Decoupling control method for steering and working device hydraulic system of electric loader and electric loader

Abstract

The invention discloses a decoupling control method for a steering and working device hydraulic system of an electric loader and the electric loader, and belongs to the technical field of hydraulic control of engineering machinery. The rotating speed request value of the steering hydraulic system and the working device hydraulic system to the hydraulic motor and the current request value and the flow request value of the steering electric control pump and the working device electric control pump are obtained; the larger value in the rotating speed request values is taken as the target rotating speed of the hydraulic motor, and the hydraulic motor is controlled to operate at the target rotating speed; and compensation judgment and closed-loop control are carried out according to the deviation between the flow request values of the steering hydraulic system and the working device hydraulic system and the actual output flow, the current request values of the steering electric control pump and the working device electric control pump are corrected, and decoupling control is achieved. Independent and accurate distribution of hydraulic flow of the two subsystems can be achieved, and the performance and efficiency of composite action of the whole machine are improved.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology for engineering machinery, and in particular to a decoupling control method for the steering and working device hydraulic systems of an electric loader, as well as the electric loader itself. Background Technology

[0002] In electric loaders, to achieve energy saving and compact design, the steering hydraulic system and the working device hydraulic system typically share a single hydraulic motor as a power source. When both subsystems employ electronic control technology, they are driven by independent electronically controlled proportional pumps (steering pump and working device pump). The controller receives operating commands and outputs corresponding control current to adjust the pump displacement, while simultaneously requesting the hydraulic motor speed based on system requirements. The commonly used control strategy is that when steering and working devices operate simultaneously, the controller compares the requested hydraulic motor speeds of the two subsystems and selects the higher requested value as the actual operating speed of the hydraulic motor. This "maximum value" strategy ensures that the high-demand subsystem receives sufficient power, but it introduces a significant problem: the increase in hydraulic motor speed simultaneously affects the electronically controlled pumps of both subsystems. For the subsystem requesting the lower speed, its pump operates at the increased speed, causing its actual output flow to exceed the expected flow calculated based on its own operating commands. This directly causes unexpected acceleration in the actuators of that subsystem (such as the steering cylinder or boom cylinder), i.e., a "speed jump." This "hydraulic flow coupling" phenomenon caused by the shared power source leads to unresponsive control, sudden speed changes, and even hydraulic shocks during complex operations of the loader, seriously affecting the stability, accuracy, and safety of the operation, and also restricting the improvement of the overall machine's intelligent control level. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a decoupling control method for the steering and working device hydraulic systems of an electric loader, as well as the electric loader itself. Without changing the existing hydraulic main circuit hardware connection, the method directly determines the hydraulic flow rate of the actuator by real-time sensing and closed-loop control of the steering hydraulic system and the working device hydraulic system, thereby achieving independent and precise distribution of the hydraulic flow of the two systems. This ensures that the movement speed of each system's actuator strictly follows the operator's intention, thereby improving the coordination, stability, safety, and operational efficiency of the machine's composite actions.

[0004] To achieve the above objectives, the present invention is implemented using the following technical solution:

[0005] In a first aspect, the present invention provides a decoupling control method for the steering and hydraulic systems of an electric loader, comprising:

[0006] Acquire the opening signals of the steering handle and the working device handle, and respectively acquire the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump based on the opening signals.

[0007] The larger of the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor is taken as the target speed of the hydraulic motor, and the hydraulic motor is controlled to operate at the target speed.

[0008] Obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system respectively based on the current speed and the current displacement;

[0009] Compensation is determined based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system.

[0010] Closed-loop control is performed based on the compensation determination results to correct the current request values ​​of the steering electric pump and the working device electric pump, thereby achieving decoupled control.

[0011] Optionally, based on the opening signals of the steering handle and the working device handle, the current request values ​​of the steering electronic pump and the working device electronic pump are obtained by looking up tables respectively. The speed requirement of the hydraulic motor for the steering hydraulic system and the working device hydraulic system. ;

[0012] Based on the current request values ​​of the steering electric pump and the working device electric pump The expected displacement of the steering electronic pump and the working device electronic pump are obtained by referring to the tables respectively. ;

[0013] According to the requested rotation speed value and the desired displacement Calculate the flow request values ​​for the steering hydraulic system and the working device hydraulic system respectively. , ; .

[0014] Optionally, the output flow rate of the steering hydraulic system and the working device hydraulic system for:

[0015]

[0016]

[0017] In the formula, This represents the current speed of the hydraulic motor. This refers to the current displacement of the steering electric pump and the working device electric pump.

[0018] Optionally, the deviation between the requested flow rate and the output flow rate of the steering hydraulic system is... The deviation between the requested flow rate and the output flow rate of the hydraulic system of the working device is . ;

[0019] when or When the compensation determination is passed;

[0020] in, For the output flow rate and flow request value of the steering hydraulic system, The output flow rate and flow request value of the hydraulic system of the working device. The flow deviation threshold for the steering hydraulic system and the working device hydraulic system.

[0021] Optionally, the step of performing closed-loop control based on the compensation determination result and correcting the current request values ​​of the steering electronic pump and the working device electronic pump includes:

[0022] like Then Input to the PID controller for closed-loop control of the steering hydraulic system:

[0023]

[0024] In the formula, To correct the current request values ​​of the steering electronic pump before and after, This is the current correction value for the steering electric pump output by the PID controller;

[0025] like Then Input to the PID controller for closed-loop control of the hydraulic system of the working device:

[0026]

[0027] In the formula, The current request values ​​for the electrically controlled pump of the working device before and after correction. This is the current correction value for the electric pump of the working device output by the PID controller.

[0028] Secondly, the present invention provides a decoupling control device for the steering and working device hydraulic systems of an electric loader, comprising:

[0029] The data acquisition module is configured to acquire the opening signals of the steering handle and the working device handle, and acquire the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump, respectively, based on the opening signals.

[0030] The speed configuration module is configured to take the larger value between the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor as the target speed of the hydraulic motor, and control the hydraulic motor to operate at the target speed.

[0031] The flow calculation module is configured to obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system respectively based on the current speed and the current displacement.

[0032] The compensation determination module is configured to make a compensation determination based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system.

[0033] The current correction module is configured to perform closed-loop control based on the compensation determination result, correct the current request values ​​of the steering electric pump and the working device electric pump, and achieve decoupled control.

[0034] Thirdly, the present invention provides an electric loader, including a steering handle, a working device handle, a hydraulic motor, a steering hydraulic system, a working device hydraulic system, a sensor assembly, and a controller. The steering hydraulic system includes a steering electric control pump, the working device hydraulic system includes a working device electric control pump, and the sensor assembly includes a speed sensor disposed on the hydraulic motor and a displacement sensor disposed on the steering electric control pump and the working device electric control pump.

[0035] The controller is electrically connected to the steering handle, the working device handle, the hydraulic motor, the steering electric pump, the working device electric pump, and the sensor assembly, respectively, and is used to perform the steps of the method described above.

[0036] Fourthly, the present invention provides an electronic device, including a processor and a storage medium;

[0037] The storage medium is used to store instructions;

[0038] The processor is configured to operate according to the instructions to perform the steps according to the method described above.

[0039] Fifthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the above-described method.

[0040] In a sixth aspect, the present invention provides a computer program product, including a computer program / instructions that, when executed by a processor, implement the steps of the above-described method.

[0041] Compared with the prior art, the beneficial effects achieved by the present invention are as follows:

[0042] This invention provides a decoupling control method for the hydraulic system of the steering and working device of an electric loader, and the electric loader itself. 1) It achieves precise source control of the actuator's movement speed: By directly regulating the hydraulic flow that determines the speed through closed-loop control, it fundamentally solves the speed coupling interference in the electro-hydraulic system, ensuring that the action speed of each actuator responds independently, stably, and accurately to operating commands. 2) It improves handling performance and operating efficiency: It completely eliminates speed abrupt changes and jitter during compound actions, making the steering and working device movements smooth and coordinated, significantly improving the operating feel and overall operating efficiency. 3) It enhances system reliability: The preset flow deviation threshold in the algorithm effectively avoids erroneous adjustments caused by signal noise, and closed-loop control avoids uncontrolled flow impacts, which helps extend the life of hydraulic components and improve system stability. 4) It has strong adaptability and scalability: This software algorithm is easy to upgrade and implement on existing electric control platforms, providing an effective solution for the intelligent control of construction machinery. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the decoupling control method for the steering and working device hydraulic system of an electric loader provided by the present invention;

[0044] Figure 2 This is a schematic diagram illustrating the execution of the decoupling control method for the steering and hydraulic system of the electric loader provided by the present invention;

[0045] Figure 3 This is a block diagram of the PID flow closed-loop regulation principle for steering hydraulic systems or working device hydraulic systems provided by the present invention.

[0046] Figure 4 This is a system block diagram of the decoupling control device for the steering and hydraulic system of the electric loader provided by the present invention;

[0047] Figure 5 This is a control block diagram of the hydraulic system for the steering and working device of the electric loader provided by the present invention. Detailed Implementation

[0048] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0049] Example 1

[0050] like Figure 1 and Figure 2 As shown, this embodiment of the invention provides a decoupling control method for the steering and hydraulic systems of an electric loader, comprising the following steps:

[0051] Step S1: Obtain the opening signals of the steering handle and the working device handle, and obtain the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump, respectively, based on the opening signals.

[0052] Specifically, in this embodiment, after obtaining the steering handle opening signal, the relevant data can be determined by querying a pre-stored calibration table.

[0053] Based on the opening signals of the steering handle and the working device handle, the current request values ​​of the steering electric pump and the working device electric pump are obtained by referring to the tables respectively. The speed requirement of the hydraulic motor for the steering hydraulic system and the working device hydraulic system. ;

[0054] Based on the current request values ​​of the steering electric pump and the working device electric pump The expected displacement of the steering electronic pump and the working device electronic pump are obtained by referring to the tables respectively. ;

[0055] Based on the requested speed value and expected displacement Calculate the flow request values ​​for the steering hydraulic system and the working device hydraulic system respectively. , ; .

[0056] Regarding the pre-stored calibration tables, the handle-current mapping table and the handle-speed mapping table are designed subjectively by humans based on operating conditions, while the current-displacement mapping table is obtained through precise calibration on the vehicle via testing.

[0057] Step S2: Take the larger value between the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor as the target speed of the hydraulic motor, and control the hydraulic motor to run at the target speed.

[0058] Step S3: Obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system based on the current speed and current displacement, respectively.

[0059] Output flow of steering hydraulic system and working device hydraulic system for:

[0060]

[0061]

[0062] In the formula, This represents the current speed of the hydraulic motor. This refers to the current displacement of the steering electric pump and the working device electric pump.

[0063] Step S4: Make a compensation determination based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system.

[0064] The deviation between the requested flow rate and the output flow rate of the steering hydraulic system is The deviation between the requested flow rate and the output flow rate of the hydraulic system of the working device is .

[0065] According to deviation and It can be divided into four states:

[0066] Status 1 (Steering only requires adjustment): And if The steering flow is passively increased due to speed arbitration.

[0067] State 2 (Only the working device needs adjustment): and This can happen when the working device requests a lower speed, while the hydraulic motor operates at a higher speed due to steering requirements.

[0068] State 3 (Both need to be adjusted): and This may occur in complex operating conditions where both requested speeds are lower than the speed after arbitration, or where other combined disturbances exist.

[0069] State 4 (Neither requires adjustment): and At this point, the system is in a well-decoupled equilibrium state, and the controller does not output any new correction commands.

[0070] Statuses 1, 2, and 3 all indicate that the compensation determination has passed; among them, The flow deviation threshold for the steering hydraulic system and the working device hydraulic system.

[0071] Step S5: Perform closed-loop control based on the compensation determination result, and correct the current request values ​​of the steering electric pump and the working device electric pump to achieve decoupled control.

[0072] like Then Input to the PID controller for closed-loop control of the steering hydraulic system:

[0073]

[0074] In the formula, To correct the current request values ​​of the steering electronic pump before and after, This is the current correction value for the steering electric pump output by the PID controller;

[0075] like Then Input to the PID controller for closed-loop control of the hydraulic system of the working device:

[0076]

[0077] In the formula, The current request values ​​for the electrically controlled pump of the working device before and after correction. This is the current correction value for the electric pump of the working device output by the PID controller.

[0078] like Figure 3 As shown, for a pump that receives a correction current, its displacement... The change begins, thus affecting its actual output flow. Traffic to the initial request Regression. The controller executes steps S3 to S5 repeatedly at a fixed high frequency, forming a real-time closed loop. This process continues until the absolute value of the flow deviation of each subsystem is less than or equal to its respective threshold.

[0079] For applications requiring no adjustment, the pump's control current remains unchanged at its initial requested value. The current control signals of the directional control valve and the working device's multi-way valve are always maintained independently and do not participate in this flow closed-loop regulation process.

[0080] When state 4 is reached, the system achieves dynamic equilibrium. Although the hydraulic motor always operates at a high target speed, the actual flow rate of each subsystem is successfully stabilized near its initial requested value by independently and precisely adjusting the displacement of each electro-proportional pump. Based on the principle that "flow rate determines speed," the movement speed of each actuator (steering cylinder, working device cylinder) is thus restored and stabilized at the state expected by the operator, achieving complete decoupling of the hydraulic flow rate between the steering and working devices.

[0081] Example 2

[0082] like Figure 4 As shown, this embodiment of the invention provides a decoupling control device for the steering and hydraulic systems of an electric loader, comprising:

[0083] The data acquisition module is configured to acquire the opening signals of the steering handle and the working device handle, and acquire the speed request values ​​of the steering hydraulic system and the working device hydraulic system to the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump, respectively, based on the opening signals.

[0084] The speed configuration module is configured to take the larger value between the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor as the target speed of the hydraulic motor, and control the hydraulic motor to run at the target speed.

[0085] The flow calculation module is configured to obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system respectively based on the current speed and current displacement.

[0086] The compensation determination module is configured to make a compensation determination based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system.

[0087] The current correction module is configured to perform closed-loop control based on the compensation determination result, correct the current request values ​​of the steering electric pump and the working device electric pump, and achieve decoupled control.

[0088] Example 3

[0089] like Figure 5 As shown, this embodiment of the invention provides an electric loader, including a steering handle, a working device handle, a hydraulic motor, a steering hydraulic system, a working device hydraulic system, a sensor assembly, and a controller. The steering hydraulic system includes a steering electric pump, a steering control valve group, and a steering actuator. The working device hydraulic system includes a working device electric pump, a working device control valve group, and a working device actuator. The sensor assembly includes a speed sensor mounted on the hydraulic motor and a displacement sensor mounted on the steering electric pump and the working device electric pump.

[0090] The controller is electrically connected to the steering handle, the working device handle, the hydraulic motor, the steering electric pump, the working device electric pump, and the sensor assembly, respectively, and is used to execute the steps of the decoupled control method provided in Embodiment 1.

[0091] Example 4

[0092] Based on the decoupling control method provided in Embodiment 1, this embodiment of the invention provides an electronic device, including a processor and a storage medium;

[0093] Storage media are used to store instructions;

[0094] The processor is used to perform operations according to instructions to execute the steps according to the method described above.

[0095] Example 5

[0096] Based on the decoupling control method provided in Embodiment 1, this embodiment of the invention provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the above-described method.

[0097] Example 6

[0098] Based on the decoupling control method provided in Embodiment 1, this embodiment of the invention provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the above-described method.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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.

[0103] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A decoupling control method for the steering and working device hydraulic systems of an electric loader, characterized in that, include: Acquire the opening signals of the steering handle and the working device handle, and respectively acquire the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump based on the opening signals. The larger of the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor is taken as the target speed of the hydraulic motor, and the hydraulic motor is controlled to operate at the target speed. Obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system respectively based on the current speed and the current displacement; Compensation is determined based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system. Closed-loop control is performed based on the compensation determination results to correct the current request values ​​of the steering electric pump and the working device electric pump, thereby achieving decoupled control.

2. The decoupling control method for the steering and working device hydraulic system of an electric loader according to claim 1, characterized in that, Based on the opening signals of the steering handle and the working device handle, the current request values ​​of the steering electric pump and the working device electric pump are obtained by referring to the tables respectively. The speed requirement of the hydraulic motor for the steering hydraulic system and the working device hydraulic system. ; Based on the current request values ​​of the steering electric pump and the working device electric pump The expected displacement of the steering electronic pump and the working device electronic pump are obtained by referring to the tables respectively. ; According to the requested rotation speed value and the desired displacement Calculate the flow request values ​​for the steering hydraulic system and the working device hydraulic system respectively. , ; .

3. The decoupling control method for the steering and working device hydraulic system of an electric loader according to claim 1, characterized in that, The output flow rate of the steering hydraulic system and the working device hydraulic system for: In the formula, This represents the current speed of the hydraulic motor. This refers to the current displacement of the steering electric pump and the working device electric pump.

4. The decoupling control method for the steering and working device hydraulic system of an electric loader according to claim 1, characterized in that, The deviation between the requested flow rate and the output flow rate of the steering hydraulic system is: The deviation between the requested flow rate and the output flow rate of the hydraulic system of the working device is . ; when or When the compensation determination is passed; in, For the output flow rate and flow request value of the steering hydraulic system, The output flow rate and flow request value of the hydraulic system of the working device. The flow deviation threshold for the steering hydraulic system and the working device hydraulic system.

5. The decoupling control method for the steering and working device hydraulic system of an electric loader according to claim 1, characterized in that, The step of performing closed-loop control based on the compensation determination result, and correcting the current request values ​​of the steering electronic pump and the working device electronic pump, includes: like Then Input to the PID controller for closed-loop control of the steering hydraulic system: In the formula, To correct the current request values ​​of the steering electronic pump before and after, This is the current correction value for the steering electric pump output by the PID controller; like Then Input to the PID controller for closed-loop control of the hydraulic system of the working device: In the formula, The current request values ​​for the electrically controlled pump of the working device before and after correction. This is the current correction value for the working device electric pump output by the PID controller.

6. A decoupling control device for the steering and working device hydraulic systems of an electric loader, characterized in that, include: The data acquisition module is configured to acquire the opening signals of the steering handle and the working device handle, and acquire the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor, the current request values ​​and the flow request values ​​of the steering electric control pump and the working device electric control pump, respectively, based on the opening signals. The speed configuration module is configured to take the larger value between the speed request values ​​of the steering hydraulic system and the working device hydraulic system for the hydraulic motor as the target speed of the hydraulic motor, and control the hydraulic motor to operate at the target speed. The flow calculation module is configured to obtain the current speed of the hydraulic motor, the current displacement of the steering electric pump and the working device electric pump, and calculate the output flow of the steering hydraulic system and the working device hydraulic system respectively based on the current speed and the current displacement. The compensation determination module is configured to make a compensation determination based on the deviation between the flow request value and the output flow of the steering hydraulic system and the working device hydraulic system. The current correction module is configured to perform closed-loop control based on the compensation determination result, correct the current request values ​​of the steering electric pump and the working device electric pump, and achieve decoupled control.

7. An electric loader, characterized in that, The device includes a steering handle, a working device handle, a hydraulic motor, a steering hydraulic system, a working device hydraulic system, a sensor assembly, and a controller. The steering hydraulic system includes a steering electric control pump, the working device hydraulic system includes a working device electric control pump, and the sensor assembly includes a speed sensor mounted on the hydraulic motor and a displacement sensor mounted on the steering electric control pump and the working device electric control pump. The controller is electrically connected to the steering handle, the working device handle, the hydraulic motor, the steering electric pump, the working device electric pump, and the sensor assembly, respectively, for performing the steps of the method as described in any one of claims 1-5.

8. An electronic device, characterized in that, Including processor and storage media; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the steps of the method according to any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the method according to any one of claims 1-5.

10. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instructions are executed by the processor, they implement the steps of the method described in any one of claims 1-5.

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