New energy engineering machinery speed loop PI control method, device, medium and system

Abstract

The application provides a new energy engineering machinery speed loop PI control method, device, medium and system, the method comprises the following steps: obtaining a speed difference value, the speed difference value is the difference between the target speed and the actual speed of the new energy engineering machinery; according to the size of the speed difference value and the peak speed, execute the first control operation, or execute the second control operation, the first control operation represents that proportional gain and integral gain are used for speed regulation at the same time, the second control operation represents that only proportional gain is used, the peak speed is related to the type of the new energy engineering machinery. The method for motor speed regulation according to the speed loop PI in the related art can solve the problem that the integral saturation leads to speed overshoot.

Description

Technical Field

[0001] This application relates to the field of electric drive system technology for new energy construction machinery, and more specifically, to a speed loop PI control method for new energy construction machinery, a speed loop PI control device for new energy construction machinery, a computer-readable storage medium, and a new energy construction machinery system. Background Technology

[0002] In related technologies, the method of motor speed regulation based on the speed loop PI (Proportional-Integral) involves the PI controller calculating the slip frequency based on the speed deviation value. The controller then generates a PWM (Pulse Width Modulation) signal by outputting the regulated control signal according to the proportional and integral operation rules based on the speed feedback value and the slip frequency, thereby regulating the motor speed. However, this method cannot solve problems such as speed overshoot and speed commutation delay caused by integral saturation. Summary of the Invention

[0003] The main objective of this application is to provide a speed loop PI control method, a speed loop PI control device, a computer-readable storage medium, and a new energy engineering machinery system for new energy engineering machinery, so as to at least solve the problem that the method of motor speed regulation based on speed loop PI in related technologies is difficult to cope with the speed overshoot caused by integral saturation.

[0004] To achieve the above objectives, according to one aspect of this application, a speed loop PI control method for new energy construction machinery is provided, comprising: acquiring a speed difference value, wherein the speed difference value is the difference between the target speed and the actual speed of the new energy construction machinery; and executing a first control operation or a second control operation based on the speed difference value and the magnitude of the peak speed, wherein the first control operation represents the simultaneous use of proportional gain and integral gain for speed regulation, and the second control operation represents the use of only the proportional gain, wherein the peak speed is related to the type of the new energy construction machinery.

[0005] Optionally, a first control operation or a second control operation may be performed based on the magnitude of the speed difference and the peak speed, including: performing the first control operation when the speed difference is less than the product of the peak speed and a preset multiple; and performing the second control operation when the speed difference is greater than or equal to the product of the peak speed and the preset multiple.

[0006] Optionally, after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy construction machinery, the method further includes: if the speed difference value is less than the product of the peak speed and a preset multiple, determining the torque sum value as the sum of the torque of the proportional gain and the torque of the integral gain; if the torque sum value is less than or equal to a preset torque upper limit of the speed loop, executing the first control operation; and if the torque sum value is greater than the preset torque upper limit, executing the second control operation.

[0007] Optionally, after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy engineering machinery, the method further includes: when the speed difference value is less than the product of the peak speed and a preset multiple, and the torque sum is less than or equal to a preset torque upper limit of the speed loop, comparing whether the direction of the torque of the proportional gain is the same as the direction of the torque of the integral gain, and obtaining a comparison result, wherein the torque sum value is the sum of the torque of the proportional gain and the torque of the integral gain; when the comparison result indicates that the direction of the torque of the proportional gain is the same as the direction of the torque of the integral gain, executing the first control operation; when the comparison result indicates that the direction of the torque of the proportional gain is not the same as the direction of the torque of the integral gain, executing the second control operation.

[0008] Optionally, before determining the sum of torque values ​​as the sum of the torque of the proportional gain and the torque of the integral gain, the method further includes: determining a target difference value as the difference between the speed difference and the product of the peak speed and a preset multiple; processing the target difference value using a neural network model to obtain multiple candidate torque upper limits and corresponding confidence levels; and determining the preset torque upper limit as the candidate torque upper limit corresponding to the maximum value of the confidence level.

[0009] Optionally, before determining the sum of torque values ​​as the sum of the torque of the proportional gain and the torque of the integral gain, the method further includes: determining a target difference value as the difference between the speed difference and the product of the peak speed and a preset multiple; and determining a preset torque upper limit based on a torque mapping relationship and the target difference value, wherein the torque mapping relationship is a mapping relationship between the candidate torque upper limit and the target difference value.

[0010] Optionally, the method further includes: during the execution of the second control operation, clearing the torque of the integral gain according to the gradient before restarting the accumulation.

[0011] According to another aspect of this application, a speed loop PI control device for new energy construction machinery is provided, comprising: an acquisition unit for acquiring a speed difference value, wherein the speed difference value is the difference between the target speed and the actual speed of the new energy construction machinery; and a first processing unit for executing a first control operation or a second control operation based on the speed difference value and the magnitude of the peak speed, wherein the first control operation is characterized by simultaneously using proportional gain and integral gain for speed regulation, and the second control operation is characterized by using only the proportional gain, wherein the peak speed is related to the type of the new energy construction machinery.

[0012] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform any of the methods described.

[0013] According to another aspect of this application, a new energy engineering machinery system is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any one of the methods described.

[0014] By applying the technical solution of this application, the accumulation function of the integral term is actively cut off based on the speed difference and the magnitude of the peak speed, relying solely on the proportional term Kp for rapid response. While the Kp torque cannot completely eliminate steady-state error, its fast response speed and lack of accumulation delay allow it to quickly drive the motor to approach the target speed, avoiding the integral term during large speed difference phases. This application requires no complex algorithms or additional sensors; real-time intervention can be achieved through simple condition judgments, fundamentally preventing the ineffective or even harmful accumulation of the integral term under saturation conditions. This completely blocks the cause of speed overshoot and significantly shortens the response time during speed reversal or zeroing. Compared to traditional methods that rely on high-computational-cost schemes such as prediction, filtering, or differential compensation, this application greatly improves robustness, real-time performance, and engineering feasibility while ensuring control performance. This solves the problem that methods using the speed loop PI for motor speed regulation in related technologies struggle to cope with speed overshoot caused by integral saturation. Attached Figure Description

[0015] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0016] Figure 1 A schematic flowchart of a first type of speed loop PI control method for new energy engineering machinery provided according to an embodiment of this application is shown;

[0017] Figure 2 A schematic flowchart of a second type of speed loop PI control method for new energy engineering machinery provided according to an embodiment of this application is shown;

[0018] Figure 3 A structural block diagram of a speed loop PI control device for new energy engineering machinery provided according to an embodiment of this application is shown. Detailed Implementation

[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] As described in the background section, the related technologies use a speed loop PI (Proportional-Integral) method for motor speed regulation. The PI controller calculates the slip frequency based on the speed deviation value. Based on the speed feedback value and slip frequency, the controller outputs a regulated control signal according to proportional and integral operation rules to generate a PWM (Pulse Width Modulation) signal for motor speed regulation. To address the problem of speed overshoot caused by integral saturation in the related technologies for motor speed regulation using a speed loop PI method, this application provides a speed loop PI control method for new energy construction machinery, a speed loop PI control device for new energy construction machinery, a computer-readable storage medium, and a new energy construction machinery system.

[0023] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0024] This embodiment provides a speed loop PI control method for new energy construction machinery. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0025] Figure 1 This is a flowchart of a speed loop PI control method for new energy construction machinery according to an embodiment of this application. For example... Figure 1 As shown, the method includes the following steps:

[0026] Step S101: Obtain the speed difference value, which is the difference between the target speed and the actual speed of the new energy engineering machinery;

[0027] Step S102: Based on the above speed difference and the magnitude of the peak speed, execute a first control operation or execute a second control operation. The first control operation is characterized by using both proportional gain and integral gain for speed regulation, while the second control operation is characterized by using only the above proportional gain. The peak speed is related to the type of the above new energy engineering machinery.

[0028] Kp is the proportional gain, and Ki is the integral gain.

[0029] In the above steps, based on the speed difference and the peak speed, the accumulation function of the integral term is actively cut off, relying solely on the proportional term Kp for rapid response. While the Kp torque cannot completely eliminate steady-state error, its fast response speed and lack of accumulation delay allow it to quickly drive the motor towards the target speed, avoiding the integral term during large speed difference phases. This application requires no complex algorithms or additional sensors; real-time intervention can be achieved through simple conditional judgments, fundamentally preventing the ineffective or even harmful accumulation of the integral term under saturation conditions. This completely blocks the cause of speed overshoot and significantly shortens the response time during speed reversal or zeroing. Compared to traditional methods that rely on high-computational-cost schemes such as prediction, filtering, or differential compensation, this application greatly improves robustness, real-time performance, and engineering feasibility while ensuring control performance. This solves the problem that methods using the speed loop PI for motor speed regulation in related technologies struggle to cope with speed overshoot caused by integral saturation.

[0030] In one embodiment of this application, a first control operation or a second control operation is performed based on the speed difference and the peak speed, including: performing the first control operation when the speed difference is less than the product of the peak speed and a preset multiple; and performing the second control operation when the speed difference is greater than or equal to the product of the peak speed and a preset multiple.

[0031] The preset multiplier can be 0.3, which effectively avoids integral saturation caused by long-term accumulation of the integral term under large speed difference conditions, preventing speed overshoot and reversal response lag caused by excessive accumulation of integral torque. Simultaneously, the integral action is only activated when the speed difference is small, accurately eliminating steady-state errors while balancing dynamic response speed and steady-state accuracy. This strategy activates integral compensation only when the system approaches the target speed and the control enters the stable region, significantly improving the smoothness, responsiveness, and energy utilization efficiency of the speed regulation process. It is particularly suitable for complex operating conditions involving frequent starts and stops and speed switching in construction machinery, and requires no complex algorithms, has low computational overhead, and is simple and reliable to implement in engineering.

[0032] In one embodiment of this application, after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy engineering machinery, the method further includes: if the speed difference value is less than the product of the peak speed and a preset multiple, determining the torque sum value as the sum of the torque of the proportional gain and the torque of the integral gain; if the torque sum value is less than or equal to the preset torque upper limit of the speed loop, performing the first control operation; and if the torque sum value is greater than the preset torque upper limit, performing the second control operation.

[0033] After obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy construction machinery, the above method further sets the activation condition for integral action by setting the speed difference value to be less than the product of the peak speed and a preset multiple. This effectively avoids the ineffective accumulation of the integral term under large speed difference conditions and prevents premature integral saturation. Simultaneously, by calculating the sum of the proportional torque and integral torque in real time and comparing it with the preset torque upper limit of the speed loop, dynamic constraints on the total output torque are achieved: when the sum of the torques does not exceed the limit, proportional and integral torques are allowed to work together to ensure steady-state accuracy and dynamic response; when the sum of the torques exceeds the upper limit, integral accumulation is immediately cut off, and control is maintained solely by the proportional term, thereby avoiding system overshoot and response lag caused by controller output saturation. This mechanism accurately identifies and avoids the critical condition of integral saturation without increasing the additional computational burden, significantly improving stability, response speed, and commutation smoothness during speed regulation, balancing control accuracy and overall vehicle comfort, and possessing good engineering feasibility and robustness.

[0034] In one embodiment of this application, after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy engineering machinery, the method further includes: when the speed difference value is less than the product of the peak speed and a preset multiple, and the sum of torques is less than or equal to the preset upper limit of the torque of the speed loop, comparing whether the direction of the torque of the proportional gain is the same as the direction of the torque of the integral gain, and obtaining a comparison result, wherein the sum of torques is the sum of the torque of the proportional gain and the torque of the integral gain; when the comparison result indicates that the direction of the torque of the proportional gain is the same as the direction of the torque of the integral gain, executing the first control operation; when the comparison result indicates that the direction of the torque of the proportional gain is not the same as the direction of the torque of the integral gain, executing the second control operation.

[0035] After acquiring the speed difference, by determining that the speed difference is within limits and the total torque has not reached the saturation boundary, the proportional torque (Kp torque) and integral torque (Ki torque) are further compared in direction to accurately identify whether the current system is in a transitional phase where it has overshooted but is still adjusting. When the two directions are the same, it indicates that the system is still in a normal tracking process, and integral accumulation is allowed to continue to eliminate steady-state error and maintain control accuracy. When the two directions are opposite, it indicates that the actual speed has exceeded the target value and overshoot has occurred. At this time, the integral term is aggravating the reverse deviation. If it continues to accumulate, it will prolong the response recovery time and even cause oscillation. Immediately executing zeroing or gradient desaturation operation can quickly eliminate the hysteresis effect caused by integral saturation, significantly shorten the speed reversal response time, avoid excessive overshoot and oscillation, and improve the smoothness and accuracy of speed following. This mechanism achieves intelligent start-stop and dynamic correction of integral action without adding complex algorithms, taking into account control response speed, steady-state accuracy, and system stability. It is especially suitable for the working conditions of construction machinery with frequent start-stop and rapid speed adjustment, significantly improving driving comfort and work efficiency.

[0036] In one embodiment of this application, before determining the sum of torque values ​​as the sum of the torque of the proportional gain and the torque of the integral gain, the method further includes: determining the target difference value as the difference between the speed difference and the product of the peak speed and a preset multiple; processing the target difference value using a neural network model to obtain multiple candidate torque upper limits and corresponding confidence levels; and determining the preset torque upper limit as the candidate torque upper limit corresponding to the maximum value of the confidence level.

[0037] The neural network model, trained based on historical operating data, can learn the most suitable combination of torque upper limits under complex operating conditions and output multiple candidate torque upper limits and their corresponding confidence levels. This allows it to select the most reliable upper limit value that best matches the current operating conditions in an uncertain environment. This adaptive mechanism significantly improves the system's robustness and control accuracy under complex and variable operating conditions.

[0038] In one embodiment of this application, before determining the sum of the torque values, the method further includes: determining the target difference value as the difference between the speed difference value and the product of the peak speed and a preset multiple; and determining the preset torque upper limit value based on the torque mapping relationship and the target difference value, wherein the torque mapping relationship is the mapping relationship between the candidate torque upper limit value and the target difference value.

[0039] To avoid severe overshoot due to excessive Ki accumulation, the target difference increases as the speed difference decreases and approaches the target speed, thereby raising the upper limit of torque and allowing Kp and Ki to work together to achieve high-precision tracking. This dynamic mechanism makes the system more conservative and safer during large speed difference phases, and more sensitive and accurate during small speed difference phases, significantly improving the robustness and smoothness of the speed regulation process.

[0040] In one embodiment of this application, the method further includes: during the execution of the second control operation, the torque of the integral gain is cleared to zero according to the gradient before accumulation starts again.

[0041] By using gradient zeroing (rather than abrupt zeroing), the drastic disturbances caused by changes in integral torque to the control system can be avoided, and speed control fluctuations or oscillations caused by the instantaneous zeroing of Ki torque can be prevented, thereby significantly improving the smoothness and stability of the system's dynamic response.

[0042] To enable those skilled in the art to better understand the technical solution of this application, the implementation process of the speed loop PI control method for new energy engineering machinery of this application will be described in detail below with reference to specific embodiments.

[0043] This embodiment relates to a specific speed loop PI control method for new energy engineering machinery, such as... Figure 2 As shown, it includes:

[0044] The speed difference is obtained, which is the difference between the target speed and the actual speed of the new energy construction machinery. The first control operation characterization uses both proportional gain and integral gain for speed regulation, while the second control operation characterization uses only proportional gain. The peak speed is related to the type of new energy construction machinery.

[0045] If the speed difference is greater than or equal to the product of the peak speed and a preset multiple, the second control operation is executed;

[0046] If the speed difference is less than the product of the peak speed and the preset multiple, the sum of torques is determined to be the sum of the torques of the proportional gain and the torques of the integral gain.

[0047] If the speed difference is less than the product of the peak speed and a preset multiple, and the sum of torques is less than or equal to the preset upper limit of torque of the speed loop, the direction of the proportional gain torque is compared with the direction of the integral gain torque to obtain a comparison result. The sum of torques is the sum of the proportional gain torque and the integral gain torque. If the comparison result indicates that the direction of the proportional gain torque is the same as the direction of the integral gain torque, the first control operation is executed. If the comparison result indicates that the direction of the proportional gain torque is different from the direction of the integral gain torque, the second control operation is executed.

[0048] If the torque value exceeds the preset upper limit of torque, the second control operation is executed.

[0049] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0050] This application also provides a speed loop PI control device for new energy construction machinery. It should be noted that the speed loop PI control device for new energy construction machinery in this application can be used to execute the speed loop PI control method for new energy construction machinery provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0051] The following describes the speed loop PI control device for new energy construction machinery provided in the embodiments of this application.

[0052] Figure 3 This is a schematic diagram of a speed loop PI control device for new energy engineering machinery according to an embodiment of this application. Figure 3 As shown, the device includes: an acquisition unit 31, used to acquire a speed difference value, wherein the speed difference value is the difference between the target speed and the actual speed of the new energy construction machinery; and a first processing unit 32, used to execute a first control operation or a second control operation based on the speed difference value and the magnitude of the peak speed, wherein the first control operation is characterized by using both proportional gain and integral gain for speed regulation, and the second control operation is characterized by using only the proportional gain, wherein the peak speed is related to the type of the new energy construction machinery.

[0053] Optionally, the first processing unit includes: a first processing module for performing the first control operation when the speed difference is less than the product of the peak speed and a preset multiple; and a second processing module for performing the second control operation when the speed difference is greater than or equal to the product of the peak speed and the preset multiple.

[0054] Optionally, the above-mentioned device further includes: a second processing unit, a third processing unit, and a fourth processing unit. The second processing unit is used to determine the sum of torques as the sum of the torques of the proportional gain and the torques of the integral gain when the speed difference value is less than the product of the peak speed and the preset multiple after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy engineering machinery. The third processing unit is used to execute the first control operation when the sum of torques is less than or equal to the preset torque upper limit of the speed loop. The fourth processing unit is used to execute the second control operation when the sum of torques is greater than the preset torque upper limit.

[0055] Optionally, the above-mentioned device further includes: a fifth processing unit, a sixth processing unit, and a seventh processing unit. The fifth processing unit is used to, after obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy engineering machinery, compare whether the direction of the proportional gain torque is the same as the direction of the integral gain torque when the speed difference value is less than the product of the peak speed and the preset multiple, and the torque sum value is less than or equal to the preset torque upper limit of the speed loop, and obtain a comparison result. The torque sum value is the sum of the proportional gain torque and the integral gain torque. The sixth processing unit is used to execute the first control operation when the comparison result indicates that the direction of the proportional gain torque is the same as the direction of the integral gain torque. The seventh processing unit is used to execute the second control operation when the comparison result indicates that the direction of the proportional gain torque is not the same as the direction of the integral gain torque.

[0056] The preset torque limit is related to the motor model.

[0057] Optionally, the above-mentioned device further includes: an eighth processing unit, a ninth processing unit, and a tenth processing unit. The eighth processing unit is used to determine, before determining the sum of the torque and the torque of the proportional gain and the integral gain, that the target difference is the difference between the speed difference and the product of the peak speed and the preset multiple. The ninth processing unit is used to process the target difference using a neural network model to obtain multiple candidate torque upper limits and corresponding confidence levels. The tenth processing unit is used to determine that the preset torque upper limit is the candidate torque upper limit corresponding to the maximum value of the confidence level.

[0058] Optionally, the above-mentioned device further includes: an eleventh processing unit and a twelfth processing unit, wherein the eleventh processing unit is used to determine, before determining the sum of the torque and the sum of the torque of the proportional gain and the torque of the integral gain, the target difference is the difference between the speed difference and the product of the peak speed and the preset multiple; the twelfth processing unit is used to determine the preset torque upper limit according to the torque mapping relationship and the target difference, wherein the torque mapping relationship is the mapping relationship between the selected torque upper limit and the target difference.

[0059] Optionally, the above-mentioned device further includes: a thirteenth processing unit, used to clear the torque of the integral gain according to the gradient and then start accumulating again during the execution of the second control operation.

[0060] The aforementioned speed loop PI control device for new energy engineering machinery includes a processor and a memory. The acquisition unit and the first processing unit, among others, are stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. All of the above modules reside in the same processor; alternatively, the modules may be located in different processors in any combination.

[0061] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured. By adjusting kernel parameters, the problem of speed overshoot caused by integral saturation, which is difficult to address in related technologies that use PI control based on the speed loop, can be solved.

[0062] The memory may include non-permanent 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, and the memory includes at least one memory chip.

[0063] This invention provides a computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device containing the computer-readable storage medium to perform the speed loop PI control method for the new energy engineering machinery.

[0064] This invention provides a processor for running a program, wherein the program executes the speed loop PI control method for the new energy engineering machinery.

[0065] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps: obtaining a speed difference value, where the speed difference value is the difference between the target speed and the actual speed of the new energy construction machinery; and executing a first control operation or a second control operation based on the speed difference value and the magnitude of the peak speed. The first control operation represents speed regulation using both proportional gain and integral gain, while the second control operation represents speed regulation using only the proportional gain. The peak speed is related to the type of the new energy construction machinery. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0066] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps: obtaining a speed difference value, wherein the speed difference value is the difference between the target speed and the actual speed of the new energy construction machinery; and performing a first control operation or a second control operation based on the speed difference value and the magnitude of the peak speed, wherein the first control operation is characterized by simultaneously using proportional gain and integral gain for speed regulation, and the second control operation is characterized by using only the proportional gain, wherein the peak speed is related to the type of the new energy construction machinery.

[0067] This application also provides a new energy engineering machinery system, including: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include methods for performing any of the above-described methods.

[0068] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.

[0073] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0074] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0075] Computer-readable media include both permanent and non-permanent, removable and non-removable media that can store information by 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.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] 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.

[0078] The above description is merely a preferred embodiment of this application and is not intended to limit 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 protection scope of this application.

Claims

1. A speed loop PI control method for new energy engineering machinery, characterized in that, include: Obtain the speed difference value, which is the difference between the target speed and the actual speed of the new energy engineering machinery; Based on the speed difference and the peak speed, a first control operation or a second control operation is executed. The first control operation indicates that both proportional gain and integral gain are used for speed regulation, while the second control operation indicates that only the proportional gain is used. The peak speed is related to the type of new energy engineering machinery.

2. The method according to claim 1, characterized in that, Based on the speed difference and the magnitude of the peak speed, execute a first control operation or a second control operation, including: If the speed difference is less than the product of the peak speed and a preset multiple, the first control operation is executed; If the speed difference is greater than or equal to the product of the peak speed and a preset multiple, the second control operation is executed.

3. The method according to claim 1, characterized in that, After obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy construction machinery, the method further includes: If the speed difference is less than the product of the peak speed and a preset multiple, the sum of torques is determined to be the sum of the torques of the proportional gain and the torques of the integral gain. If the sum of the torque and the value are less than or equal to the preset upper limit of the torque of the speed loop, the first control operation is executed; If the torque and value are greater than the preset torque upper limit, the second control operation is executed.

4. The method according to claim 1, characterized in that, After obtaining the speed difference value as the difference between the target speed and the actual speed of the new energy construction machinery, the method further includes: When the speed difference is less than the product of the peak speed and a preset multiple, and the sum of torques is less than or equal to the preset upper limit of torque of the speed loop, the direction of the torque of the proportional gain is compared with the direction of the torque of the integral gain to obtain a comparison result. The sum of torques is the sum of the torque of the proportional gain and the torque of the integral gain. If the comparison result indicates that the direction of the torque representing the proportional gain is the same as the direction of the torque representing the integral gain, then the first control operation is executed. If the direction of the torque representing the proportional gain is different from the direction of the torque representing the integral gain, the second control operation is executed.

5. The method according to claim 3, characterized in that, Before determining the sum of the torque values, the method further includes: The target difference is determined to be the difference between the speed difference and the product of the peak speed and a preset multiple; A neural network model is used to process the target difference to obtain multiple candidate torque upper limits and corresponding confidence levels; The preset torque upper limit is determined to be the candidate torque upper limit corresponding to the maximum value of the confidence level.

6. The method according to claim 3, characterized in that, Before determining the sum of the torque values, the method further includes: The target difference is determined to be the difference between the speed difference and the product of the peak speed and a preset multiple; The preset torque upper limit is determined based on the torque mapping relationship and the target difference, wherein the torque mapping relationship is the mapping relationship between the candidate torque upper limit and the target difference.

7. The method according to claim 1, characterized in that, The method further includes: During the execution of the second control operation, the torque of the integral gain is cleared to zero according to the gradient before accumulation starts again.

8. A speed loop PI control device for new energy engineering machinery, characterized in that, include: An acquisition unit is used to acquire a speed difference value, wherein the speed difference value is the difference between the target speed and the actual speed of the new energy engineering machinery; The first processing unit is used to perform a first control operation or a second control operation based on the speed difference and the peak speed. The first control operation is characterized by using both proportional gain and integral gain for speed regulation, while the second control operation is characterized by using only the proportional gain. The peak speed is related to the type of the new energy engineering machinery.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1 to 7.

10. A new energy engineering machinery system, characterized in that, include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs comprising methods for performing any one of claims 1 to 7.

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