Motor control method and device, controller, medium and product

Abstract

The embodiment of the invention provides a motor control method and device, a controller, a medium and a product. The method comprises the steps that the first displacement of a valve element in a first link of a multi-way valve in the hydraulic system is obtained; wherein a first joint of the multi-way valve is used for controlling at least one first hydraulic oil cylinder to act so as to drive a portal of the engineering machinery to ascend or descend; the first displacement is measured by a sensor arranged at a valve core in a first link of the multi-way valve; determining the rotating speed of the motor according to the first displacement; and the motor is controlled to operate at the motor rotating speed, the gear pump is driven to drive hydraulic oil to control at least one first hydraulic oil cylinder to act through a first link in the multi-way valve, and the portal of the engineering machinery is driven to rise. The method is used for achieving the effect of reducing the energy consumption in the hydraulic system of the engineering machinery.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a method, device, controller, medium and product for controlling an electric motor. Background Technology

[0002] In some engineering or production scenarios, construction machinery can complete tasks more efficiently. Forklifts, for example, can handle and stack goods in warehousing environments. During the forklift's handling and stacking of goods, a hydraulic system is used to move the mast.

[0003] In some technologies, the hydraulic systems of construction machinery typically use a manually controlled multi-way valve handle to adjust the valve core opening, directly controlling the hydraulic oil flow. In these technologies, when the valve core opening is small, the hydraulic system achieves speed regulation through throttling, resulting in high energy consumption and heat generation.

[0004] Therefore, there is an urgent need for a solution that can reduce energy consumption in the hydraulic systems of engineering machinery. Summary of the Invention

[0005] The motor control method, device, controller, medium, and product provided in this application are used to reduce energy consumption in the hydraulic system of engineering machinery.

[0006] In a first aspect, embodiments of this application provide a method for controlling an electric motor, wherein the motor is installed in the hydraulic system of engineering machinery, and the hydraulic system further includes a gear pump, and the motor is used to drive the gear pump; the method includes:

[0007] The first displacement of the valve core in the first port of the multi-way valve in the hydraulic system is obtained; wherein, the first port of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first port of the multi-way valve.

[0008] Determine the motor speed based on the first displacement.

[0009] The control motor runs at its own speed, drives the gear pump to move hydraulic oil through the first link of the multi-way valve, controls at least one first hydraulic cylinder to move, thereby driving the gantry of the construction machinery to rise.

[0010] In one possible implementation, determining the motor speed based on the first displacement includes:

[0011] If the first displacement is determined to be less than or equal to the first threshold, then the motor speed is determined to be the first speed.

[0012] If the first displacement is determined to be greater than or equal to the second threshold, then the motor speed is determined to be the second speed; wherein the second threshold is greater than the first threshold, and the second speed is greater than the first speed;

[0013] If it is determined that the first displacement is greater than the first threshold and less than the second threshold, then the motor speed is determined based on the first displacement and a preset mapping relationship; wherein, the mapping relationship represents the motor speed corresponding to different first displacements.

[0014] In one possible implementation, the mapping relationship represents a positive correlation between the first displacement and the motor speed, and the first displacement and the motor speed have a linear relationship.

[0015] In one possible implementation, controlling the motor to operate at a motor speed includes:

[0016] A control signal is generated based on the motor speed. The control signal is a pulse width modulation signal and is used to indicate the motor speed.

[0017] Control signals are sent to the motor to make it run at its own speed.

[0018] In one possible implementation, the method further includes:

[0019] When the construction machinery is in a preset state, the second displacement of the valve core in the second section of the multi-way valve in the hydraulic system is obtained; wherein, the second section of the multi-way valve is used to control the action of at least one second hydraulic cylinder to drive the mast of the construction machinery to tilt forward or backward; the preset state indicates that the mast of the construction machinery does not need to be raised or lowered; the second displacement is measured by a sensor located at the valve core in the second section of the multi-way valve.

[0020] The motor speed is determined based on the second displacement.

[0021] The control motor runs at its own speed, drives the gear pump to move hydraulic oil through the second link of the multi-way valve, controls at least one second hydraulic cylinder to move, thereby driving the gantry of the construction machinery to tilt forward or backward.

[0022] In one possible implementation, determining the motor speed based on the second displacement includes:

[0023] If the second displacement is determined to be greater than or equal to the third threshold, the motor speed is determined to be the third speed; otherwise, the motor speed is determined to be the first speed; wherein the third speed is greater than the first speed.

[0024] Secondly, embodiments of this application provide a motor control device, comprising:

[0025] The acquisition module is used to acquire the first displacement of the valve core in the first section of the multi-way valve in the hydraulic system; wherein, the first section of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first section of the multi-way valve.

[0026] The processing module is used to determine the motor speed based on the first displacement.

[0027] The control module is used to control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the first link of the multi-way valve, and control at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall.

[0028] In one possible implementation, the motor speed is determined based on the first displacement, and the processing module is used for:

[0029] If the first displacement is determined to be less than or equal to the first threshold, then the motor speed is determined to be the first speed.

[0030] If the first displacement is determined to be greater than or equal to the second threshold, then the motor speed is determined to be the second speed; wherein the second threshold is greater than the first threshold, and the second speed is greater than the first speed;

[0031] If it is determined that the first displacement is greater than the first threshold and less than the second threshold, then the motor speed is determined based on the first displacement and a preset mapping relationship; wherein, the mapping relationship represents the motor speed corresponding to different first displacements.

[0032] In one possible implementation, the mapping relationship represents a positive correlation between the first displacement and the motor speed, and the first displacement and the motor speed have a linear relationship.

[0033] In one possible implementation, the motor is controlled to operate at a motor speed, and the control module is used for:

[0034] A control signal is generated based on the motor speed. The control signal is a pulse width modulation signal and is used to indicate the motor speed.

[0035] Control signals are sent to the motor to make it run at its own speed.

[0036] In one possible implementation, the acquisition module is further configured to acquire a second displacement of the valve core in the second port of the multi-way valve in the hydraulic system when the construction machinery is in a preset state; wherein, the second port of the multi-way valve is used to control at least one second hydraulic cylinder to drive the mast of the construction machinery to tilt forward or backward; the preset state indicates that the mast of the construction machinery does not need to be raised or lowered; the second displacement is measured by a sensor located at the valve core in the second port of the multi-way valve;

[0037] The processing module is also used to determine the motor speed based on the second displacement.

[0038] The control module is also used to control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the second link in the multi-way valve, and control at least one second hydraulic cylinder to drive the gantry of the construction machinery to tilt forward or backward.

[0039] In one possible implementation, the motor speed is determined based on the second displacement, and the processing module is used for:

[0040] If the second displacement is determined to be greater than or equal to the third threshold, the motor speed is determined to be the third speed; otherwise, the motor speed is determined to be the first speed; wherein the third speed is greater than the first speed.

[0041] Thirdly, embodiments of this application provide a controller, including: a memory and a processor;

[0042] The memory stores the instructions that the computer executes;

[0043] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0044] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0045] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0046] The motor control method, device, controller, medium, and product provided in this application embodiment measure the displacement of the valve core in the first port of a multi-way valve in the hydraulic system of engineering machinery by installing a sensor. Based on the displacement, the rotational speed of the motor driving the gear pump in the hydraulic system is determined, and the motor is controlled to operate at this speed. The valve core displacement indicates the valve core opening, thereby synchronously controlling the motor speed and adjusting the flow rate of the hydraulic oil output by the gear pump, avoiding high energy consumption caused by a constant motor speed. Furthermore, since changes in motor speed are reflected in different flow rates, as the valve core displacement indicates a decrease in opening, the hydraulic oil flow rate also decreases, avoiding the heat generation phenomenon caused by a small valve core opening but a large hydraulic oil flow rate. Attached Figure Description

[0047] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0048] Figure 1 This is a schematic diagram of the hydraulic system of a forklift.

[0049] Figure 2 Flowchart of the motor control method provided in this application Figure 1 ;

[0050] Figure 3 Here is an example diagram showing the relationship between the first displacement and the motor speed;

[0051] Figure 4 Flowchart of the motor control method provided in this application Figure 2 ;

[0052] Figure 5 Flowchart of the motor control method provided in this application Figure 3 ;

[0053] Figure 6 A schematic diagram of the control device for the motor provided in this application;

[0054] Figure 7 A schematic diagram of the controller provided in this application.

[0055] Explanation of reference numerals in the attached figures:

[0056] 1: Hydraulic oil tank; 2: Suction filter; 3: Motor; 4: Gear pump; 5: Manual multi-way valve; 6: Speed ​​limiter valve; 7: Explosion-proof valve; 8-1: First lifting cylinder; 8-2: Second lifting cylinder; 9-1: First tilting cylinder; 9-2: Second tilting cylinder; 10: Return oil filter; 11: Hydraulic steering gear; 12: Steering cylinder;

[0057] 5-1: Main relief valve; 5-2: Diverting relief valve; 5-3: Priority flow valve; 5-4: Multi-way valve lifting linkage check valve; 5-5: Manual multi-way valve lifting linkage; 5-6: Solenoid directional valve; 5-7: Shut-off valve; 5-8: Two-way logic valve; 5-9: First sensor; 5-10: Multi-way valve tilt linkage check valve; 5-11: Manual multi-way valve tilt linkage; 5-12: Second sensor;

[0058] 160: Motor control device; 1601: Acquisition module; 1602: Processing module; 1603: Control module;

[0059] 170: Controller; 1701: Processor; 1702: Memory; 1703: Communication component; 1704: Bus.

[0060] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0061] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0062] First, let me explain the terms used in this application:

[0063] Construction machinery refers to the general term for mechanical equipment used in engineering construction operations in industry or manufacturing. Taking forklifts as an example, construction machinery includes a hydraulic system. The hydraulic system uses a motor to drive a gear pump, thereby delivering hydraulic oil and controlling the actuators to perform actions. In an exemplary application scenario, the forklift's hydraulic system includes a multi-way valve. The first port of the multi-way valve is a lifting port, used to control the action of at least one first hydraulic cylinder. This first hydraulic cylinder is mechanically connected to the forklift's mast, and when it is activated, it raises or lowers the forklift's mast. Optionally, the multi-way valve also has a second port, a tilting port, used to control the action of at least one second hydraulic cylinder. This second hydraulic cylinder is also mechanically connected to the forklift's mast, but its connection method with the first hydraulic cylinder differs. Specifically, when the second hydraulic cylinder is activated, it tilts the forklift's mast forward or backward.

[0064] In a multi-way valve, the "link" refers to the independent control unit that makes up the multi-way valve. Each link is essentially a single-link spool valve, corresponding to a complete set of valve core, valve sleeve, inlet and return oil ports and control oil circuits, which can independently drive a hydraulic actuator (such as a hydraulic cylinder or hydraulic motor).

[0065] Displacement: This refers to the opening degree of valve cores in different connections within a multi-way valve. Taking a spool valve as an example, the current valve core opening degree can be indicated based on its displacement.

[0066] In various engineering and production scenarios, construction machinery can efficiently complete tasks. Forklifts, for example, are widely used in warehousing and logistics, factory workshops, and port terminals. Their core functions include lifting, tilting, lateral movement, and steering of goods. For instance, in warehouses with dense shelving, operators need to precisely control the lifting height and tilting angle of the forklift mast to prevent goods from colliding or falling.

[0067] In some embodiments, the hydraulic systems of construction machinery (such as forklifts) typically employ a manually controlled multi-way valve handle to adjust the valve core opening, directly controlling the hydraulic oil flow. However, in the above embodiments, when the valve core opening is small, the hydraulic system motor operates at a constant speed, thus achieving speed regulation through throttling. This results in excess flow, leading to throttling losses and higher energy consumption. Furthermore, even with small throttling openings, the motor speed remains constant, causing energy waste and potentially generating heat.

[0068] The motor control method, device, controller, medium, and product provided in this application embodiment measure the displacement of the valve core in the first port of a multi-way valve in the hydraulic system of engineering machinery by installing a sensor. Based on the displacement, the rotational speed of the motor driving the gear pump in the hydraulic system is determined, and the motor is controlled to operate at this speed. The valve core displacement indicates the valve core opening, thereby synchronously controlling the motor speed and adjusting the flow rate of the hydraulic oil output by the gear pump, avoiding high energy consumption caused by a constant motor speed. Furthermore, since changes in motor speed are reflected in different flow rates, as the valve core displacement indicates a decrease in opening, the hydraulic oil flow rate also decreases, avoiding the heat generation phenomenon caused by a small valve core opening but a large hydraulic oil flow rate.

[0069] The technical solution of this application and how it solves the above-mentioned technical problems will be described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0070] One possible specific application scenario of this application is the control of the motor in the hydraulic system of a forklift.

[0071] Figure 1 This is a schematic diagram of the hydraulic system of a forklift, such as... Figure 1As shown, the hydraulic system of the forklift includes a hydraulic oil tank 1, a suction filter 2, a motor 3, a gear pump 4, a manual multi-way valve 5, a speed limit valve 6, an explosion-proof valve 7, a first lifting cylinder 8-1, a second lifting cylinder 8-2, a first tilting cylinder 9-1, a second tilting cylinder 9-2, a return oil filter 10, a hydraulic steering gear 11, and a steering cylinder 12.

[0072] The manual multi-way valve consists of a first-connect priority flow valve, a lifting valve, a tilting valve, and a tail-connect return valve. Its main functions are to control the lifting and tilting movements of the forklift and to supply hydraulic oil to the hydraulic steering system. The EF port of the manual multi-way valve connects to the P port of the hydraulic steering system, and the LS port of the manual multi-way valve (e.g., ...) Figure 1 The LS port marked on the manual multi-way valve 5 is connected to the load feedback port of the hydraulic steering gear (e.g., ...). Figure 1 The hydraulic steering gear 11 (marked with port LS) provides feedback from the LS port to the priority flow valve when the hydraulic steering gear rotates and the steering cylinder operates. This feedback, via port LS, adjusts the valve opening in real-time to provide the required flow rate. Excess flow after meeting the steering gear's flow needs is directed to the lifting mechanism of the multi-way valve. When the hydraulic steering gear is closed, port LS connects to port T of the manual multi-way valve. Flow from the priority flow valve flows to the lifting mechanism of the manual multi-way valve. If neither the lifting nor tilting mechanism is operating, the flow from the priority flow valve flows directly back to the hydraulic oil tank via port T. In this case, the system pressure and flow are very low, resulting in energy savings. During lifting or tilting operations, the hydraulic oil travels through the lifting or tilting mechanism of the multi-way valve to the actuator cylinder.

[0073] The hydraulic oil tank supplies hydraulic oil to the hydraulic system and also serves to settle impurities and dissipate heat. The suction filter filters impurities from the hydraulic oil tank, preventing them from entering the hydraulic system and damaging hydraulic components. The motor provides power to the hydraulic system; changes in motor speed alter the flow rate of the hydraulic oil output by the gear pump. The gear pump provides flow to the hydraulic system. An explosion-proof valve prevents the hydraulic lines from stalling and causing danger in the event of a pipe rupture. Two lifting cylinders are used to lift goods, while single-acting cylinders are used to lower goods. Two tilting cylinders control the forward and backward tilting of the mast. The return filter filters impurities from the hydraulic system, preventing them from entering the hydraulic oil tank. The hydraulic steering gear is connected to the steering wheel via a splined shaft. When the steering wheel is not turned, the hydraulic steering gear cuts off the hydraulic oil, locking the steering cylinders in place, and the forklift continues to travel at the existing steering angle and state. The priority flow valve returns the flow generated by the gear pump to the hydraulic oil tank through the T-port of the multi-way valve. When the steering wheel is turned clockwise, the priority flow valve distributes the required flow to the hydraulic steering system, which then transmits hydraulic oil to the steering cylinder. The steering cylinder moves, and the hydraulic oil in the return chamber returns to the hydraulic oil tank through the T-port of the hydraulic steering system. When the steering wheel is turned counterclockwise, the oil inlet and outlet directions of the steering cylinder are reversed. For each revolution of the steering wheel, the volume of hydraulic oil discharged by the hydraulic steering system is approximately equal. The faster the steering wheel is turned, the faster the steering cylinder extends and retracts, and vice versa.

[0074] More specifically, such as Figure 1 As shown, the manual multi-way valve 5 specifically includes: main relief valve 5-1, directional relief valve 5-2, priority flow valve 5-3, multi-way valve lifting link check valve 5-4, manual multi-way valve lifting link 5-5, solenoid directional valve 5-6, shut-off valve 5-7, two-way logic valve 5-8, first sensor 5-9, multi-way valve tilt link check valve 5-10, manual multi-way valve tilt link 5-11, and second sensor 5-12.

[0075] The main relief valve is connected in parallel with the oil inlet P port to limit the maximum pressure of the hydraulic system and protect its safety. The steering relief valve is connected in parallel with the hydraulic steering gear LS port to limit the maximum pressure of the steering cylinder, protecting the cylinder and steering gear. The priority flow valve can adjust the flow to the hydraulic steering gear in real time according to its load pressure and rotation speed, meeting the steering flow requirements as needed. The multi-way valve lifting linkage check valve and the multi-way valve tilt linkage check valve control the hydraulic oil to flow in only one direction, preventing backflow. In the manual multi-way valve lifting linkage, the valve core slides within the valve body as the multi-way valve handle is operated, enabling the mast to lift, lower, and adjust its speed. The solenoid directional valve controls the opening and closing of the two-way logic valve via electrical signals, controlling whether the hydraulic oil in the upper chamber of the two-way logic valve is connected to port T, thus controlling the valve's opening or closing. The shut-off valve is used to manually open the gantry when the solenoid directional valve fails to open and the gantry cannot descend. By operating the descent handle, the hydraulic oil in the upper chamber of the two-way logic valve is connected to the T-port. The pressure built up by the weight of the gantry and cargo opens the two-way logic valve, and the hydraulic oil in the gantry cylinder returns to the hydraulic tank through the two-way logic valve and the manual multi-way valve of the lifting linkage. The two-way logic valve has a large flow capacity and good pressure holding effect; the gantry can only rise or fall after it is opened. The opening and closing of the two-way logic valve is normally controlled by the solenoid directional valve, but can also be controlled by the shut-off valve when the solenoid directional valve malfunctions. The manual multi-way valve tilt linkage's valve core slides within the valve body as the multi-way valve handle is operated, controlling the gantry's forward and backward tilting. A balance valve is integrated into the manual multi-way valve tilt linkage to make forward tilting smoother and prevent stalling.

[0076] Combination Figure 1 The process of steering the forklift is explained. The hydraulic steering unit is connected to the forklift's steering wheel via a splined shaft. When the steering wheel is not turned, the hydraulic steering unit cuts off the hydraulic oil, the steering cylinder is locked, and the forklift travels along the existing steering wheel angle and position. The priority flow valve returns the flow generated by the gear pump to the hydraulic oil tank through the T-port of the manual multi-way valve.

[0077] When the steering wheel is turned clockwise, the steering cylinder engages, and the LS port of the hydraulic steering system feeds back the load pressure of the hydraulic steering system to the priority flow valve. This causes the valve spool opening of the priority flow valve to adjust, providing the corresponding flow rate according to the needs of the hydraulic steering system. Subsequently, hydraulic oil is transmitted through the hydraulic steering system to the steering cylinder. As the steering cylinder moves, the hydraulic oil in the return chamber returns to the hydraulic oil tank through the T port of the hydraulic steering system.

[0078] When the steering wheel is turned counterclockwise, the steering cylinder engages, with the oil inflow and outflow directions opposite. The volume of hydraulic oil discharged from the hydraulic steering system is approximately equal for each full rotation of the steering wheel. Furthermore, the speed of the steering cylinder's extension and retraction is positively correlated with the speed of the steering wheel rotation.

[0079] It is understood that the motor in the hydraulic system of construction machinery can be controlled using the control method provided in this application. The specific implementation process can be referred to in the following embodiments.

[0080] Figure 2 Flowchart of the motor control method provided in this application Figure 1 Combining Figure 1 The hydraulic system of the forklift shown is described using a method to control an electric motor in the construction machinery. The motor is located within the hydraulic system of the construction machinery, which also includes a gear pump, which the motor drives.

[0081] Based on this, such as Figure 2 As shown, the method includes:

[0082] Step 1301. Obtain the first displacement of the valve core in the first port of the multi-way valve in the hydraulic system.

[0083] The first section of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first section of the multi-way valve.

[0084] For example, a first sensor is installed at the valve core of the first port of a multi-way valve in the hydraulic system of construction machinery. (In conjunction with the foregoing...) Figure 1 As can be seen from the hydraulic system shown, the multi-way valve is the aforementioned one. Figure 1 The manual multi-way valve 5 shown above, the first port of the multi-way valve is the one described above. Figure 1 The manual multi-way valve lifting link 5-5 is shown.

[0085] The first link of the multi-way valve is used to control the action of at least one first hydraulic cylinder, driving the gantry to rise or fall. It can be understood that at least one first hydraulic cylinder is the aforementioned... Figure 1 The first lifting cylinder 8-1 and the second lifting cylinder 8-2 are shown.

[0086] Specifically, the first sensor can be a contact displacement sensor or a non-contact displacement sensor. For example, a contact displacement sensor can be a sliding linear potentiometer or a contact differential transformer. Taking a sliding linear potentiometer as an example, the valve core is rigidly connected to the potentiometer's sliding arm. When the valve core moves axially, it causes the sliding arm to change its resistance value, outputting a voltage signal proportional to the displacement. Based on this voltage signal, the first displacement can be obtained. As another example, a non-contact displacement sensor can be a linear Hall sensor, a magnetostrictive displacement sensor, etc.

[0087] Step 1302. Determine the motor speed based on the first displacement.

[0088] For example, the motor speed can be determined based on a preset mapping relationship and the first displacement. Optionally, the mapping relationship can be linear. For instance, as the first displacement increases, the corresponding motor speed increases. Optionally, the mapping relationship can be piecewise. The mapping relationship includes at least one stage of mapping sub-relationship. When the value of the first displacement falls within the value range of the displacement in the first stage, the motor speed is determined according to the mapping sub-relationship corresponding to the first stage. Similarly, based on the stage to which the value of the first displacement belongs, the corresponding motor speed is determined according to the corresponding mapping sub-relationship. Here, the mapping sub-relationship can represent that within that stage, the motor speed is a fixed speed value, or that within that stage, the motor speed increases linearly with the first displacement at a fixed slope.

[0089] Step 1303. Control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the first link of the multi-way valve, control at least one first hydraulic cylinder to actuate, so as to drive the gantry of the construction machinery to rise.

[0090] For example, a control signal for controlling the motor is generated based on the motor speed. This control signal can vary depending on the type of motor. For instance, for a brushed DC motor or a brushless DC motor, the control signal can be a PWM signal; for a stepper motor, the control signal can be a pulse signal carrying direction information.

[0091] Based on the control signal, the motor is controlled to operate at a determined speed. This drives the gear pump connected to the motor, which in turn drives the hydraulic oil in the hydraulic system. The hydraulic oil travels along the pipeline through the first link of the multi-way valve, thereby controlling the action of at least one first hydraulic cylinder. This achieves the raising of the gantry of the construction machinery.

[0092] The motor control method provided in this application involves installing a sensor in the first port of a multi-way valve in the hydraulic system of engineering machinery to measure the displacement of the valve core in the first port. Based on the displacement, the rotational speed of the motor driving the gear pump in the hydraulic system is determined, and the motor is controlled to operate at this speed. The valve core opening can be represented by the valve core displacement, thereby synchronously controlling the motor speed and adjusting the flow rate of the hydraulic oil output by the gear pump, avoiding high energy consumption caused by a constant motor speed. Furthermore, since changes in motor speed are reflected in different flow rates, as the opening represented by the valve core displacement decreases, the hydraulic oil flow rate also decreases, avoiding the heat generation phenomenon caused by a small valve core opening but a large hydraulic oil flow rate.

[0093] Based on the above embodiments, the process of determining the motor speed according to the first displacement in step 1302 can be implemented in the following way.

[0094] In one example, the motor speed is determined based on a first displacement, including the following three possible implementation methods.

[0095] Among them, combined Figure 1 This section explains the working principle of the hydraulic system. After the user sits in the driver's seat of the construction machinery (such as a forklift), the coil of the solenoid directional valve is energized and opens. At this time, as long as the manual multi-way valve lifting link outputs flow, the two-way logic valve can be opened. Specifically, when the user operates the handle of the manual multi-way valve, the valve core of the first link of the multi-way valve (i.e., the aforementioned manual multi-way valve lifting link) moves, and the measuring device of the sensor is compressed, thereby detecting the displacement of the valve core in the first link of the multi-way valve (i.e., the first displacement).

[0096] In one possible implementation, if the first displacement is determined to be less than or equal to a first threshold, the motor speed is determined to be the first speed.

[0097] For example, if the first displacement of the valve core of the first link of the multi-way valve detected by the first sensor is relatively small, and its value is less than or equal to the first threshold, it indicates that the opening degree of the valve core of the lifting link is small. In this case, the motor is at a low speed, achieving idle operation. Therefore, the motor speed is determined as the first speed. Optionally, the value of the first speed can be selected according to the actual application. For example, the value of the first speed can be set to 500 RPM (Revolutions Per Minute).

[0098] In this configuration, the motor operates at its lowest speed, ensuring a continuous supply of hydraulic oil to the hydraulic steering gear. When the machinery is not steering, the idling motor drives the gear pump, returning the hydraulic oil to the hydraulic tank via the manual multi-way valve at its intermediate position. This results in low pressure loss and low energy consumption.

[0099] In one possible implementation, if the first displacement is determined to be greater than or equal to a second threshold, then the motor speed is determined to be a second speed. Wherein, the second threshold is greater than the first threshold, and the second speed is greater than the first speed.

[0100] For example, if the first displacement of the valve core of the first link of the multi-way valve detected by the first sensor is relatively large, and its value is greater than or equal to the second threshold, it indicates that the opening degree of the valve core of the lifting link is large. In this case, the motor needs to operate at a higher speed, but it also needs to be speed-limited. Therefore, the motor speed is determined to be the second speed, which is greater than the first speed. Optionally, the value of the second speed can be selected according to the actual application. For example, the value of the second speed can be set to 1500 RPM (Revolutions Per Minute).

[0101] It is understood that, regarding the selection of the first threshold and the second threshold, the second threshold must be greater than the first threshold. This embodiment does not limit the specific values ​​of the first threshold and the second threshold.

[0102] In this configuration, the motor speed is the second speed and remains at that speed, without increasing further as the first displacement increases. This ensures normal flow output while avoiding excessive motor speed that could lead to energy waste.

[0103] In one possible implementation, if it is determined that the first displacement is greater than a first threshold and less than a second threshold, then the motor speed is determined based on the first displacement and a preset mapping relationship. The mapping relationship represents the motor speed corresponding to different first displacements.

[0104] For example, referring to the exemplary description in step 1302 of the foregoing embodiments, the motor speed can be determined based on a preset mapping relationship and the first displacement. Based on the above embodiments, if the value of the first displacement is determined to be between a first threshold and a second threshold, the preset mapping relationship is used to determine the motor speed.

[0105] The mapping relationship represents the relationship between the first displacement, which is between the first threshold and the second threshold, and the motor speed.

[0106] Specifically, in the above embodiments, the first displacement represented by the mapping relationship is positively correlated with the motor speed, and the first displacement is linearly correlated with the motor speed.

[0107] For example, when the first displacement is between the first threshold and the second threshold, the first displacement is positively correlated with the motor speed, and there is a linear relationship between the first displacement and the motor speed.

[0108] It is understandable that when the first displacement is between the first threshold and the second threshold, the motor speed increases monotonically with the first displacement, and increases linearly and monotonically.

[0109] Based on the above three different implementation methods, a graph showing the relationship between the first displacement and the motor speed can be drawn. Figure 3 This is an example of the relationship between the first displacement and the motor speed. Figure 3 As shown, Figure 3 In this context, S1 is the first threshold, S2 is the second threshold, n1 is the first rotational speed, and n2 is the second rotational speed.

[0110] It can be understood that when the first displacement is less than or equal to S1, the motor speed of the control motor is n1; when the first displacement is greater than S1 and less than S2, the motor speed of the control motor increases linearly and monotonically with the first displacement; when the first displacement is greater than or equal to S2, the motor speed of the control motor is n2.

[0111] Optional, in Figure 3 Based on the relationship diagram shown, when the first displacement is between the first threshold and the second threshold, it can be further divided into stages. For example, at least one stage can be obtained between the first threshold and the second threshold, and the relationship between the first displacement and the motor speed in each stage is also a linear monotonically increasing relationship. However, the slope of the linear monotonically increasing relationship can be different between different stages.

[0112] Through the aforementioned linear positive correlation, the valve spool displacement in the first port of the multi-way valve can be used to determine the valve spool opening. Therefore, based on the valve spool opening, the motor speed can be adjusted in real time, thereby controlling the flow rate of hydraulic oil in the hydraulic system. As the valve spool opening gradually increases, the corresponding first displacement gradually increases, and the motor speed gradually increases.

[0113] In the above embodiments, when the first displacement is less than a first threshold, the motor is controlled to idle at a lower speed; when the first displacement is greater than a second threshold, the motor is controlled to run at a higher speed. When the first displacement is between the first and second thresholds, the motor speed is adjusted linearly and incrementally as the first displacement changes. On the one hand, this ensures sufficient hydraulic oil flow for operation as the valve opening increases; on the other hand, it avoids hydraulic oil waste and high motor energy consumption caused by constant or mismatched motor speeds when the valve opening changes, and also reduces heat generation.

[0114] Figure 4 Flowchart of the motor control method provided in this application Figure 2 ,like Figure 4 As shown, in this embodiment... Figure 2Based on the illustrated embodiment, the process of controlling the motor to operate at the determined motor speed in step 1303 will be described in detail. This method includes:

[0115] Step 1401. Generate a control signal based on the motor speed. The control signal is a pulse width modulation signal and is used to indicate the motor speed.

[0116] For example, a pulse width modulation (PWM) signal is a periodic digital square wave signal. The core of it is to adjust the average output voltage, power or the strength of the control command by changing the proportion of the duration of the high level of the pulse to the whole cycle.

[0117] Specifically, taking a DC brushed motor as an example, the duty cycle of the control signal (PWM signal) can be determined based on the pre-calibrated mapping relationship between motor speed and duty cycle, and the motor speed itself. For instance, if the DC brushed motor has a power supply voltage of 24V, experimental calibration shows that a 20% duty cycle corresponds to a motor speed of 1000 RPM, and a 40% duty cycle corresponds to a motor speed of 2000 RPM. The mapping relationship between motor speed and duty cycle can be obtained through a linear lookup table or fitting formula. Then, based on the motor speed calculated in the aforementioned embodiment, the duty cycle is determined, and a PWM signal with that duty cycle is generated. The duty cycle information of the PWM signal indicates the motor speed.

[0118] Step 1402. Send a control signal to the motor so that the motor runs at the motor speed.

[0119] For example, the above PWM signal is sent to the motor so that the motor runs at the corresponding motor speed.

[0120] It is understandable that when the handle of the manual multi-way valve lifting linkage (the first linkage of the multi-way valve) is operated, the valve core displacement will change. This change is detected by the first sensor and transmitted to the controller. The controller outputs a control signal to control the motor speed, thereby controlling the gear pump speed, changing the flow rate of the hydraulic system, and thus controlling the lifting speed of the gantry.

[0121] In the above process, the hydraulic oil flow in the hydraulic system is as follows: the motor rotates at its own speed, driving the gear pump to output hydraulic oil, which enters the first port of the manual multi-way valve (i.e., the priority flow valve). Next, it sequentially enters the lifting port of the manual multi-way valve, the two-way logic valve, and then passes through the speed limiting valve and the explosion-proof valve, finally entering the rodless chamber of at least one first hydraulic cylinder (first lifting cylinder, second lifting cylinder), causing the gantry to rise and the cargo to be lifted. In summary, a smaller valve opening results in a lower motor speed and better micro-motion performance of the gantry; a larger valve opening results in a higher motor speed, faster gantry lifting speed, lower throttling losses, lower energy consumption, and improved operational efficiency.

[0122] It should be noted that the motor is stopped during the descent and stopping of the goods. For example, when the goods are raised to a certain position A and are about to descend to another position B, the motor is not working; the descent is achieved by the weight of the goods themselves. Specifically, the user operates the handle of the first port of the multi-way valve to open the valve core. The hydraulic oil in the first hydraulic cylinder passes through the explosion-proof valve, the speed limiting valve, the two-way logic valve on the manual multi-way valve, and the lifting port of the manual multi-way valve, then passes through the T-port of the manual multi-way valve and the return oil filter, returning to the hydraulic oil tank.

[0123] The explosion-proof valve is located at the oil outlet of the hydraulic cylinder and functions in case of accidental pipeline rupture to prevent the hydraulic system from losing pressure and causing the cargo to fall from a height, posing a danger. The speed limiting valve restricts the maximum descent speed to prevent excessive speed when the valve core of the manual multi-way valve lifting mechanism is fully open, which could also be dangerous. Specifically, the descent speed of the gantry can be adjusted by regulating the valve core opening of the manual multi-way valve lifting mechanism. A larger valve core opening results in a faster descent speed, while a smaller valve core opening results in a slower descent speed. When the valve core is closed, the gantry and cargo remain at the designated position.

[0124] In the above embodiments, by sending the motor speed as a PWM signal to the motor, the motor can respond quickly and operate at the determined motor speed.

[0125] Combination Figure 1 The hydraulic system of the forklift shown may also require the forklift mast to tilt forward and backward.

[0126] Based on this, Figure 5 Flowchart of the motor control method provided in this application Figure 3 ,like Figure 5 As shown, the method also includes:

[0127] Step 1501. When the construction machinery is in a preset state, obtain the second displacement of the valve core in the second port of the multi-way valve in the hydraulic system.

[0128] The second section of the multi-way valve controls the movement of at least one second hydraulic cylinder to tilt the mast of the construction machinery forward or backward. The preset state indicates that the mast of the construction machinery does not need to be raised or lowered. The second displacement is measured by a sensor located at the valve core in the second section of the multi-way valve. Taking a forklift as an example, when the forklift is in the preset state, the mast of the forklift is allowed to tilt.

[0129] In one possible implementation, taking a forklift as an example of construction machinery, the forklift is equipped with a mode switching button. When the mode switching button is not pressed, the forklift mast is allowed to perform raising or lowering operations, but the forklift mast is not allowed to tilt. When the mode switching button is pressed, the forklift mast is not allowed to perform raising or lowering operations, but the forklift mast is allowed to tilt.

[0130] For example, in the case of forklifts, a type of construction machinery, the lifting and lowering process and the tilting process of a forklift mast are usually two relatively independent processes in actual application. This is because if the forklift mast is carrying goods, tilting during the lifting and lowering process could cause the goods to tip over, posing a safety risk.

[0131] Therefore, when the forklift is in a preset state, the mast can be tilted forward or backward via the second link of the multi-way valve. The preset state indicates that the forklift mast does not currently need to be raised or lowered.

[0132] For example, a second sensor is installed at the valve core of the second port of a multi-way valve in the hydraulic system of construction machinery (such as a forklift). Combined with... Figure 1 As can be seen from the hydraulic system shown, the multi-way valve is the aforementioned one. Figure 1 The manual multi-way valve 5 shown above, the second port of the multi-way valve is the one described above. Figure 1 The manual multi-way valve tilting connection 5-11 is shown.

[0133] The second port of the multi-way valve is used to control the action of at least one second hydraulic cylinder, driving the gantry to tilt forward or backward. It can be understood that at least one second hydraulic cylinder is the one described above. Figure 1 The first tilting cylinder 9-1 and the second tilting cylinder 9-2 are shown.

[0134] Specifically, the model of the second sensor can be the same as that of the first sensor. The second sensor can measure the displacement of the valve core in the second section of the multi-way valve, i.e., the second displacement.

[0135] Step 1502. Determine the motor speed based on the second displacement.

[0136] For example, the motor speed can be determined based on a preset mapping relationship and the second displacement. Optionally, the mapping relationship can be linear. For instance, as the second displacement increases, the corresponding motor speed increases. The specific implementation process is similar to the process of determining the motor speed with the first displacement in the aforementioned embodiments, and can be referred to the explanation of step 1302 in the aforementioned embodiments.

[0137] However, in practical applications, because the stroke of the tilting cylinder (second hydraulic cylinder) is relatively short, the difference in energy consumption between a constant and variable motor speed is not significant. Therefore, the motor speed can be determined based on the relationship between the second displacement and the threshold.

[0138] Specifically, if the second displacement is determined to be greater than or equal to the third threshold, the motor speed is determined to be the third speed; otherwise, the motor speed is determined to be the first speed. The third speed is greater than the first speed.

[0139] For example, if the second displacement of the valve core of the second port of the multi-way valve detected by the second sensor is relatively small, and its value is less than the third threshold, it indicates that the user may not intend to tilt the mast. The control motor is kept at the first speed to ensure the steering of the construction machinery (such as a forklift).

[0140] If the second displacement is greater than or equal to the third threshold, the motor speed is determined to be the third speed. This third speed is greater than the first speed. However, the value of the third speed can be greater than or less than the second speed in the aforementioned embodiment. In practical applications, the third speed can be determined based on the size parameters of the second hydraulic cylinder used to perform the gantry tilting action.

[0141] In practical applications, since the stroke of the second hydraulic cylinder is relatively short, a smaller value can be selected for the third threshold. For example, the third threshold can be set to 1 mm.

[0142] It should be noted that, in the above scenario, since the motor speed is in two states, and each state represents a fixed motor speed, the second sensor can also be a microswitch. When the user operates the handle of the second section of the multi-way valve, the valve core of the second section moves, triggering the microswitch (i.e., the second displacement is greater than or equal to the third threshold). At this time, the control motor maintains a higher operating speed, which does not change with the displacement of the valve core of the second section, thus determining the motor speed as the third speed.

[0143] Step 1503. Control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the second link in the multi-way valve, control at least one second hydraulic cylinder to drive the gantry of the construction machinery to tilt forward or backward.

[0144] For example, a PWM control signal can be generated based on the determined motor speed. This control signal indicates the motor speed. The PWM control signal is then sent to the motor to cause it to operate at the corresponding speed. The specific process can be found in the explanation of steps 1401 to 1402 in the foregoing embodiments.

[0145] Based on the control signal, the motor is controlled to operate at a determined speed. This drives a gear pump connected to the motor, which in turn drives hydraulic oil in the hydraulic system. The oil travels along the pipeline through the second valve in the multi-way valve, thereby controlling the movement of at least one second hydraulic cylinder. This achieves the tilting action of the gantry of the construction machinery. The tilting action includes forward tilting or backward tilting.

[0146] Specifically, when the user pushes the handle of the second link of the multi-way valve to tilt it forward, the hydraulic oil passes sequentially through the suction filter, gear pump, the first priority flow valve in the manual multi-way valve, the lifting link of the manual multi-way valve, and the tilting link of the manual multi-way valve. At this time, the tilting link of the manual multi-way valve is in the upper position, and the hydraulic oil enters the rodless chamber in the tilting cylinder, causing the gantry to tilt forward. The hydraulic oil in the rod chamber of the tilting cylinder returns to the T-port of the manual multi-way valve through the tilting link, and then returns to the hydraulic oil tank through the return filter.

[0147] When the user pushes the lever of the second section of the multi-way valve, causing it to tilt backward, the hydraulic oil passes sequentially through the suction filter, gear pump, the first priority flow valve in the manual multi-way valve, the lifting section of the manual multi-way valve, and the tilting section of the manual multi-way valve. At this time, the tilting section of the manual multi-way valve is in the lower position, and the hydraulic oil enters the rod chamber of the tilting cylinder, causing the mast to tilt backward. The hydraulic oil in the rodless chamber of the tilting cylinder returns to the T port of the manual multi-way valve through the tilting section of the manual multi-way valve, and then returns to the hydraulic oil tank through the return filter.

[0148] When the manual multi-way valve tilting linkage is in the neutral position, the flow of hydraulic oil is cut off, the tilting action of the gantry stops, and it remains in the designated position.

[0149] In the above embodiments, a sensor is installed in the second port of the multi-way valve in the hydraulic system of the construction machinery to measure the displacement of the valve core in the second port of the multi-way valve. The rotational speed of the motor in the hydraulic system is determined based on the displacement, and the motor is controlled to operate at that speed. Taking a forklift as an example, the displacement of the valve core in the second port of the multi-way valve is relatively small for the tilting action of the mast. By setting a small value for the third threshold, sensitive detection of even minute movements of the valve core in the tilting port can be achieved. Furthermore, upon detecting a minute movement of the valve core in the tilting port, the motor speed is increased, and the hydraulic cylinder corresponding to the tilting port is driven with an appropriate flow rate to achieve the tilting action of the mast. This improves the micro-motion capability of the hydraulic system in the construction machinery.

[0150] The motor control method provided in this application involves installing a sensor in the first port of a multi-way valve in the hydraulic system of engineering machinery to measure the displacement of the valve core in the first port. Based on the displacement, the rotational speed of the motor driving the gear pump in the hydraulic system is determined, and the motor is controlled to operate at this speed. The valve core opening can be represented by the valve core displacement, thereby synchronously controlling the motor speed and adjusting the flow rate of the hydraulic oil output by the gear pump, avoiding high energy consumption caused by a constant motor speed. Furthermore, since changes in motor speed are reflected in different flow rates, as the opening represented by the valve core displacement decreases, the hydraulic oil flow rate also decreases, avoiding the heat generation phenomenon caused by a small valve core opening but a large hydraulic oil flow rate.

[0151] When the first displacement is less than a first threshold, the motor is controlled to idle at a lower speed; when the first displacement is greater than a second threshold, the motor is controlled to run at a higher, fixed speed. When the first displacement is between the first and second thresholds, the motor speed is adjusted linearly and incrementally as the first displacement changes. By using preset thresholds to achieve segmented matching between the valve opening and motor speed, energy consumption distribution at different operating stages is optimized. On the one hand, this ensures sufficient hydraulic oil flow for operation as the valve opening increases; on the other hand, it avoids hydraulic oil waste and high motor energy consumption caused by constant or mismatched motor speeds when the valve opening changes, and also reduces heat generation. Furthermore, the segmented control logic simplifies the algorithm complexity, reduces the controller's computational burden, and improves the system's response speed.

[0152] Figure 6 A schematic diagram of the structure of the motor control device provided in this application is shown below. Figure 6 As shown, the motor control device 160 provided in this embodiment includes:

[0153] The acquisition module 1601 is used to acquire the first displacement of the valve core in the first section of the multi-way valve in the hydraulic system; wherein, the first section of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first section of the multi-way valve.

[0154] The processing module 1602 is used to determine the motor speed based on the first displacement.

[0155] The control module 1603 is used to control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the first link of the multi-way valve, and control at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall.

[0156] In one possible implementation, the motor speed is determined based on the first displacement, and the processing module 1602 is used for:

[0157] If the first displacement is determined to be less than or equal to the first threshold, then the motor speed is determined to be the first speed.

[0158] If the first displacement is determined to be greater than or equal to the second threshold, then the motor speed is determined to be the second speed; wherein the second threshold is greater than the first threshold, and the second speed is greater than the first speed;

[0159] If it is determined that the first displacement is greater than the first threshold and less than the second threshold, then the motor speed is determined based on the first displacement and a preset mapping relationship; wherein, the mapping relationship represents the motor speed corresponding to different first displacements.

[0160] In one possible implementation, the mapping relationship represents a positive correlation between the first displacement and the motor speed, and the first displacement and the motor speed have a linear relationship.

[0161] In one possible implementation, the control module 1603 controls the motor to operate at a motor speed, and is used to:

[0162] A control signal is generated based on the motor speed. The control signal is a pulse width modulation signal and is used to indicate the motor speed.

[0163] Control signals are sent to the motor to make it run at its own speed.

[0164] In one possible implementation, the acquisition module 1601 is further configured to acquire a second displacement of the valve core in the second port of the multi-way valve in the hydraulic system when the construction machinery is in a preset state; wherein, the second port of the multi-way valve is used to control at least one second hydraulic cylinder to drive the mast of the construction machinery to tilt forward or backward; the preset state indicates that the mast of the construction machinery does not need to be raised or lowered; the second displacement is measured by a sensor located at the valve core in the second port of the multi-way valve;

[0165] The processing module 1602 is also used to determine the motor speed based on the second displacement.

[0166] The control module 1603 is also used to control the motor to run at the motor speed, drive the gear pump to drive the hydraulic oil through the second link in the multi-way valve, and control at least one second hydraulic cylinder to drive the gantry of the construction machinery to tilt forward or backward.

[0167] In one possible implementation, the motor speed is determined based on the second displacement, and the processing module 1602 is used for:

[0168] If the second displacement is determined to be greater than or equal to the third threshold, the motor speed is determined to be the third speed; otherwise, the motor speed is determined to be the first speed; wherein the third speed is greater than the first speed.

[0169] The motor control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0170] Figure 7 This is a schematic diagram of the controller provided in this application. Figure 7 As shown, the controller 170 provided in this embodiment includes at least one processor 1701 and a memory 1702. Optionally, the controller 170 further includes a communication component 1703. The processor 1701, memory 1702, and communication component 1703 are connected via a bus 1704.

[0171] In a specific implementation, at least one processor 1701 executes computer execution instructions stored in memory 1702, causing at least one processor 1701 to perform the above-described method.

[0172] The specific implementation process of processor 1701 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0173] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0174] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0175] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0176] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0177] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0178] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0179] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0180] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0181] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0182] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0183] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0184] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0185] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling an electric motor, characterized in that, The motor is installed in the hydraulic system of the engineering machinery, the hydraulic system also including a gear pump, and the motor is used to drive the gear pump; the method includes: The first displacement of the valve core in the first port of the multi-way valve in the hydraulic system is obtained; wherein the first port of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first port of the multi-way valve. Based on the first displacement, the motor speed of the motor is determined; The motor is controlled to run at the motor speed, driving the gear pump to drive hydraulic oil through the first link of the multi-way valve, controlling the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise.

2. The method according to claim 1, characterized in that, Determining the motor speed based on the first displacement includes: If it is determined that the first displacement is less than or equal to the first threshold, then the motor speed is determined to be the first speed. If it is determined that the first displacement is greater than or equal to the second threshold, then the motor speed is determined to be the second speed; wherein the second threshold is greater than the first threshold, and the second speed is greater than the first speed; If it is determined that the first displacement is greater than a first threshold and less than a second threshold, then the motor speed is determined based on the first displacement and a preset mapping relationship; wherein the mapping relationship represents the motor speed corresponding to different first displacements.

3. The method according to claim 2, characterized in that, The mapping relationship indicates a positive correlation between the first displacement and the motor speed, and a linear relationship between the first displacement and the motor speed.

4. The method according to claim 1, characterized in that, Controlling the motor to operate at the motor speed includes: A control signal is generated based on the motor speed. The control signal is a pulse width modulation signal and is used to indicate the motor speed. The control signal is sent to the motor so that the motor runs at the motor speed.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: When the construction machinery is in a preset state, the second displacement of the valve core in the second port of the multi-way valve in the hydraulic system is obtained; wherein, the second port of the multi-way valve is used to control the action of at least one second hydraulic cylinder to drive the mast of the construction machinery to tilt forward or backward; the preset state indicates that the mast of the construction machinery does not need to be raised or lowered; the second displacement is measured by a sensor located at the valve core in the second port of the multi-way valve; The motor speed is determined based on the second displacement. The motor is controlled to run at its own speed, driving the gear pump to move hydraulic oil through the second link of the multi-way valve, thereby controlling the at least one second hydraulic cylinder to drive the gantry of the construction machinery to tilt forward or backward.

6. The method according to claim 5, characterized in that, Determining the motor speed based on the second displacement includes: If the second displacement is determined to be greater than or equal to the third threshold, then the motor speed is determined to be the third speed; otherwise, the motor speed is determined to be the first speed; wherein the third speed is greater than the first speed.

7. A control device for an electric motor, characterized in that, include: The acquisition module is used to acquire the first displacement of the valve core in the first port of the multi-way valve in the hydraulic system; wherein, the first port of the multi-way valve is used to control the action of at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall; the first displacement is measured by a sensor located at the valve core in the first port of the multi-way valve. The processing module is used to determine the motor speed based on the first displacement. The control module is used to control the motor to run at the motor speed, drive the gear pump to drive hydraulic oil through the first link of the multi-way valve, and control the at least one first hydraulic cylinder to drive the gantry of the construction machinery to rise or fall.

8. A controller, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the 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-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

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

Images