening ratio after zero-position correction is the correction value of the opening ratio. The step of correcting the actual opening ratio based on the handle enable signal to obtain a corrected value for the opening ratio also includes: If the electric control handle is powered on but zero-position calibration is not performed, the operating element does not maintain its initial position and displacement occurs during operation, or the handle does not exhibit zero-point drift, the actual opening ratio of the operating element is directly assigned to the opening ratio after zero-position calibration. The expression is: ； in: To control element A in proportion to the actual opening degree, To control element B in proportion to the actual opening degree, The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. Under these conditions, the actual opening ratio of the control element is directly the correction value of the opening ratio. The step of performing precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal to obtain the final processed opening ratio specifically includes: When the electric control handle receives the handle enable signal from the construction machinery's electric control system, and also receives the precision gear signal and precision gear level signal from the construction machinery's electric control system, the correction value for the opening ratio is processed for precision gearing, as expressed by: ； in: The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. The final A-axis opening ratio after the control element is processed. The B-axis opening ratio is the final processed size of the control element, and N is the precision level. Under these conditions, the correction value for the opening ratio during precision gear processing is the final processed opening ratio. The precision gear processing of the correction value based on the precision gear signal and precision gear level signal further includes: When the electric control handle receives the handle enable signal from the construction machinery's electric control system, but does not receive the precision gear signal from the system, the zero-position calibrated opening ratio is directly assigned to the final opening ratio processed by the control element. The expression is: ； in: The A-axis opening ratio after zero-position correction of the control element. The B-axis opening ratio after zero-position correction of the control element. The final A-axis opening ratio after the control element is processed. The B-axis opening ratio after final processing of the control element; Under these conditions, the correction value for the opening ratio is directly the final processed opening ratio.

2. The CAN bus handle electronic control method according to claim 1, characterized in that, The analog signal of the control element is converted into the actual opening ratio of the control element, expressed as follows: ； in: For analog signals, For the minimum value of the analog signal, The maximum value of the analog signal. To control element A in proportion to the actual opening degree, To control element B in proportion to the actual opening degree, This is to process the data to obtain the maximum value.

3. The CAN bus handle electronic control method according to claim 1, characterized in that, The handle enable signal includes: a pilot signal for the engineering machinery electronic control system and a safety handle signal; The precision gear includes: a precision gear signal slowly output by the engineering machinery electronic control system according to the opening ratio of the control element, and a coordinated precision gear button; The precision levels include: 1-9 levels are set in the electronic control system of engineering machinery.

4. An apparatus employing the CAN bus handle electronic control method according to any one of claims 1 to 3, characterized in that, include: The acquisition module is used to acquire the analog signal of the control element of the electric control handle, and at the same time acquire the handle enable signal, precision gear signal and precision gear level signal of the construction machinery electric control system. The calculation module is used to calculate the actual opening ratio of the control element based on the analog signal of the control element; The calibration module is used to calibrate the actual opening ratio based on the handle enable signal to obtain the calibration value of the opening ratio. The precision range processing module is used to perform precision range processing on the correction value of the opening ratio based on the precision range signal and the precision range level signal, so as to obtain the final processed opening ratio. The output module is used to encapsulate the final processed opening ratio and the actual opening ratio data and output them to the engineering machinery electronic control system for monitoring the status of the electric control handle and controlling its action execution.

5. A CAN bus handle electronic control system, characterized in that, include: Memory, used to store computer programs / instructions; A processor for executing the computer program / instructions to implement the steps of the CAN bus handle electronic control method according to any one of claims 1-3.

6. A computer-readable storage medium having a computer program / instructions stored thereon, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the CAN bus handle electronic control method according to any one of claims 1-3.

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