Cab vibration reduction method and device, electric loader, medium and product

Abstract

The invention discloses a cab vibration reduction method and device, an electric loader, a medium and a product. The method is applied to the electric loader and comprises the steps that under the active vibration reduction mode, chassis attitude data and chassis angular point pressure data of a cab of the electric loader are obtained; based on the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane, determining a horizontal control current of the electromagnetic actuator for horizontal vibration reduction control; wherein the plurality of electromagnetic actuators are arranged between a chassis angular point of a cab of the electric loader and a chassis of the whole loader; based on the pressure deviation of the underframe corner pressure data relative to the preset pressure data, determining the vertical control current of the electromagnetic actuator for vertical vibration reduction control; target control current is determined according to the horizontal control current, the vertical control current and the current driving working condition, and an electromagnetic actuator is driven to act through the target control current. Vibration reduction is achieved by combining horizontal vibration reduction, vertical vibration reduction and current driving working conditions of the whole cab, and the vibration reduction effect is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of engineering machinery technology, and in particular to a method, device, electric loader, medium and product for reducing vibration in a cab. Background Technology

[0002] Currently, the cab of electric loaders is directly fixed to the chassis with bolts and rubber pads. When traversing bumpy roads, the entire vehicle relies solely on the tires for vibration damping. According to the law of conservation of energy, the vibration energy of the entire vehicle can be transferred from the vehicle body to the cab, and then through the seat to the driver. Since the driver and the entire vehicle are two separate objects with a significant difference in magnitude, even slight bumps in the vehicle can result in a strong and uncomfortable experience for the driver.

[0003] In existing technologies, vibration reduction can be achieved by installing a suspension seat in the cab of an electric loader, but the vibration reduction effect is poor, specifically in the following aspects: the air pressure of the suspension seat is basically fixed and cannot be adjusted according to the current road conditions and the overall vehicle status; the vibration energy absorbed by the suspension seat is mainly the energy perpendicular to the cab floor for the driver, while the energy parallel to the cab floor is ignored; the suspension seat is separate from the control panel for the boom and bucket, making it impossible to operate the control panel precisely when encountering bumpy roads. Summary of the Invention

[0004] This invention provides a method, device, electric loader, medium, and product for reducing vibration in a cab, which can improve the vibration reduction effect.

[0005] In a first aspect, embodiments of the present invention provide a cab vibration reduction method applied to an electric loader, the method comprising:

[0006] In active vibration reduction mode, acquire the underframe attitude data and underframe corner pressure data of the electric loader cab;

[0007] Based on the angular deviation of the chassis attitude data relative to the chassis reference horizontal plane, the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator is determined; wherein, multiple electromagnetic actuators are installed between the corner points of the chassis of the electric loader cab and the chassis of the whole vehicle.

[0008] Based on the pressure deviation of the base frame corner pressure data relative to the preset pressure data, the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control is determined.

[0009] The target control current is determined based on the horizontal control current, the vertical control current, and the current driving condition, and the electromagnetic actuator is driven to operate by the target control current.

[0010] Furthermore, acquire the underframe attitude data and underframe corner pressure data of the electric loader cab, including:

[0011] The attitude data of the underframe is obtained by an attitude sensor installed at the geometric center or center of mass of the underframe in the cab of the electric loader.

[0012] Pressure data at the corner of the chassis is obtained by a pressure sensor located at the contact point between the electromagnetic actuator and the corner of the chassis.

[0013] Furthermore, based on the angular deviation of the chassis attitude data relative to the chassis reference horizontal plane, the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator is determined, including:

[0014] Using a proportional-integral-derivative (PID) control algorithm, based on the angle deviation and the spatial layout of each electromagnetic actuator, the horizontal control current of each electromagnetic actuator is determined with the aim of correcting pitch and roll attitude.

[0015] Furthermore, based on the pressure deviation between the base frame corner pressure data and preset pressure data, the vertical control current for vertical vibration reduction control of the electromagnetic actuator is determined, including:

[0016] Using a proportional-integral-derivative (PID) control algorithm, based on the pressure deviation, the vertical control current of each electromagnetic actuator is determined with the aim of suppressing vertical vibration acceleration.

[0017] Furthermore, determining the target control current based on the horizontal control current, the vertical control current, and the current driving condition includes:

[0018] Based on the current driving conditions, the control weights of the horizontal vibration reduction control and the vertical vibration reduction control are automatically adjusted. The current driving conditions include at least the vehicle's operating status and working mode.

[0019] The target control current is determined by fusing the horizontal control current and the vertical control current based on the control weights.

[0020] Furthermore, it also includes:

[0021] In response to the activation of the active vibration damping function in the instrument panel of the electric loader, the system enters the active vibration damping mode.

[0022] Secondly, embodiments of the present invention provide a cab vibration damping device configured in an electric loader, the device comprising:

[0023] The acquisition module is used to acquire the underframe attitude data and underframe corner pressure data of the electric loader cab in active vibration reduction mode;

[0024] The first determining module is used to determine the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator based on the angle deviation of the chassis attitude data relative to the chassis reference horizontal plane; wherein, a plurality of the electromagnetic actuators are arranged between the corner points of the chassis of the electric loader cab and the chassis of the whole vehicle.

[0025] The second determining module is used to determine the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control based on the pressure deviation of the base frame corner pressure data relative to the preset pressure data.

[0026] The drive module is used to determine a target control current based on the horizontal control current, the vertical control current and the current driving condition, and drive the electromagnetic actuator to operate through the target control current.

[0027] Thirdly, embodiments of the present invention provide an electric loader, comprising:

[0028] At least one processor; and

[0029] A memory communicatively connected to the at least one processor; wherein,

[0030] The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method as described in the first aspect.

[0031] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that cause a processor to execute the method described in the first aspect.

[0032] Fifthly, embodiments of the present invention provide a computer program product, the computer program product including a computer program, which, when executed by a processor, implements the method described in the first aspect.

[0033] The technical solution of this invention, in active vibration reduction mode, acquires the underframe attitude data and underframe corner pressure data of the electric loader cab; based on the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane, determines the horizontal control current for horizontal vibration reduction control by electromagnetic actuators; wherein, multiple electromagnetic actuators are disposed between the underframe corners of the electric loader cab and the vehicle chassis; based on the pressure deviation of the underframe corner pressure data relative to preset pressure data, determines the vertical control current for vertical vibration reduction control by electromagnetic actuators; based on the horizontal control current, the vertical control current, and the current driving condition, a target control current is determined, and the electromagnetic actuators are driven to operate by the target control current. This solution starts from the cab as a whole, comprehensively considering horizontal vibration reduction, vertical vibration reduction, and the current driving condition, driving the electromagnetic actuators between the underframe corners of the cab and the vehicle chassis to achieve multi-degree-of-freedom active vibration reduction, thereby improving the vibration reduction effect.

[0034] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a flowchart of a cab vibration reduction method according to Embodiment 1 of the present invention;

[0037] Figure 2 This is a schematic diagram of an active vibration reduction control according to Embodiment 1 of the present invention;

[0038] Figure 3 This is a schematic diagram of a sensor installation position according to Embodiment 1 of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of a driver's cab vibration damping device according to Embodiment 2 of the present invention;

[0040] Figure 5 This is a structural schematic diagram of an electric loader that implements an embodiment of the present invention. Detailed Implementation

[0041] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first," "second," etc., used in this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0043] Example 1

[0044] Figure 1 This is a flowchart of a cab vibration reduction method according to Embodiment 1 of the present invention. This embodiment is applicable to situations requiring cab vibration reduction. The method can be executed by a cab vibration reduction device, which can be implemented in software and / or hardware and integrated into an electric loader. Figure 1 As shown, the method includes the following steps S110-S140.

[0045] Figure 2 This is a schematic diagram of an active vibration reduction control according to Embodiment 1 of the present invention, combined with... Figure 2 The content shown is for Figure 1 The method shown is explained as follows:

[0046] S110. In active vibration reduction mode, acquire the underframe attitude data and underframe corner pressure data of the electric loader cab.

[0047] Active vibration damping mode is a mode that actively cancels or reduces vibrations generated in the cab of an electric loader during operation or travel. In practical applications, active vibration damping mode can be triggered by the driver, automatically activated when the electric loader is powered on, or automatically activated when the electric loader enters a bumpy road section.

[0048] The underframe attitude data can be the attitude data of the underframe of the electric loader cab in three-dimensional space. The underframe can be understood as the mounting base of the cab, so the underframe attitude data can also reflect the attitude data of the cab in three-dimensional space, and therefore can be used as the data basis for vibration reduction control. The attitude data may include, but is not limited to, pitch angle, roll angle, yaw angle, and their rate of change.

[0049] The underframe corner pressure data refers to the pressure data at the corner points of the underframe of the electric loader cab; the pressure data is the pressure value. The underframe corner points can be the positions of the four corners of the underframe. The underframe corner pressure data can reflect the stress distribution at each corner of the underframe under load, and therefore can be used as the data basis for vibration reduction control.

[0050] In this step, under active vibration reduction mode, real-time monitoring and control are initiated. The sensor interface box can be used to acquire chassis attitude data from attitude sensors and chassis corner pressure data from pressure sensors. Optionally, the acquired chassis attitude and corner pressure data need to be denoised and fused using a Kalman filter algorithm to obtain high-precision data for subsequent processing.

[0051] S120. Based on the angular deviation of the chassis posture data relative to the chassis reference horizontal plane, determine the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator; wherein, multiple electromagnetic actuators are arranged between the chassis corner points of the electric loader cab and the vehicle chassis.

[0052] An electromagnetic actuator is an actuating element that converts electrical energy into mechanical energy based on the principle of electromagnetic induction. It is a high-speed response electromagnetic actuator with millisecond-level dynamic adjustment capability. The core of the electromagnetic actuator is to generate a controllable electromagnetic force by applying a control current to the excitation coil, which drives the internal moving element to move, such as in a telescoping motion, and then outputs a controllable displacement or force to actively compensate for vibration disturbances.

[0053] In practical applications, an electromagnetic actuator can be installed at each of the four corners of the bottom of the electric loader cab. One end of the electromagnetic actuator is connected to the corner of the cab underframe, and the other end is connected to the vehicle chassis, forming an active connection mechanism between the cab and the vehicle chassis.

[0054] In this step, the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane can be determined. Specifically, this includes determining the angular deviation of the pitch angle (included in the underframe attitude data) relative to the underframe reference horizontal plane, and the angular deviation of the roll angle (included in the underframe attitude data) relative to the underframe reference horizontal plane. A larger angular deviation indicates a more severe deviation of the underframe from a level state, requiring a larger corrective force / displacement output from the electromagnetic actuator for vibration reduction. The underframe reference horizontal plane can be a pre-set reference for the underframe's level state, such as the horizontal plane where the underframe is located when the electric loader is parked on flat ground. In this case, both the pitch and roll angles of the underframe reference horizontal plane can be 0.

[0055] Given the determined angular deviation of the underframe attitude data relative to the underframe reference horizontal plane, a preset control algorithm, such as a Proportional-Integral-Derivative (PID) control algorithm, converts the angular deviation into a correction quantity (such as output force or telescopic displacement) for the electromagnetic actuators. Then, based on the mapping relationship between the correction quantity and the control current, the horizontal control current for the electromagnetic actuators to perform horizontal vibration reduction control is determined. It should be noted that to ensure the cab is horizontally close to the underframe reference horizontal plane, the horizontal control currents for the four electromagnetic actuators can be different, and the specific values ​​can be determined based on their distribution positions.

[0056] S130. Based on the pressure deviation between the base frame corner pressure data and the preset pressure data, determine the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control.

[0057] In this step, the pressure deviation of the underframe corner pressure data relative to the preset pressure data can be determined. Specifically, the pressure deviation of each underframe corner pressure value from the preset pressure data (i.e., the preset pressure value) can be determined, and the average pressure deviation of each underframe corner pressure value is taken as the mean. The average pressure deviation is used to reflect the overall vibration of the underframe in the vertical direction. The larger the average pressure deviation, the more severe the vibration impact in the vertical direction of the underframe, and the greater the correction force / displacement output of the electromagnetic actuator is required for vibration reduction. The preset pressure data can be a pre-set underframe corner pressure benchmark, such as the pressure that the underframe corners should maintain when the electric loader has no obvious vertical vibration. This is not limited here.

[0058] Given the average pressure deviation of the underframe corner pressure data relative to preset pressure data, a PID control algorithm converts the average pressure deviation into a correction value (such as output force or telescopic displacement) for the electromagnetic actuators. Then, based on the mapping relationship between the correction value and the control current, the vertical control current for vertical vibration reduction control of the electromagnetic actuators is determined. It should be noted that, to effectively suppress the peak vertical vibration acceleration of the cab, the vertical control currents of the four electromagnetic actuators can be kept consistent.

[0059] S140. Determine the target control current based on the horizontal control current, the vertical control current, and the current driving condition, and drive the electromagnetic actuator to operate using the target control current.

[0060] In this step, the importance of horizontal vibration control and vertical vibration control can be determined based on the current driving conditions. Based on the importance of horizontal vibration control and vertical vibration control, the horizontal control current and vertical control current are merged to obtain the target control current. The electromagnetic actuator is driven by the target control current, that is, the target control current is input into the electromagnetic actuator, and the electromagnetic actuator extends and retracts under the control of the target control current, so as to achieve the coordinated control effect of horizontal attitude correction and vertical vibration reduction.

[0061] The technical solution of this invention, in active vibration reduction mode, acquires the underframe attitude data and underframe corner pressure data of the electric loader cab; based on the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane, determines the horizontal control current for horizontal vibration reduction control by electromagnetic actuators; wherein, multiple electromagnetic actuators are disposed between the underframe corners of the electric loader cab and the vehicle chassis; based on the pressure deviation of the underframe corner pressure data relative to preset pressure data, determines the vertical control current for vertical vibration reduction control by electromagnetic actuators; based on the horizontal control current, the vertical control current, and the current driving condition, a target control current is determined, and the electromagnetic actuators are driven to operate by the target control current. This solution starts from the cab as a whole, comprehensively considering horizontal vibration reduction, vertical vibration reduction, and the current driving condition, driving the electromagnetic actuators between the underframe corners of the cab and the vehicle chassis to achieve multi-degree-of-freedom active vibration reduction, thereby improving the vibration reduction effect.

[0062] In one embodiment, acquiring the underframe attitude data and underframe corner pressure data of the electric loader cab includes:

[0063] The attitude data of the underframe is obtained by an attitude sensor installed at the geometric center or center of mass of the underframe in the cab of the electric loader.

[0064] Pressure data at the corner of the chassis is obtained by a pressure sensor located at the contact point between the electromagnetic actuator and the corner of the chassis.

[0065] Figure 3 This is a schematic diagram of a sensor installation position according to Embodiment 1 of the present invention. Figure 3 The image shown is a side view of an electric loader.

[0066] Combination Figure 3It is known that there is one attitude sensor, located at the geometric center or center of mass of the underframe in the electric loader's cab. This sensor is used to collect the angular velocity and acceleration signals of the underframe in three-dimensional space in real time, outputting the underframe's pitch angle, roll angle, yaw angle, and their rates of change—in other words, the underframe attitude data. The attitude sensor can transmit this data to the electric loader's core control center, such as the controller, for subsequent vibration reduction processing.

[0067] There are four pressure sensors, which are respectively located at the contact points between the four electromagnetic actuators and the corners of the cab underframe. Figure 3 (Only one pressure sensor installation location is shown as an example). This sensor is used to monitor the pressure values ​​at each corner point in real time, i.e., to monitor the pressure data at the corner points of the underframe, reflecting the local stress state and center of gravity shift of the cab. Each pressure sensor can transmit the underframe corner pressure data to the core control center of the electric loader for subsequent vibration reduction processing.

[0068] In one embodiment, determining the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator based on the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane includes:

[0069] Using a proportional-integral-derivative (PID) control algorithm, based on the angle deviation and the spatial layout of each electromagnetic actuator, the horizontal control current of each electromagnetic actuator is determined with the aim of correcting pitch and roll attitude.

[0070] Given the determined angular deviation of the chassis attitude data relative to the chassis reference horizontal plane, the following operations are performed for both pitch and roll deviations: The total control force required to correct the deviations is determined using a PID control algorithm. The proportional term is used for rapid deviation response; the larger the deviation, the stronger the output force. The integral term is used to eliminate static deviations (such as persistent deviations caused by uneven load), and the derivative term is used to suppress oscillations during the adjustment process. The total force output by the PID in both pitch and roll dimensions is distributed to each electromagnetic actuator according to their spatial coordinates. This involves calculating the component force required for each individual electromagnetic actuator, which is the sum of the pitch and roll components. For each electromagnetic actuator, given its corresponding component force, the horizontal control current for horizontal vibration reduction control is determined based on the mapping relationship between force and control current.

[0071] In one embodiment, the vertical control current for vertical vibration reduction control of the electromagnetic actuator is determined based on the pressure deviation of the base frame corner pressure data relative to preset pressure data, including:

[0072] Using a proportional-integral-derivative (PID) control algorithm, based on the pressure deviation, the vertical control current of each electromagnetic actuator is determined with the aim of suppressing vertical vibration acceleration.

[0073] Given the average pressure deviation of the base frame corner pressure data relative to the preset pressure data, a PID control algorithm is used to determine the uniform damping force required for the four electromagnetic actuators to correct the deviation. The proportional element is used to quickly respond to the deviation; the larger the deviation, the stronger the damping force. The integral element is used to eliminate static deviation, and the derivative element is used to suppress sudden changes in vertical vibration acceleration. Based on the mapping relationship between force and control current, the uniform damping current, i.e., the vertical control current, for the electromagnetic actuators to perform vertical vibration damping control is determined according to the uniform damping force.

[0074] In one embodiment, determining the target control current based on the horizontal control current, the vertical control current, and the current driving condition includes:

[0075] Based on the current driving conditions, the control weights of the horizontal vibration reduction control and the vertical vibration reduction control are automatically adjusted. The current driving conditions include at least the vehicle's operating status and working mode.

[0076] The target control current is determined by fusing the horizontal control current and the vertical control current based on the control weights.

[0077] Based on the current operating status of the vehicle (e.g., driving, lifting, digging) and the driver's selected working mode, the control weights of horizontal and vertical vibration damping controls are automatically adjusted, i.e., their relative importance. For example, in stacking mode, priority is given to suppressing lateral sway, which requires increasing the control weight of horizontal vibration damping control, such as setting its control weight to 1, while the control weight of vertical vibration damping control is 0.3. Similarly, in loading and unloading mode, to enhance vertical stability and ensure operational accuracy, the control weight of vertical vibration damping control needs to be increased, such as setting its control weight to 1, while the control weight of horizontal vibration damping control is 0.2. Based on the respective control weights of horizontal and vertical vibration damping controls, the target control current of the electromagnetic actuator is obtained by integrating its horizontal and vertical control currents.

[0078] It should be noted that the electromagnetic actuator in this invention can be controlled by the electromagnetic suspension control system in the electric loader. The electromagnetic suspension control system can be integrated into the controller of the electric loader and fixedly installed on the chassis of the electric loader.

[0079] In one embodiment, the method further includes: entering the active damping mode in response to an active damping function activation operation in the dashboard of the electric loader.

[0080] The active vibration damping function activation operation can be the operation of turning on the active vibration damping function. This operation, in response to the active vibration damping function activation operation displayed on the electric loader's instrument panel, can be triggered by the driver triggering the active vibration damping function activation control shown on the instrument panel, entering active vibration damping mode to achieve real-time monitoring and control for active vibration damping control.

[0081] This invention provides an active vibration reduction method for the cab of an electric loader, which solves the problems of poor vibration reduction effect, inability to adaptively adjust, and impact on operating accuracy in the prior art. Specifically, it is reflected in the following aspects:

[0082] Achieving multi-degree-of-freedom active vibration reduction in the cab: Breaking through the limitations of traditional methods that rely solely on seat vibration reduction, this method starts with the overall suspension structure of the cab and achieves active control over vibrations in the lateral, pitch, and vertical directions, as well as pitch and roll attitudes, significantly improving the vibration reduction effect.

[0083] It has real-time adaptive adjustment capability: Through the joint feedback of pressure sensor and attitude sensor, combined with fuzzy adaptive PID algorithm, the control strategy can be dynamically adjusted according to the current driving conditions such as road conditions, load, and driving behavior to ensure that the optimal vibration reduction performance can be maintained under various conditions.

[0084] Reliable structure and rapid response: Electromagnetic actuators have fast response speed (millisecond level), long life and low maintenance cost, making them more suitable for the application environment of electric engineering machinery compared to hydraulic or pneumatic actuators.

[0085] Improved handling stability and work efficiency: Active vibration control keeps the cab level at all times, effectively suppressing the peak pitch rate and peak lateral acceleration of the vehicle body, while optimizing the peak vertical acceleration, significantly improving the driver's handling stability and work efficiency; especially when the electric loader passes through deep and concave obstacle roads, the cab's lateral sway amplitude is reduced by 65%, the peak vertical vibration acceleration is reduced by 52%, the driver's operating accuracy is improved by 40%, and the work efficiency is improved by 30%.

[0086] Example 2

[0087] Figure 4 This is a schematic diagram of a cab vibration damping device according to Embodiment 2 of the present invention. This embodiment is applicable to situations requiring cab vibration damping, such as... Figure 4 As shown, the specific structure of the device includes:

[0088] The acquisition module 41 is used to acquire the underframe attitude data and underframe corner pressure data of the electric loader cab in active vibration reduction mode.

[0089] The first determining module 42 is used to determine the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator based on the angle deviation of the chassis posture data relative to the chassis reference horizontal plane; wherein, a plurality of the electromagnetic actuators are arranged between the corner points of the chassis of the electric loader cab and the chassis of the whole vehicle.

[0090] The second determining module 43 is used to determine the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control based on the pressure deviation of the base frame corner pressure data relative to the preset pressure data.

[0091] The drive module 44 is used to determine a target control current based on the horizontal control current, the vertical control current and the current driving condition, and drive the electromagnetic actuator to operate through the target control current.

[0092] The cab vibration damping device provided in this embodiment acquires the underframe attitude data and underframe corner pressure data of the electric loader cab in active vibration damping mode through an acquisition module. A first determining module determines the horizontal control current for horizontal vibration damping control of the electromagnetic actuators based on the angular deviation of the underframe attitude data relative to the underframe reference horizontal plane. Multiple electromagnetic actuators are positioned between the underframe corners of the electric loader cab and the vehicle chassis. A second determining module determines the vertical control current for vertical vibration damping control of the electromagnetic actuators based on the pressure deviation of the underframe corner pressure data relative to preset pressure data. A drive module determines a target control current based on the horizontal control current, the vertical control current, and the current driving conditions, and drives the electromagnetic actuators to operate using the target control current. This solution addresses the cab as a whole, comprehensively considering horizontal and vertical vibration damping and the current driving conditions to drive the electromagnetic actuators between the cab underframe corners and the vehicle chassis, achieving multi-degree-of-freedom active vibration damping and improving the vibration damping effect.

[0093] Furthermore, module 41 is specifically used for:

[0094] The attitude data of the underframe is obtained by an attitude sensor installed at the geometric center or center of mass of the underframe in the cab of the electric loader.

[0095] Pressure data at the corner of the chassis is obtained by a pressure sensor located at the contact point between the electromagnetic actuator and the corner of the chassis.

[0096] Furthermore, the first determining module 42 is specifically used for:

[0097] Using a proportional-integral-derivative (PID) control algorithm, based on the angle deviation and the spatial layout of each electromagnetic actuator, the horizontal control current of each electromagnetic actuator is determined with the aim of correcting pitch and roll attitude.

[0098] Furthermore, the second determining module 43 is specifically used for:

[0099] Using a proportional-integral-derivative (PID) control algorithm, based on the pressure deviation, the vertical control current of each electromagnetic actuator is determined with the aim of suppressing vertical vibration acceleration.

[0100] Furthermore, the driver module 44 is specifically used for:

[0101] Based on the current driving conditions, the control weights of the horizontal vibration reduction control and the vertical vibration reduction control are automatically adjusted. The current driving conditions include at least the vehicle's operating status and working mode.

[0102] The target control current is determined by fusing the horizontal control current and the vertical control current based on the control weights.

[0103] Furthermore, the device also includes:

[0104] The vibration damping activation module is used to enter the active vibration damping mode in response to the active vibration damping function activation operation on the instrument panel of the electric loader.

[0105] The cab vibration damping device provided in the embodiments of the present invention can perform the cab vibration damping method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the method.

[0106] Example 3

[0107] Figure 5 This is a structural schematic diagram of an electric loader implementing an embodiment of the present invention. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0108] like Figure 5 As shown, the electric loader 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 performs various appropriate actions and processes based on the computer programs stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electric loader 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0109] Multiple components in the electric loader 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, optical disk, etc.; and a communication unit 19, such as a network card, modem, wireless transceiver, etc. The communication unit 19 allows the electric loader 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0110] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as cab vibration reduction methods.

[0111] In some embodiments, the cab vibration damping method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electric loader 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the cab vibration damping method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the cab vibration damping method by any other suitable means (e.g., by means of firmware).

[0112] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0113] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0114] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0115] To provide user interaction, the systems and technologies described herein can be implemented on an electric loader having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electric loader. Other types of devices can also be used to provide user interaction; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0116] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0117] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0118] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0119] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for reducing vibration in a driver's cab, characterized in that, Applied to electric loaders, the method includes: In active vibration reduction mode, acquire the underframe attitude data and underframe corner pressure data of the electric loader cab; Based on the angular deviation of the chassis attitude data relative to the chassis reference horizontal plane, the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator is determined; wherein, multiple electromagnetic actuators are installed between the corner points of the chassis of the electric loader cab and the chassis of the whole vehicle. Based on the pressure deviation of the base frame corner pressure data relative to the preset pressure data, the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control is determined. The target control current is determined based on the horizontal control current, the vertical control current, and the current driving condition, and the electromagnetic actuator is driven to operate by the target control current.

2. The method according to claim 1, characterized in that, Acquire the underframe attitude data and underframe corner pressure data of the electric loader cab, including: The attitude data of the underframe is obtained by an attitude sensor installed at the geometric center or center of mass of the underframe in the cab of the electric loader. Pressure data at the corner of the chassis is obtained by a pressure sensor located at the contact point between the electromagnetic actuator and the corner of the chassis.

3. The method according to claim 1, characterized in that, Based on the angular deviation of the chassis attitude data relative to the chassis reference horizontal plane, the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator is determined, including: Using a proportional-integral-derivative (PID) control algorithm, based on the angle deviation and the spatial layout of each electromagnetic actuator, the horizontal control current of each electromagnetic actuator is determined with the aim of correcting pitch and roll attitude.

4. The method according to claim 1, characterized in that, Based on the pressure deviation between the base frame corner pressure data and preset pressure data, the vertical control current for vertical vibration reduction control of the electromagnetic actuator is determined, including: Using a proportional-integral-derivative (PID) control algorithm, based on the pressure deviation, the vertical control current of each electromagnetic actuator is determined with the aim of suppressing vertical vibration acceleration.

5. The method according to claim 1, characterized in that, Determining the target control current based on the horizontal control current, the vertical control current, and the current driving condition includes: Based on the current driving conditions, the control weights of the horizontal vibration reduction control and the vertical vibration reduction control are automatically adjusted. The current driving conditions include at least the vehicle's operating status and working mode. The target control current is determined by fusing the horizontal control current and the vertical control current based on the control weights.

6. The method according to claim 1, characterized in that, Also includes: In response to the activation of the active damping function in the instrument panel of the electric loader, the system enters the active damping mode.

7. A driver's cab vibration damping device, characterized in that, Configured on an electric loader, the device includes: The acquisition module is used to acquire the underframe attitude data and underframe corner pressure data of the electric loader cab in active vibration reduction mode. The first determining module is used to determine the horizontal control current for horizontal vibration reduction control of the electromagnetic actuator based on the angle deviation of the chassis attitude data relative to the chassis reference horizontal plane; wherein, a plurality of the electromagnetic actuators are arranged between the corner points of the chassis of the electric loader cab and the chassis of the whole vehicle. The second determining module is used to determine the vertical control current for the electromagnetic actuator to perform vertical vibration reduction control based on the pressure deviation of the base frame corner pressure data relative to the preset pressure data. The drive module is used to determine a target control current based on the horizontal control current, the vertical control current and the current driving condition, and drive the electromagnetic actuator to operate through the target control current.

8. An electric loader, characterized in that, include: At least one processor; as well as A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the method as described in any one of claims 1-6.

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