Hydraulic valve opening characteristic adjusting method and device, hydraulic valve and readable storage medium

Abstract

The invention discloses a hydraulic valve opening characteristic adjusting method and device, a hydraulic valve and a readable storage medium, and relates to the technical field of hydraulic control. The method comprises the steps of obtaining historical operation data of a user on a hydraulic valve; original valve rod displacement-open area characteristics of the hydraulic valve are obtained; based on the historical operation data, determining actual distribution between the valve rod displacement and the user operation frequency in a preset valve rod displacement interval; according to the actual distribution, a preset valve rod displacement interval is divided into a plurality of displacement subintervals, and the number of historical operation data included in each displacement subinterval is the same; and according to the multiple displacement subintervals, the original valve rod displacement-overflowing area characteristic is converted, and the adjusted valve rod displacement-overflowing area characteristic is obtained. Through combination of data-driven user habit analysis and equal-frequency transformation, self-adaptive matching of hydraulic valve opening characteristics and real operation requirements of a user is realized, and the problem of poor control hand feeling caused by traditional experience design is solved.

Description

Technical Field

[0001] This application relates to the field of hydraulic control technology, specifically to a method, device, hydraulic valve, and readable storage medium for adjusting the opening characteristics of a hydraulic valve. Background Technology

[0002] Hydraulic transmission systems are widely used in the field of construction machinery, especially in large equipment such as cranes. As a core control component, the hydraulic valve's performance directly affects the equipment's operational accuracy and user experience. With the development of construction machinery towards precision and intelligence, users have placed higher demands on the handling feel of hydraulic valves, expecting more precise and stable control in key operating ranges such as fine-tuning and speed transitions.

[0003] Currently, the valve stem opening characteristics of hydraulic valves for vehicles are mainly optimized based on design experience, benchmark analysis, and fragmented market feedback. This traditional optimization approach lacks a systematic consideration of actual user behavior, often resulting in a mismatch between the valve stem opening characteristics in different displacement ranges and user operating habits. For example, in the frequently used micro-motion operation range, the flow rate change corresponding to the valve stem displacement may be too sensitive, making fine adjustment difficult; while in the less frequently used high-speed range, the valve stem opening design may be too conservative, failing to fully utilize the equipment's performance. This experience-driven design mode not only has a long optimization cycle and high verification costs, but also makes it difficult to ensure consistent operation across different models and operating conditions, often leading to user complaints about poor operating feel and difficulty in micro-motion control, thus hindering further improvements in product control performance. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of this application is to provide a method, device, hydraulic valve and readable storage medium for adjusting the opening characteristics of a hydraulic valve.

[0005] To achieve the above objectives, the first aspect of this application provides a method for adjusting the opening characteristics of a hydraulic valve, comprising: Acquire historical operation data of the hydraulic valve by the user, which includes valve stem displacement information; Obtain the original valve stem displacement-flow area characteristics of the hydraulic valve; Based on historical operation data, determine the actual distribution between valve stem displacement and user operation frequency within the preset valve stem displacement range; Based on the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, where each displacement sub-range contains the same amount of historical operation data. Based on multiple displacement sub-intervals, the original valve stem displacement-flow area characteristics are transformed to obtain the adjusted valve stem displacement-flow area characteristics.

[0006] In this embodiment, the original valve stem displacement-flow area characteristic is transformed according to multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic, including: Establish the correspondence between multiple displacement sub-intervals and the original valve stem displacement position in the original valve stem displacement-flow area characteristics; Based on the correspondence, the flow area corresponding to each displacement sub-interval is determined through the original valve stem displacement-flow area characteristics to form the adjusted valve stem displacement-flow area characteristics.

[0007] In this embodiment of the application, a correspondence is established between multiple displacement sub-intervals and the original valve stem displacement position, including: Determine the projection position of each displacement sub-interval on the displacement domain of the original valve stem displacement-flow area characteristic. The projection position is determined by a linear mapping relationship to establish a one-to-one correspondence between the displacement sub-interval and the projection position.

[0008] In this embodiment of the application, based on historical operation data, the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range is determined, including: The preset valve stem displacement range is divided into multiple continuous statistical sub-ranges; The frequency of historical operation data falling within each statistical sub-interval is counted to generate the actual distribution between valve stem displacement and user operation frequency.

[0009] In this embodiment of the application, based on the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, including: Based on the actual distribution, the preset valve stem displacement interval is discretized by equal frequency to obtain multiple displacement sub-intervals.

[0010] In this embodiment, the preset valve stem displacement range is the idle speed range of the hydraulic valve. Within the idle speed range, the movement speed of the hydraulic actuator controlled by the hydraulic valve is not affected by the engine speed.

[0011] In this embodiment, the idle speed section includes a micro-motion zone and a medium speed zone located after the micro-motion zone. The rate of change of the flow area corresponding to the valve stem displacement in the micro-motion zone is less than the rate of change of the flow area corresponding to the valve stem displacement in the medium speed zone.

[0012] A second aspect of this application provides a hydraulic valve opening characteristic adjustment device, comprising: The data acquisition module is used to acquire historical operation data of the hydraulic valve by the user. The historical operation data includes valve stem displacement information. The characteristic acquisition module is used to acquire the original valve stem displacement-flow area characteristics of the hydraulic valve. The frequency division module is used to determine the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range based on historical operation data. The displacement division module is used to divide the preset valve stem displacement range into multiple displacement sub-ranges according to the actual distribution, wherein each displacement sub-range contains the same amount of historical operation data. The characteristic adjustment module is used to transform the original valve stem displacement-flow area characteristic based on multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic.

[0013] A third aspect of this application provides an electronic device, comprising: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the hydraulic valve opening characteristic adjustment method as described in the above embodiments.

[0014] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform a hydraulic valve opening characteristic adjustment method as described in the above embodiments.

[0015] The above technical solution acquires historical operation data of the hydraulic valve, including valve stem displacement information, providing an objective data foundation for subsequent analysis of users' actual operating habits. This avoids the limitations of relying on subjective experience or fragmented feedback in traditional design, ensuring the accuracy of the optimization direction. The original valve stem displacement-flow area characteristics of the hydraulic valve are obtained, clarifying the inherent attributes of the optimization object and providing a benchmark for subsequent characteristic transformations. Based on historical operation data, the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range is determined. According to the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, where each sub-range contains the same amount of historical operation data. Based on these multiple sub-ranges, the original valve stem displacement-flow area characteristics are transformed to obtain the adjusted valve stem displacement-flow area characteristics. Through data-driven user habit analysis combined with equal-frequency transformation, adaptive matching between the hydraulic valve opening characteristics and users' actual operating needs is achieved, solving the problem of poor control feel caused by traditional experience-based design.

[0016] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0017] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings: Figure 1 The illustration shows a schematic flowchart of a method for adjusting the opening characteristics of a hydraulic valve according to an embodiment of this application; Figure 2 This schematic diagram illustrates the structure of a hydraulic valve opening characteristic adjustment device according to an embodiment of this application; Figure 3 A schematic block diagram of an electronic device according to an embodiment of this application is shown. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0019] It should be noted that the acquisition, transmission, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. In the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solution of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0020] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0021] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0022] Figure 1 The illustration schematically shows a flow chart of a method for adjusting the opening characteristics of a hydraulic valve according to an embodiment of this application. Figure 1 As shown in the figure, this application provides a method for adjusting the opening characteristics of a hydraulic valve, which may include the following steps: Step 100: Obtain the user's historical operation data for the hydraulic valve. The historical operation data includes valve stem displacement information. In this embodiment, it should be noted that in the field of engineering machinery, especially in the hydraulic control systems of equipment such as cranes, user operating behaviors often contain a wealth of experiential information. Different users operate the valve stem differently under different working conditions, and these differences directly reflect the user's true needs for control performance. Traditional design methods, lacking quantitative analysis of actual user operations, struggle to accurately grasp user operating habits.

[0023] Specifically, historical operational data can be acquired in several ways. One approach is to integrate a data acquisition module into the hydraulic valve control system to record the valve stem displacement value and its trajectory in real time during each operation. For example, in the crane's electrical control system, a dedicated storage unit can be set up to record valve stem displacement signals at a preset sampling frequency, which can be set to tens to hundreds of times per second depending on the required accuracy. Another approach is to use telematics technology to upload operational data from multiple devices distributed across different regions and operating conditions to a cloud-based big data platform, forming a large-scale operational database. For example, an IoT module can aggregate valve stem displacement data from each crane's operation to a data center, building a massive dataset covering different crane models, operating conditions, and operators.

[0024] Historical operation data must contain at least valve stem displacement information, a core parameter for analyzing the distribution of user operation frequency. Valve stem displacement reflects the user's control intent regarding the size of the hydraulic valve opening, typically recorded as a percentage of displacement or the actual displacement length. Besides valve stem displacement information, historical operation data may also include other auxiliary information, such as operation time, equipment model, and operating condition type. This information helps in subsequent data classification, analysis, and filtering. The acquired historical operation data lays the foundation for subsequent analysis of user operating habits, enabling optimizations to be based on real user behavior rather than subjective experience.

[0025] Step 200: Obtain the original valve stem displacement-flow area characteristics of the hydraulic valve; It's important to note that obtaining the inherent physical characteristics of the hydraulic valve before optimization—specifically, the relationship between valve stem displacement and flow area—is fundamental for subsequent characteristic transformations. The opening characteristics of a hydraulic valve are essentially determined by the structural shape of the valve core; different valve core designs will produce different valve stem displacement-flow area mapping relationships. The original valve stem displacement-flow area characteristics are inherent properties of the hydraulic valve at the factory and are a key factor affecting the feel of operation.

[0026] Specifically, the original valve stem displacement-flow area characteristic is usually represented as a function curve or a data table. One common method is to obtain it directly from the hydraulic valve's design parameters. For example, based on the valve core's geometry and structural shape, the throttling area corresponding to different displacement positions can be theoretically calculated. Another method is through experimental testing. On a hydraulic valve test bench, the valve stem displacement is precisely controlled, and the corresponding flow rate and pressure difference are measured to calculate the flow area data, which is then fitted to derive the displacement-flow area characteristic curve. For example, the valve stem can be divided into multiple test points from fully closed to fully open. After stabilization at each test point, the flow rate through the valve orifice and the pressure difference across the orifice are measured. The flow area is then calculated using the flow rate formula, ultimately forming a table showing the correspondence between displacement and flow area.

[0027] In the original valve stem displacement-flow area characteristic, the flow area is usually expressed in square millimeters or as a percentage, and the valve stem displacement is expressed in millimeters or as a percentage. The original valve stem displacement-flow area characteristic is an inherent property of the hydraulic valve, directly determining the flow response characteristics felt by the user when operating the handle. Obtaining the original characteristics provides a clear object for subsequent transformations, allowing the adjusted new characteristics to be based on the original characteristics in a reasoned manner, rather than being generated out of thin air.

[0028] Step 300: Based on historical operation data, determine the actual distribution between valve stem displacement and user operation frequency within the preset valve stem displacement range; It should be noted that this embodiment mines user operating habits from massive amounts of collected operation data, quantifying the ranges in which user operations are most frequent. Traditional designs often assume that user operations are evenly distributed, but in reality, user behavior exhibits significant concentration; identifying this concentration is a prerequisite for achieving precise optimization.

[0029] Specifically, the preset valve stem displacement range refers to the displacement range that needs to be optimized. This could be the entire stroke of the valve stem from fully closed to fully open, or a specific segment selected based on actual needs. Determining the actual distribution can be done in various ways. For example, the preset valve stem displacement range can be evenly divided into several statistical segments based on displacement values, and the frequency of historical operation data within each segment can be counted to plot a displacement-frequency distribution curve. Alternatively, a data fitting algorithm can be used to process the historical operation data and generate a continuous valve stem displacement and operation frequency distribution function. Furthermore, historical data can be categorized and statistically analyzed to distinguish the displacement-frequency distribution characteristics under different operating conditions. All these implementation methods can clearly present the user's operation frequency distribution pattern within the preset range and accurately locate high-frequency operation areas.

[0030] Specifically, in one embodiment, determining the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range based on historical operation data includes: The preset valve stem displacement range is divided into multiple continuous statistical sub-ranges; The frequency of historical operation data falling within each statistical sub-interval is counted to generate the actual distribution between valve stem displacement and user operation frequency.

[0031] In this embodiment, by dividing the preset valve stem displacement range into multiple continuous statistical sub-intervals, the displacement axis is essentially discretized, establishing a basic analytical unit for data statistics. The statistical sub-intervals can be divided at equal intervals, for example, dividing the 0-100 mm displacement range into 100 1 mm wide statistical sub-intervals; alternatively, non-equal intervals can be used depending on actual needs, such as using finer granularity in areas expected to be frequently operated. The frequency of historical operation data falling within each statistical sub-interval is counted, i.e., traversing all historical operation data for valve stem displacement values, determining the statistical sub-interval to which each displacement value belongs, and incrementing the counter for that statistical sub-interval once. After statistics, each statistical sub-interval corresponds to a frequency value. These frequency data constitute the actual distribution of displacement and operation frequency. This actual distribution can be visually displayed in the form of a histogram, showing the concentrated and dispersed areas of user operation. For example, it can be observed that the frequency is significantly higher in the 20 mm to 30 mm range than in other areas, indicating that this area is the user's frequently used fine-tuning operation area. By dividing the data into statistical sub-intervals and performing frequency statistics, the original operational data is transformed into quantifiable and analyzable distribution information, providing a data foundation for subsequent equal-frequency discretization.

[0032] It should be noted that the fact that each displacement sub-interval contains the same amount of historical operation data mentioned in this application refers to equal-frequency discretization processing, that is, dividing all operation data into several sub-intervals containing roughly equal amounts of data. A small amount of reasonable error is allowed in the engineering process, and this error does not affect the interval division and subsequent characteristic transformation effect.

[0033] In one embodiment, determining the actual distribution can also involve constructing a probability density function over a continuous domain and estimating the continuous operating frequency distribution curve from discrete sampling points using nonparametric statistical methods such as kernel density estimation. For example, for a large number of valve stem displacement sampling points, a Gaussian kernel function can be used for density estimation to obtain a smooth displacement-probability density curve. Regardless of whether discrete statistics or continuous estimation is used, the final result reflects both the concentrated and dispersed regions of user operations.

[0034] The generated user operation frequency distribution will serve as a direct basis for subsequent sub-interval division, enabling optimization to focus on the operation areas that users are truly concerned with.

[0035] Step 400: Based on the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, wherein each displacement sub-range contains the same amount of historical operation data. It should be noted that the displacement range is non-uniformly divided according to the user's operating frequency, ensuring that each sub-range carries the same number of user operations. This lays the foundation for equal-frequency adjustments to the opening characteristics. Traditional designs typically divide the valve stem opening into equal parts, resulting in the high-frequency operating area being compressed into a very narrow displacement range, leading to a rough feel. By dividing the valve into equal-frequency parts, the high-frequency area is stretched in physical space, creating conditions for improving the feel.

[0036] Understandably, the method of dividing displacement sub-intervals can be expanded to suit various implementation scenarios. For example, in the idling speed range of a crane's upper hydraulic valve, based on the displacement-frequency distribution, the high-frequency micro-motion operation range is divided into a larger number of displacement sub-intervals, while the low-frequency operation range has a relatively smaller number of sub-intervals. In the operation range division of agricultural machinery hydraulic valves, equal-frequency sub-intervals are used for the high-frequency displacement ranges of different operational actions such as sowing and fertilizing. In the control range division of industrial hydraulic equipment, the displacement ranges of core operations such as equipment start-up, shutdown, and load adjustment are divided into sub-intervals based on the principle of having the same number of operation data. The expansion and implementation in different scenarios all demonstrate the advantages of equal-frequency division and adapt to the operational needs of different equipment.

[0037] Specifically, in one embodiment, the preset valve stem displacement range is divided into multiple displacement sub-ranges according to the actual distribution, including: Based on the actual distribution, the preset valve stem displacement interval is discretized by equal frequency to obtain multiple displacement sub-intervals.

[0038] It should be noted that after obtaining the actual distribution, a cumulative frequency curve can be constructed starting from the displacement starting point. Assuming the preset valve stem displacement range is 0 to 100 mm, the total number of operations is 5000, and it needs to be divided into 10 displacement sub-ranges, each sub-range should contain approximately 500 operations. Starting from the displacement starting point of 0 mm, the frequency is accumulated along the direction of displacement increase. When the accumulated frequency first reaches 500 times, the current position is recorded as the right boundary of the first displacement sub-range; continuing to accumulate to 1000 times, the second right boundary is recorded, and so on, until the displacement endpoint is reached. The final 9 dividing points divide the entire preset valve stem displacement range into 10 displacement sub-ranges. These displacement sub-ranges are all different in physical length; the more frequently the user operates in a region, the longer its corresponding displacement sub-range. For example, if 500 operations are accumulated in the 20mm to 30mm range, and 500 operations are accumulated in the 30mm to 80mm range, then the physical length of the former is 10mm, and the physical length of the latter is 50mm. This means that within the commonly used 20mm to 30mm range, users have a longer physical displacement space for fine-tuning. Equal-frequency discretization is a completely data-driven partitioning method that avoids the arbitrariness of subjectively setting boundary points, ensuring that the partitioning results objectively reflect the user's actual operating habits.

[0039] In one embodiment, the division of displacement sub-intervals can also be achieved through the inverse transform of the cumulative distribution function. First, a cumulative distribution function is constructed based on the actual distribution, representing the cumulative operation ratio from the starting point of the displacement to any displacement point. Then, a set of equally spaced ratio values ​​are selected, such as 0.1, 0.2, 0.3 up to 1.0. The displacement values ​​corresponding to these ratio values ​​are obtained through the inverse function of the cumulative distribution function; these displacement values ​​are the boundary points of the displacement sub-intervals. For example, a ratio value of 0.1 corresponds to a displacement value of 20 mm, meaning that 10% of the operations have been accumulated from the starting point to 20 mm; therefore, the first displacement sub-interval is from 0 to 20 mm.

[0040] The core feature of the displacement sub-intervals obtained in this embodiment is that each displacement sub-interval contains an equal number of user operations. This feature enables subsequent transformations to evenly distribute the user's operational attention to each displacement sub-interval.

[0041] Step 500: Based on multiple displacement sub-intervals, transform the original valve stem displacement-flow area characteristics to obtain the adjusted valve stem displacement-flow area characteristics.

[0042] In this embodiment, by transforming the displacement sub-interval with the original characteristics, the flow area distribution can be adjusted for displacement intervals with different operating frequencies, so that the high-frequency operating interval can obtain more delicate control, and the low-frequency operating interval can meet the basic action requirements, ultimately achieving a high degree of adaptation between the hydraulic valve opening characteristics and the user's operating habits.

[0043] It should be noted that characteristic transformation can be achieved through various implementation methods. For example, based on the correspondence between the equal-frequency displacement sub-interval and the original valve stem displacement position, the original flow area corresponding to the high-frequency sub-interval can be fine-tuned to increase the amplitude of flow area change corresponding to displacement change and improve the fineness of operation; the flow area corresponding to the low-frequency sub-interval can be optimized to ensure the response speed of basic actions; new correspondences between displacement sub-intervals and flow areas can also be established through linear mapping, nonlinear fitting, etc., to generate characteristic curves adapted to user habits, etc. This embodiment retains the basic flow capacity of the original valve while optimizing the operating feel of commonly used areas.

[0044] This embodiment acquires historical operation data of the hydraulic valve from the user. This historical operation data includes valve stem displacement information, providing an objective data foundation for subsequent analysis of the user's actual operating habits. This avoids the limitations of relying on subjective experience or fragmented feedback in traditional design, ensuring the accuracy of the optimization direction. The original valve stem displacement-flow area characteristics of the hydraulic valve are obtained, clarifying the inherent attributes of the optimization object and providing a benchmark for subsequent characteristic transformations. Based on the historical operation data, the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range is determined. According to the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, where each displacement sub-range contains the same amount of historical operation data. Based on the multiple displacement sub-ranges, the original valve stem displacement-flow area characteristics are transformed to obtain the adjusted valve stem displacement-flow area characteristics. Through data-driven user habit analysis combined with equal-frequency transformation, adaptive matching between the hydraulic valve opening characteristics and the user's actual operating needs is achieved, solving the problem of poor control feel caused by traditional experience-based design.

[0045] In one embodiment, the original valve stem displacement-flow area characteristic is transformed according to multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic, including: Establish the correspondence between multiple displacement sub-intervals and the original valve stem displacement position in the original valve stem displacement-flow area characteristics; Based on the correspondence, the flow area corresponding to each displacement sub-interval is determined through the original valve stem displacement-flow area characteristics to form the adjusted valve stem displacement-flow area characteristics.

[0046] In this embodiment, it should be noted that the original valve stem displacement position refers to a specific position on the original displacement-flow area characteristic curve. This can be a specific displacement point or a displacement range. There are several ways to establish the correspondence. One method is to use the midpoint of each displacement sub-range as a representative point and establish a correspondence between the sub-range and the original displacement value of the midpoint. For example, for a displacement sub-range of 20 mm to 30 mm, with a midpoint of 25 mm, a correspondence is established between the sub-range and the original displacement value of 25 mm. Another method is to map each displacement sub-range as a whole onto a segment of the original displacement range, for example, by using proportional mapping so that the endpoints of the displacement sub-range correspond to the endpoints of the original displacement range. Regardless of the method used, the essence of the correspondence is to clarify what position on the original characteristic curve the adjusted displacement range corresponds to. After establishing the correspondence, the flow area corresponding to each displacement sub-range is determined based on this correspondence and the original valve stem displacement-flow area characteristic. If the correspondence points to a specific original displacement point, the corresponding flow area value is directly read. If the correspondence points to an original displacement range, a representative flow area value can be determined by taking the average of the midpoints and endpoints of the range, or by integrating the range. For example, for a displacement sub-range of 20 mm to 30 mm, if the correspondence points to an original displacement value of 25 mm, and the original characteristic shows that the flow area corresponding to 25 mm is 15 square millimeters, then the flow area corresponding to this displacement sub-range is 15 square millimeters. In this way, each displacement sub-range obtains a corresponding flow area value, thus forming the adjusted displacement-flow area characteristic. This transformation method retains the basic values ​​of the original characteristic but redistributes the flow area corresponding to different displacement ranges, achieving characteristic adjustment.

[0047] This embodiment can adjust the opening characteristics while retaining the original valve stem's basic performance, achieving a balance between optimizing the operating feel and ensuring compatibility with the hydraulic valve hardware.

[0048] In one embodiment, establishing the correspondence between multiple displacement sub-intervals and the original valve stem displacement position includes: Determine the projection position of each displacement sub-interval on the displacement domain of the original valve stem displacement-flow area characteristic. The projection position is determined by a linear mapping relationship to establish a one-to-one correspondence between the displacement sub-interval and the projection position.

[0049] In this embodiment, to ensure smooth and abrupt adjustment of the valve stem displacement, a stable and easily implemented linear mapping method is used to establish the correspondence. Linear mapping ensures continuous displacement transformation and is computationally simple, making it suitable for engineering applications. The displacement sub-intervals obtained by equal-frequency division are linearly projected onto the entire range of the original valve stem displacement, ensuring that each displacement sub-interval can find a unique corresponding projection position within the original displacement domain. Linear mapping guarantees that the displacement transformation process is jump-free and distortion-free, ensuring smooth and stable valve stem operation. One implementation method is to use point-to-point linear mapping, mapping the endpoints a and b of the displacement sub-interval to corresponding points on the original domain. For example, the mapping relationship can be expressed as: original displacement position = C + (DC) × (current displacement position - A) / (BA). Through this mapping, the left endpoint a of the displacement sub-interval is mapped to a point on the original domain, and the right endpoint b is mapped to another point. The interval between these two points is the projection position of the displacement sub-interval on the original domain. Another approach is to map the midpoint of the displacement sub-interval, establishing only a one-to-one correspondence between the midpoint and the original displacement point, while ignoring the correspondence within the displacement sub-interval. For example, if the midpoint of the displacement sub-interval from 20 mm to 30 mm is 25 mm, the original displacement value corresponding to 25 mm is calculated through linear mapping, and then the entire displacement sub-interval corresponds to this original displacement value.

[0050] This embodiment establishes a one-to-one correspondence through linear mapping, ensuring that each displacement sub-interval has a unique and definite projection position, thereby providing a clear basis for subsequent determination of the flow area.

[0051] In one embodiment, the preset valve stem displacement range is the idle speed range of the hydraulic valve. Within the idle speed range, the movement speed of the hydraulic actuator controlled by the hydraulic valve is not affected by the engine speed.

[0052] In this embodiment, it should be noted that in the hydraulic control system of construction machinery, the valve stem displacement range is usually divided into different segments based on whether the engine participates in the control. The idle speed range refers to the segment where the engine speed does not participate in speed control. In this segment, the movement speed of the hydraulic actuator is determined solely by the valve stem opening size, and is unrelated to the engine speed. For example, in the hydraulic system of a crane, when the engine is idling, the operating handle controls the valve stem opening, and the speed of actions such as hoisting or luffing is entirely determined by the valve stem opening, unaffected by the throttle position. The idle speed range is the main area for users to perform precise operations, because the action speed is entirely determined by the handle operation, and users can precisely control the speed of the action by adjusting the handle travel. Limiting the optimization scope to the idle speed range is of great significance because in this segment, the valve stem opening characteristics directly determine the operating feel, and the optimization effect is most obvious; while in the high-speed range, the engine speed participates in the control, and the action speed is jointly determined by the handle travel and the engine speed, making the influence of the valve stem opening characteristics relatively complex.

[0053] This embodiment focuses the optimization on the idle speed range, which avoids the interference of the engine speed variable, making the optimization target clearer and the optimization effect more direct.

[0054] In one embodiment, the idle speed range includes a micro-motion range and a medium speed range following the micro-motion range, wherein the rate of change of the flow area corresponding to the valve stem displacement in the micro-motion range is less than the rate of change of the flow area corresponding to the valve stem displacement in the medium speed range.

[0055] This embodiment clarifies the differences in physical characteristics between two sub-regions: the micro-motion zone and the medium-speed zone. The micro-motion zone, located before the valve stem displacement, is where users perform fine-tuning operations, such as when slowly approaching a target position during hoisting operations. The medium-speed zone, located after the micro-motion zone, is where users adjust the speed smoothly, such as when maintaining a constant speed during the lifting of a heavy object. Within the micro-motion zone, users expect small changes in valve stem displacement to correspond to small changes in flow rate, i.e., a small rate of change in the flow area, to achieve millimeter-level precision control. Within the medium-speed zone, users expect the valve stem displacement to change the flow rate more quickly, achieving rapid speed adjustment, thus requiring a relatively large rate of change in the flow area. While existing hydraulic valves objectively exhibit a distribution of small rate of change in the micro-motion zone and large rate of change in the medium-speed zone, this distribution is often based on empirical design and may not match the actual operating frequency distribution of users. This embodiment identifies the existence and functional differences between the micro-motion zone and the medium-speed zone, providing a more refined basis for subsequent optimization based on user operation frequency. This allows for differentiated optimization to address the precise needs of the micro-motion zone and the high-efficiency needs of the medium-speed zone, thereby further improving the overall satisfaction of the control feel.

[0056] Figure 2The diagram illustrates a structural schematic of a hydraulic valve opening characteristic adjustment device according to an embodiment of this application. Figure 2 As shown in the figure, this application embodiment provides a hydraulic valve opening characteristic adjustment device 1000, which may include: The data acquisition module 1001 is used to acquire the user's historical operation data of the hydraulic valve, which includes valve stem displacement information. The characteristic acquisition module 1002 is used to acquire the original valve stem displacement-flow area characteristics of the hydraulic valve; The frequency division module 1003 is used to determine the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range based on historical operation data. The displacement division module 1004 is used to divide the preset valve stem displacement range into multiple displacement sub-ranges according to the actual distribution, wherein each displacement sub-range contains the same amount of historical operation data. The characteristic adjustment module 1005 is used to transform the original valve stem displacement-flow area characteristic according to multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic.

[0057] The hydraulic valve opening characteristic adjustment device provided in this application embodiment can realize each process of the hydraulic valve opening characteristic adjustment method in the above method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0058] Figure 3 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 3 As shown in the figure, this application provides a controller that may include: Memory 10 is configured to store instructions; The processor 20 is configured to retrieve instructions from the memory 10 and, when executing the instructions, to implement the aforementioned method for adjusting the opening characteristics of the hydraulic valve.

[0059] This application also provides a machine-readable storage medium storing instructions for causing a machine to perform the above-described hydraulic valve opening characteristic adjustment method.

[0060] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0061] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0062] 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.

[0063] 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.

[0064] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0065] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0066] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0067] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0068] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for adjusting the opening characteristics of a hydraulic valve, characterized in that, include: Acquire historical operation data of the hydraulic valve by the user, the historical operation data including valve stem displacement information; Obtain the original valve stem displacement-flow area characteristics of the hydraulic valve; Based on the historical operation data, the actual distribution between valve stem displacement and user operation frequency within the preset valve stem displacement range is determined. Based on the actual distribution, the preset valve stem displacement range is divided into multiple displacement sub-ranges, wherein each displacement sub-range contains the same amount of historical operation data. Based on the multiple displacement sub-intervals, the original valve stem displacement-flow area characteristic is transformed to obtain the adjusted valve stem displacement-flow area characteristic.

2. The method for adjusting the opening characteristics of a hydraulic valve according to claim 1, characterized in that, The step of transforming the original valve stem displacement-flow area characteristic according to the multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic includes: Establish the correspondence between the multiple displacement sub-intervals and the original valve stem displacement position in the original valve stem displacement-flow area characteristic; Based on the aforementioned correspondence, the flow area corresponding to each displacement sub-interval is determined through the original valve stem displacement-flow area characteristics, thereby forming the adjusted valve stem displacement-flow area characteristics.

3. The method for adjusting the opening characteristics of a hydraulic valve according to claim 2, characterized in that, Establishing the correspondence between the multiple displacement sub-intervals and the original valve stem displacement position includes: The projection position of each displacement sub-interval on the displacement domain of the original valve stem displacement-flow area characteristic is determined, wherein the projection position is determined by a linear mapping relationship so that a one-to-one correspondence is established between the displacement sub-interval and the projection position.

4. The method for adjusting the opening characteristics of a hydraulic valve according to claim 1, characterized in that, The step of determining the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range based on the historical operation data includes: The preset valve stem displacement range is divided into multiple consecutive statistical sub-ranges; The frequency of the historical operation data falling within each of the statistical sub-intervals is counted to generate the actual distribution between valve stem displacement and user operation frequency.

5. The method for adjusting the opening characteristics of a hydraulic valve according to claim 1, characterized in that, The step of dividing the preset valve stem displacement range into multiple displacement sub-ranges based on the actual distribution includes: Based on the actual distribution, the preset valve stem displacement interval is discretized by equal frequency to obtain multiple displacement sub-intervals.

6. The method for adjusting the opening characteristics of a hydraulic valve according to claim 1, characterized in that, The preset valve stem displacement range is the idle speed range of the hydraulic valve. Within the idle speed range, the movement speed of the hydraulic actuator controlled by the hydraulic valve is not affected by the engine speed.

7. The method for adjusting the opening characteristics of a hydraulic valve according to claim 6, characterized in that, The idle speed range includes a micro-motion range and a medium speed range following the micro-motion range. In the micro-motion range, the rate of change of the flow area corresponding to the valve stem displacement is less than the rate of change of the flow area corresponding to the valve stem displacement in the medium speed range.

8. A hydraulic valve opening characteristic adjustment device, characterized in that, include: The data acquisition module is used to acquire historical operation data of the hydraulic valve by the user, the historical operation data including valve stem displacement information; The characteristic acquisition module is used to acquire the original valve stem displacement-flow area characteristics of the hydraulic valve; The frequency division module is used to determine the actual distribution between valve stem displacement and user operation frequency within a preset valve stem displacement range based on the historical operation data. The displacement division module is used to divide the preset valve stem displacement range into multiple displacement sub-ranges according to the actual distribution, wherein each displacement sub-range contains the same amount of historical operation data. The characteristic adjustment module is used to transform the original valve stem displacement-flow area characteristic according to the multiple displacement sub-intervals to obtain the adjusted valve stem displacement-flow area characteristic.

9. An electronic device, characterized in that, include: The memory is configured to store instructions; The processor is configured to retrieve instructions from memory and, when executing the instructions, to implement the hydraulic valve opening characteristic adjustment method according to any one of claims 1 to 7.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform the hydraulic valve opening characteristic adjustment method according to any one of claims 1 to 7.

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