Constant-current control method and apparatus, and vehicle

Abstract

Provided in the present application are a constant-current control method and apparatus, and a vehicle. The constant-current control method comprises: when the load of a constant-current system changes, on the basis of a present load, obtaining an initial parameter value of a target control apparatus from target parameter values corresponding to different candidate loads; and on the basis of the initial parameter value and a target current value and the present current value of the constant-current system, updating the present parameter value of the target control apparatus until the difference between the present current value and the target current value meets a preset threshold value interval. Since the initial parameter value of the target control apparatus is obtained on the basis of the present load and from the target parameter values corresponding to different candidate loads, the initial parameter value of the target control apparatus can be close to a target parameter value thereof, and thus during the process of updating the parameter value of each control parameter of the target control apparatus on the basis of the initial parameter value of the target control apparatus, a constant-current output response duration of the constant-current system can be effectively shortened, and the applicability to different application scenarios is improved.

Description

Constant current control method, device and vehicle Technical Field

[0001] The present application relates to the field of automation control technology, and more specifically, to a constant current control method, device, and vehicle.

[0002] Background of the Invention

[0003] Constant current systems can drive the stable operation of related equipment and are widely used in fields such as vehicles. However, the load of a constant current system often fluctuates due to factors such as operating conditions and the environment. This load change causes the current in the constant current system to change, making it impossible to ensure the system's effective operation.

[0004] Currently, load adaptation is usually achieved through different hardware circuit configurations. However, the constant current response time of the constant current system caused by hardware circuit configuration is long and has great limitations, thus making it impossible to guarantee the stable operation of related equipment.

[0005] Summary of the Invention

[0006] In order to solve the above technical problems, the present application provides a constant current control method, device and vehicle to achieve the purpose of reducing the constant current output response time and improving the applicability to different application scenarios.

[0007] To achieve the above technical objectives, the embodiments of the present application provide the following technical solutions:

[0008] In a first aspect, an embodiment of the present application provides a constant current control method, comprising: when determining that the load of a constant current system has changed, obtaining an initial parameter value of a target control device from a preset parameter data set based on the current load; wherein the preset parameter data set is used to store the target parameter value of the target control device under different candidate loads; based on the initial parameter value and the target current value and current current value of the constant current system, updating the current parameter value of the target control device until the difference between the current current value and the target current value meets a preset threshold range; wherein the target control device is used to perform current regulation on the constant current system based on the current parameter value.

[0009] Optionally, the initial parameter value of the target control device is obtained from the preset parameter data set based on the current load, including: determining the target load among each candidate load based on the difference between the current load and each candidate load in the preset parameter data set; and determining the initial parameter value of the target control device based on the target parameter value corresponding to the target load.

[0010] Optionally, based on the difference between the current load and each candidate load in the preset parameter data set, the target load among each candidate load is determined, including: determining the target current range based on the target current value; based on the difference between the current load and each candidate load in the preset parameter data set, determining the target load from each candidate load corresponding to the target current range.

[0011] Optionally, based on the difference between the current load and each candidate load in the preset parameter data set, the target load is determined from each candidate load corresponding to the target current interval, including: taking the candidate load with the smallest difference between the current load and each candidate load corresponding to the target current interval as the target load.

[0012] Optionally, based on the target current value, the target current interval is determined, including: dividing the range of the output current of the constant current system into multiple current intervals; matching the target current value with each current interval in the multiple current intervals, and if the match is successful, using the successfully matched current interval as the target current interval.

[0013] Optionally, the initial parameter value of the target control device is determined based on the target parameter value corresponding to the target load, including: if the number of target loads is two, the initial parameter value of the target control device is determined by linear interpolation method based on the target parameter value corresponding to each target load.

[0014] Optionally, if the number of target loads is two, the initial parameter value of the target control device is determined by linear interpolation based on the target parameter value corresponding to each target load, including: when the two target loads correspond to the same target current interval, linear interpolation is performed based on the difference between the current load and the two target loads and the target parameter values ​​corresponding to the two target loads, and the result of the linear interpolation is used as the initial parameter value.

[0015] Optionally, based on the initial parameter value and the target current value and current current value of the constant current system, the current parameter value of the target control device is updated, including: generating a target response model corresponding to the target current value based on the target current value and a preset current response model; wherein the preset current response model is used to characterize the response state when the target output current of the constant current system is a preset current; based on the initial parameter value, the target current value, the current current value and the target response model, the current parameter value of the target control device is updated.

[0016] Optionally, based on the initial parameter value, the target current value, the current current value and the target response model, the current parameter value of the target control device is updated, including: determining the target point position in the target response model based on the current value corresponding to the initial parameter value; determining multiple sampling points in the target response model based on the target point position and the target current value; and updating the current parameter value of the target control device based on the current value corresponding to each sampling point and the current current value.

[0017] Optionally, based on the target current value and the preset current response model, a target response model corresponding to the target current value is generated, including: obtaining the difference between the target current value and the preset current; and shifting the curve corresponding to the preset current response model upward or downward according to the difference to obtain the target response model.

[0018] Optionally, it also includes: when it is determined that the difference between the current current value and the target current value meets the preset threshold range, the current parameter value of the target control device is used as the target parameter value corresponding to the current load, and the target parameter value corresponding to the current load is stored in a preset parameter data set.

[0019] In a second aspect, an embodiment of the present application provides a constant current control device, comprising: a first processing module, for determining that when the load of the constant current system changes, an initial parameter value of the target control device is obtained from a preset parameter data set based on the current load; wherein the preset parameter data set is used to store the target parameter value of the target control device under different candidate loads; a second processing module, for updating the current parameter value of the target control device based on the initial parameter value and the target current value and current current value of the constant current system, until the difference between the current current value and the target current value meets a preset threshold range; wherein the target control device is used to perform current regulation on the constant current system based on the current parameter value.

[0020] In a third aspect, an embodiment of the present application provides a vehicle, which includes the constant current control device as described above, or adopts any of the constant current control methods as described above.

[0021] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the constant current control method as described above is implemented.

[0022] In a fifth aspect, an embodiment of the present application provides a computer program product or a computer program, wherein the computer program product includes a computer program, and the computer program is stored in a computer-readable storage medium; a processor of a computer device reads the computer program from the computer-readable storage medium, and when the processor executes the computer program, a constant current control method such as any one of the above is implemented.

[0023] It can be seen from the above technical solution that the embodiments of the present application provide a constant current control method, device and vehicle, wherein the constant current control method obtains an initial parameter value of a target control device from target parameter values ​​corresponding to different candidate loads based on the current load when the load of the constant current system changes, and updates the current parameter value of the target control device based on the initial parameter value and the target current value and current current value of the constant current system until the difference between the current current value and the target current value meets the preset threshold interval, wherein the target control device is used to adjust the current of the constant current system based on the current parameter value. Since the initial parameter value of the target control device is obtained from the target parameter values ​​corresponding to different candidate loads based on the current load, the initial parameter value of the target control device can be close to its target parameter value, thereby effectively reducing the constant current output response time of the constant current system in the process of updating the parameter values ​​of each control parameter of the target control device based on the initial parameter value. At the same time, the current parameter value of the target control device is updated according to the target current value and the current current value of the constant current system, which can be applicable to different constant current application scenarios, thereby improving the applicability to different application scenarios.

[0024] BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0026] FIG1 is a flow chart of a constant current control method provided by an exemplary embodiment of the present application;

[0027] FIG2 is a schematic diagram of a process for obtaining initial parameter values ​​of a target control device from a preset parameter data set based on the current load according to an exemplary embodiment of the present application;

[0028] FIG3 is a schematic diagram of a flow chart of updating a current parameter value of a target control device provided by an exemplary embodiment of the present application;

[0029] FIG4 is a schematic structural diagram of a constant current control device provided by an exemplary embodiment of the present application.

[0030] Modes for Carrying Out the Invention

[0031] Unless otherwise defined, technical or scientific terms used in the embodiments of this application should have the same ordinary meaning as those understood by persons of ordinary skill in the art to which this application belongs. The terms "first," "second," and similar expressions used in the embodiments of this application do not denote any order, quantity, or importance, but are merely provided to avoid confusion among constituent elements.

[0032] Unless the context requires otherwise, throughout this specification, the term "plurality" means "at least two," and "including" is to be interpreted as open and inclusive, meaning "including, but not limited to." Throughout this specification, terms such as "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific example," or "some examples" are intended to indicate that a particular feature, structure, material, or characteristic associated with the embodiment or example is included in at least one embodiment or example of the present application. The schematic representations of these terms do not necessarily refer to the same embodiment or example.

[0033] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0034] Overview

[0035] As described in the background technology, the constant current system can drive the stable operation of related equipment and is widely used in fields such as vehicles. However, affected by factors such as working conditions and environment, the load of the constant current system will usually change. The change in load will cause the current of the constant current system to change, and the effective operation of the constant current system cannot be guaranteed. Traditional constant current control methods usually implement load adaptation functions through different hardware circuit configurations. However, the hardware circuit configuration is time-consuming, resulting in a long constant current response time of the constant current system; at the same time, the hardware circuit configuration is difficult to apply to all constant current application scenarios and has great limitations. Therefore, the method of traditional hardware circuit configuration cannot guarantee the stable operation of related equipment.

[0036] In order to solve the problems of long constant current response time and large limitations of traditional constant current control methods, in the related art, when the load of the constant current system changes, the initial parameter value of the target control device can be obtained from the target parameter values ​​corresponding to different candidate loads based on the current load, and the current parameter value of the target control device can be updated based on the initial parameter value and the target current value and current current value of the constant current system until the difference between the current current value and the target current value meets the preset threshold range, wherein the target control device is used to adjust the current of the constant current system based on the current parameter value. Since the initial parameter value of the target control device is obtained from the target parameter values ​​corresponding to different candidate loads based on the current load, the initial parameter value of the target control device can be close to its target parameter value. Therefore, in the process of updating the parameter values ​​of each control parameter of the target control device based on the initial parameter value, the constant current output response time of the constant current system can be effectively reduced. At the same time, the current parameter value of the target control device is updated according to the target current value and current current value of the constant current system, which can be applicable to different constant current application scenarios, thereby improving the applicability to different application scenarios.

[0037] In addition, in order to further reduce the constant current output response time of the constant current system, the constant current control method provided in the embodiment of the present application also sets a method for determining the initial parameter value of the target control device and a method for updating the current parameter value of the target control device.

[0038] Based on the above-mentioned inventive concept, the constant current control method provided in the embodiment of the present application is exemplarily described below.

[0039] Exemplary Methods

[0040] The present invention provides a constant current control method, as shown in FIG1 , including:

[0041] S101. When it is determined that the load of the constant current system has changed, an initial parameter value of a target control device is obtained from a preset parameter data set based on the current load; wherein the preset parameter data set is used to store target parameter values ​​of the target control device under different candidate loads.

[0042] Specifically, the constant current system is a system in which the magnitude of the output current is kept constant, such as a constant current drive system.

[0043] The specific method for determining whether the load of the constant current system has changed can be set according to actual needs. For example, a voltage detection device and a current detection device can be set in the constant current system. During the operation of the constant current system, the voltage and current can be detected in real time by the voltage detection device and the current detection device, and the load of the constant current system can be determined based on the voltage and current. When the difference between the current load and the load at the previous moment is greater than the preset load value, it is determined that the load of the constant current system has changed. In addition, it is also possible to determine whether the load of the constant current system has changed based on the input load value or the load value received from other devices (such as the vehicle controller).

[0044] The current load is the load of the constant current system at the current moment. The target control device is a device that controls the current output of the constant current system, such as a proportional-integral-derivative (PID) control device. The initial parameter values ​​of the target control device are the parameter values ​​of the control parameters of the target control device at the initial moment when the output current of the constant current system is adjusted when the load of the constant current system changes. Taking the PID control device as an example, the control parameters may include the proportional coefficient Kp, the integral coefficient Ki, and the differential coefficient Kd.

[0045] The preset parameter data set may include target parameter values ​​corresponding to multiple different candidate loads. For any candidate load, its corresponding target parameter value represents the parameter value of each control parameter of the target control device when the load of the constant current system is the candidate load and the difference between the output current of the constant current system and the target current value is stable within a preset threshold range. Each candidate load may correspond to one or more sets of target parameter values, each set of target parameter values ​​including the parameter values ​​of each control parameter of the target control device.

[0046] Among them, each target parameter value in the preset parameter data set can be obtained by adjusting the set load. For example, in a laboratory environment, according to the set candidate load, the parameter values ​​of each control parameter of the target control device are adjusted. If the constant current system has the optimal constant current output response time and stability under the candidate load, then when the difference between the output current of the constant current system and the target current value is stable within the preset threshold range, the parameter values ​​of each control parameter of the target control device are used as the target parameter values ​​corresponding to the candidate load. In addition, in actual applications, when the load of the constant current system is a new load, the parameter values ​​of each control parameter of the target control device can also be stored in the preset parameter data set as the target parameter values ​​corresponding to the new load when the difference between the output current of the constant current system and the target current value is stable within the preset threshold range.

[0047] In implementation, in the process of obtaining the initial parameter value of the target control device from the preset parameter data set based on the current load, the initial parameter value corresponding to the current load can be determined based on the target parameter value corresponding to the candidate load closest to the current load in the preset parameter data set.

[0048] S102. Based on the initial parameter value and the target current value and current current value of the constant current system, update the current parameter value of the target control device until the difference between the current current value and the target current value meets the preset threshold range; wherein the target control device is used to adjust the current of the constant current system based on the current parameter value.

[0049] Specifically, the target current value of the constant current system is the current value that the constant current system needs to output, and the current value of the constant current system is the current value actually output by the constant current system at the current moment.

[0050] The current parameter value of the target control device is the parameter value of each control parameter of the target control device at the current moment. The target control device can adjust the output current of the constant current system based on the current parameter value.

[0051] During implementation, the current parameter value of the target control device can be updated based on the initial parameter value of the target control device and the target current value and current current value of the constant current system until the difference between the current current value and the target current value of the constant current system meets the preset threshold range, that is, the output current adjustment of the constant current system is completed, so that the constant current system can output stably near the target current value.

[0052] In the process of updating the current parameter value of the target control device based on the initial parameter value of the target control device and the target current value and current current value of the constant current system, the current parameter value of the target control device can be updated to the initial parameter value, and based on the initial parameter value of the target control device, the current parameter value of the target control device is iteratively updated according to the target current value and current current value of the constant current system until the difference between the current current value and the target current value of the constant current system is stabilized within a preset threshold range. In addition, the current parameter value of the target control device can be updated step by step according to a preset current change trend until the difference between the current current value and the target current value of the constant current system is stabilized within a preset threshold range.

[0053] It can be seen that the constant current control method provided in the embodiment of the present application obtains the initial parameter value of the target control device from the target parameter values ​​corresponding to different candidate loads based on the current load when the load of the constant current system changes, and updates the current parameter value of the target control device based on the initial parameter value and the target current value and current current value of the constant current system until the difference between the current current value and the target current value meets the preset threshold interval, wherein the target control device is used to regulate the current of the constant current system based on the current parameter value. Since the initial parameter value of the target control device is obtained from the target parameter values ​​corresponding to different candidate loads based on the current load, the initial parameter value of the target control device can be close to its target parameter value, thereby effectively reducing the constant current output response time of the constant current system in the process of updating the parameter values ​​of each control parameter of the target control device based on the initial parameter value. At the same time, updating the current parameter value of the target control device according to the target current value and the current current value of the constant current system can be applicable to different constant current application scenarios, thereby improving the applicability to different application scenarios.

[0054] In order to improve the effectiveness of the result of obtaining the initial parameter value of the target control device, as shown in FIG2 , in one embodiment of the present application, the initial parameter value of the target control device is obtained from the preset parameter data set based on the current load, including:

[0055] S201: Determine a target load among the candidate loads based on a difference between the current load and the candidate loads in a preset parameter data set.

[0056] S202: Determine an initial parameter value of the target control device based on the target parameter value corresponding to the target load.

[0057] Specifically, in the process of obtaining the initial parameter value of the target control device from the preset parameter data set based on the current load, the difference between the current load and each candidate load in the preset parameter data set can be obtained, and the target load in each candidate load can be determined based on each difference.

[0058] In implementation, the differences can be sorted, and a target load among the candidate loads can be determined based on the sorting results. For example, the target load can be one or two candidate loads with the smallest difference from the current load among the candidate loads. It is understood that the target load can also be one or two candidate loads with the second smallest or second smallest difference from the current load, or the target load can include multiple candidate loads with the smallest, second smallest, or second smallest difference from the current load.

[0059] After determining the target load, the initial parameter value of the target control device can be determined based on the target parameter value corresponding to the target load. For example, when the number of target loads is one, the target parameter value corresponding to the target load can be directly used as the initial parameter value of the target control device. When the number of target loads is multiple, the average of the target parameter values ​​corresponding to multiple target loads can be used as the initial parameter value of the target control device. The initial parameter value of the target control device can also be determined by linear interpolation based on the target parameter values ​​corresponding to multiple target loads, thereby effectively ensuring the validity of the determination result of the initial parameter value of the target control device. When the parameter values ​​of each control parameter of the target control device are updated based on the initial parameter value of the target control device, the constant current output response time of the constant current system can be further reduced.

[0060] In one feasible embodiment, based on the difference between the current load and each candidate load in the preset parameter data set, the target load among each candidate load is determined, including: determining the target current range based on the target current value; based on the difference between the current load and each candidate load in the preset parameter data set, determining the target load from each candidate load corresponding to the target current range.

[0061] Specifically, the constant current system may need to output different constant currents under different operating conditions. Therefore, the range of the output current of the constant current system may be divided into multiple current intervals. The preset parameter data set may include target parameter values ​​corresponding to some or all current intervals. For any current interval in the preset parameter data set, the target parameter values ​​corresponding to one or more candidate loads may be included.

[0062] In implementation, when determining a target load among candidate loads, a target current interval can be first determined from the current intervals included in the preset parameter dataset based on the target current value. For example, the target current value can be matched with the current intervals included in the preset parameter dataset. If a match is successful, the successfully matched current interval is used as the target current interval. If a match fails, the current interval with the closest endpoint value to the target current value can be used as the target current interval.

[0063] After determining the target current interval, the difference between the current load and the candidate loads corresponding to the target current interval can be determined, and the target load can be determined from the candidate loads corresponding to the target current interval based on the difference. In this way, it can be ensured that the initial parameter value corresponding to the current load is closer to its corresponding target parameter value, thereby achieving a further reduction in the constant current output response time of the constant current system.

[0064] In one feasible embodiment, based on the difference between the current load and each candidate load in the preset parameter data set, the target load is determined from each candidate load corresponding to the target current interval, including: taking the candidate load with the smallest difference between the current load and each candidate load corresponding to the target current interval as the target load.

[0065] Specifically, in the process of determining the target load, the candidate load with the smallest difference from the current load among the candidate loads corresponding to the target current interval can be used as the target load, that is, the candidate load closest to the current load among the candidate loads corresponding to the target current interval can be used as the target load. Therefore, when the initial parameter value of the target control device is determined according to the target load, it can be ensured to the greatest extent that the initial parameter value of the target control device is close to its corresponding target parameter value, further reducing the constant current output response time of the constant current system.

[0066] In one feasible embodiment, the initial parameter value of the target control device is determined based on the target parameter value corresponding to the target load, including: if the number of target loads is two, the initial parameter value of the target control device is determined by linear interpolation method based on the target parameter value corresponding to each target load.

[0067] Specifically, when the number of target loads is two, there may be the following three situations:

[0068] The first is that the two target loads correspond to the same target current range. At this time, linear interpolation can be performed based on the difference between the current load and the two target loads and the target parameter values ​​corresponding to the two target loads, and the result of the linear interpolation can be used as the initial parameter value of the target control device.

[0069] The second type is that the two target loads correspond to two different target current intervals, and the two target loads are the same. At this time, linear interpolation can be performed based on the difference between the target current value of the constant current system and the center value of each target current interval and the target parameter values ​​corresponding to the two target loads, and the result of the linear interpolation is used as the initial parameter value of the target control device.

[0070] The third type is that the two target loads correspond to two different target current intervals, and the two target loads are different. In this case, the current interval corresponding to the target current value of the constant current system is usually the same distance as the two target current intervals. Linear interpolation can be performed based on the difference between the current load and the two target loads and the target parameter values ​​corresponding to the two target loads, and the result of the linear interpolation is used as the initial parameter value of the target control device.

[0071] Therefore, the linear interpolation method can further ensure that the initial parameter value of the target control device is close to its corresponding target parameter value, thereby further reducing the constant current output response time of the constant current system.

[0072] In order to further reduce the constant current output response time of the constant current system, as shown in FIG3 , in one embodiment of the present application, the current parameter value of the target control device is updated based on the initial parameter value and the target current value and current current value of the constant current system, including:

[0073] S301. Generate a target response model corresponding to the target current value based on the target current value and a preset current response model; wherein the preset current response model is used to characterize the response state of the constant current system when the target output current is the preset current.

[0074] S302 : Update the current parameter value of the target control device based on the initial parameter value, the target current value, the current current value, and the target response model.

[0075] Specifically, the preset current response model is used to characterize the response state of the constant current system when the target output current is the preset current, that is, the change trend of the constant current system's output current over time when the target output current is the preset current. In implementation, a response curve of the constant current system with optimal constant current output response time and stability can be selected as the preset current response model.

[0076] When generating a target response model corresponding to a target current value, the difference between the target current value and the preset current can be obtained, and the curve corresponding to the preset current response model can be shifted upward or downward according to the difference to obtain a target response model corresponding to the target current value, that is, the target response model corresponding to the target current value is used to characterize the target response state of the constant current system when the target output current of the constant current system is the target current value.

[0077] During implementation, the current parameter value of the target control device can be updated step by step based on the initial parameter value, the target current value, the current current value, and the target response model. For example, multiple sampling points can be determined from the target response model, and the current parameter value of the target control device can be updated step by step according to the chronological order of each sampling point. For any of the sampling points, the output current corresponding to the sampling point can be used as the target output current, and the current parameter value of the target control device can be updated based on the target output current and the current current value. The current parameter value of the target control device can be updated step by step based on the initial parameter value of the target control device.

[0078] Therefore, through the target response model, the current regulation process of the target control device can be limited when the load of the constant current system changes, so that the constant current system can achieve better constant current output response time and stability.

[0079] In one feasible embodiment, the current parameter value of the target control device is updated based on the initial parameter value, the target current value, the current current value and the target response model, including: determining the target point position in the target response model based on the current value corresponding to the initial parameter value; determining multiple sampling points in the target response model based on the target point position and the target current value; and updating the current parameter value of the target control device based on the current value corresponding to each sampling point and the current current value.

[0080] Specifically, after determining the initial parameter value of the target control device, the current parameter value can be updated to the initial parameter value, so that the parameter values ​​of each control parameter of the target control device can be updated based on the initial parameter value, so that the difference between the output current of the constant current system and the target current value is stable within the preset threshold range.

[0081] The current value corresponding to the initial parameter value is, that is, the output current of the constant current system when the target control device performs current regulation on the constant current system after the current parameter value of the target control device is updated to the initial parameter value.

[0082] In implementation, the point corresponding to the output current of the target response model at each moment that has the smallest difference from the current value corresponding to the initial parameter value can be used as a candidate point in the target response model. The number of candidate points can be one or two. When there is one candidate point, that candidate point can be used as the target point. When there are two candidate points, a candidate point at a later moment can be used as the target point.

[0083] After determining the target point, multiple sampling points can be determined in the target response model based on the target point and the target current value. For example, a sampling interval in the target response model can be determined, starting with the target point and ending at a point where the target response model stabilizes near the target current value. Sampling can then be performed within the sampling interval at a preset frequency to obtain multiple sampling points. It will be appreciated that the sampling points may include both the start and end points of the sampling interval, or only the end points.

[0084] The current value corresponding to the sampling point, i.e., the output current at the sampling point in the target response model. In implementation, for any sampling point, the current value corresponding to the sampling point can be used as the target output current of the constant current system, and based on the target output current and the current current value, the current parameter value of the target control device is updated until the difference between the current current value and the target output current is within a preset threshold range. When the difference between the current current value and the target output current is within the preset threshold range, the current parameter value of the target control device is updated based on the current value corresponding to the next sampling point and the current current value, thereby achieving a step-by-step update of the parameter values ​​of each control parameter of the target control device. Under the premise of ensuring a low constant current output response time of the constant current system, the fluctuation amplitude of the output current in the process of the constant current system responding to a new load is reduced.

[0085] In order to further reduce the constant current output response time of the constant current system, in one embodiment of the present application, it also includes: when it is determined that the difference between the current current value and the target current value meets the preset threshold range, the current parameter value of the target control device is used as the target parameter value corresponding to the current load, and the target parameter value corresponding to the current load is stored in a preset parameter data set.

[0086] Specifically, when it is determined that the difference between the current value and the target current value is stable within the preset threshold range, the current parameter value of the target control device can be used as the target parameter value corresponding to the current load and stored in the preset parameter data set.

[0087] For example, if the target parameter value of the current load in the corresponding current range does not exist in the preset parameter data set, the target parameter value corresponding to the current load is added to the preset parameter data set; if the target parameter value of the current load in the corresponding current range exists in the preset parameter data set, the target parameter value of the current load in the corresponding current range in the preset parameter data set can be replaced.

[0088] Therefore, by continuously improving the preset parameter data set, when the load of the constant current system changes again, it can be ensured that the initial parameter value of the target control device determined is closer to its corresponding target parameter value, thereby further reducing the constant current output response time of the constant current system.

[0089] Exemplary devices

[0090] Referring to Figure 4, an embodiment of the present application also provides a constant current control device, including: a first processing module 401, used to determine that when the load of the constant current system changes, obtain the initial parameter value of the target control device from a preset parameter data set based on the current load; wherein the preset parameter data set is used to store the target parameter value of the target control device under different candidate loads; a second processing module 402, used to update the current parameter value of the target control device based on the initial parameter value and the target current value and current current value of the constant current system until the difference between the current current value and the target current value meets the preset threshold interval; wherein the target control device is used to adjust the current of the constant current system based on the current parameter value.

[0091] Exemplarily, the first processing module 401 is specifically used to: determine the target load among the candidate loads based on the difference between the current load and the candidate loads in the preset parameter data set; and determine the initial parameter value of the target control device based on the target parameter value corresponding to the target load.

[0092] Exemplarily, the first processing module 401 is specifically configured to: determine a target current interval based on a target current value; and determine a target load from candidate loads corresponding to the target current interval based on a difference between a current load and candidate loads in a preset parameter data set.

[0093] Exemplarily, the first processing module 401 is specifically configured to: select, among the candidate loads corresponding to the target current interval, the candidate load having the smallest difference with the current load as the target load.

[0094] Exemplarily, the first processing module 401 is specifically configured to: if there are two target loads, determine the initial parameter value of the target control device by linear interpolation based on the target parameter value corresponding to each target load.

[0095] Exemplarily, the second processing module 402 is specifically used to: generate a target response model corresponding to the target current value based on the target current value and the preset current response model; wherein the preset current response model is used to characterize the response state when the target output current of the constant current system is the preset current; based on the initial parameter value, the target current value, the current current value and the target response model, update the current parameter value of the target control device.

[0096] Exemplarily, the second processing module 402 is specifically used to: determine the target point in the target response model based on the current value corresponding to the initial parameter value; determine multiple sampling points in the target response model based on the target point and the target current value; and update the current parameter value of the target control device based on the current value corresponding to each sampling point and the current current value.

[0097] Exemplarily, a third processing module is also included, which is specifically used to: when it is determined that the difference between the current current value and the target current value meets the preset threshold range, use the current parameter value of the target control device as the target parameter value corresponding to the current load, and store the target parameter value corresponding to the current load in a preset parameter data set.

[0098] The device provided in this embodiment is based on the same concept as the method provided in the above embodiments of this application, can execute the method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For technical details not fully described in this embodiment, please refer to the specific processing content of the method provided in the above embodiments of this application, and will not be repeated here.

[0099] Example Vehicle

[0100] An embodiment of the present application further provides a vehicle, which includes a constant current control device as described in any of the above embodiments, or adopts a constant current control method as described in any of the above embodiments.

[0101] Among them, vehicles include cranes, excavators and other construction machinery.

[0102] Exemplary computer program products and storage media

[0103] In addition to the above-mentioned methods and devices, the constant current control method provided in the embodiments of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the constant current control method according to various embodiments of the present application described in the above-mentioned "Exemplary Method" section of the present application.

[0104] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0105] In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the constant current control method according to various embodiments of the present application described in the above "Exemplary Method" section of the present application.

[0106] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0107] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, 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 application.

[0108] The above-described embodiments merely represent several embodiments of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the solutions provided by the embodiments of the present application. It should be noted that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all fall within the scope of protection of the present application. Therefore, the scope of protection of the patent application shall be based on the appended claims.

Claims

1. A constant current control method, characterized in that: include: When it is determined that the load of the constant current system has changed, an initial parameter value of the target control device is obtained from a preset parameter data set based on the current load; wherein the preset parameter data set is used to store the target parameter value of the target control device under different candidate loads; Based on the initial parameter value and the target current value and the current current value of the constant current system, the current parameter value of the target control device is updated until the difference between the current current value and the target current value meets a preset threshold range; wherein the target control device is used to perform current regulation on the constant current system based on the current parameter value.

2. The method according to claim 1, characterized in that The obtaining of the initial parameter value of the target control device from the preset parameter data set based on the current load includes: Determine a target load among the candidate loads based on a difference between the current load and each candidate load in the preset parameter data set; Based on the target parameter value corresponding to the target load, the initial parameter value of the target control device is determined.

3. The method according to claim 2, characterized in that The determining a target load among the candidate loads based on a difference between the current load and each candidate load in the preset parameter data set includes: Based on the target current value, determining a target current interval; Based on the difference between the current load and the candidate loads in the preset parameter data set, the target load is determined from the candidate loads corresponding to the target current interval.

4. The method according to claim 3, characterized in that The determining the target load from the candidate loads corresponding to the target current interval based on the difference between the current load and the candidate loads in the preset parameter data set includes: The candidate load having the smallest difference with the current load among the candidate loads corresponding to the target current interval is used as the target load.

5. The method according to claim 3, characterized in that: The determining of a target current range based on the target current value includes: Dividing the output current range of the constant current system into a plurality of current intervals; The target current value is matched with each current interval in the multiple current intervals, and when the match is successful, the successfully matched current interval is used as the target current interval.

6. The method according to claim 2, characterized in that The determining the initial parameter value of the target control device based on the target parameter value corresponding to the target load includes: If the number of the target loads is two, the initial parameter value of the target control device is determined by a linear interpolation method based on the target parameter values ​​corresponding to the target loads.

7. The method according to claim 6, characterized in that If the number of the target loads is two, determining the initial parameter value of the target control device by a linear interpolation method based on the target parameter values ​​corresponding to the target loads includes: When two target loads correspond to the same target current interval, the linear interpolation is performed according to the difference between the current load and the two target loads and the target parameter values ​​corresponding to the two target loads, and the result of the linear interpolation is used as the initial parameter value.

8. The method according to any one of claims 1 to 7, characterized in that: The updating of the current parameter value of the target control device based on the initial parameter value and the target current value and the current current value of the constant current system comprises: Based on the target current value and the preset current response model, a target response model corresponding to the target current value is generated; wherein the preset current response model is used to characterize the response state when the target output current of the constant current system is a preset current; Based on the initial parameter value, the target current value, the current current value, and the target response model, a current parameter value of the target control device is updated.

9. The method according to claim 8, characterized in that The updating of the current parameter value of the target control device based on the initial parameter value, the target current value, the current current value and the target response model includes: Determining a target point in the target response model based on a current value corresponding to the initial parameter value; Based on the target point position and the target current value, determining a plurality of sampling points in the target response model; Based on the current value corresponding to each sampling point in the multiple sampling points and the current current value, the current parameter value of the target control device is updated.

10. The method according to claim 8, characterized in that The generating a target response model corresponding to the target current value based on the target current value and a preset current response model includes: Obtaining a difference between the target current value and the preset current; The curve corresponding to the preset current response model is shifted upward or downward according to the difference to obtain the target response model.

11. The method according to any one of claims 1 to 10, characterized in that: Also includes: When it is determined that the difference between the current current value and the target current value satisfies the preset threshold interval, the current parameter value of the target control device is used as the target parameter value corresponding to the current load, and the target parameter value corresponding to the current load is stored in the preset parameter data set.

12. A constant current control device, characterized in that: include: A first processing module, configured to obtain an initial parameter value of a target control device from a preset parameter data set based on a current load when determining that a load of the constant current system changes; wherein the preset parameter data set is used to store target parameter values ​​of the target control device under different candidate loads; A second processing module is used to update the current parameter value of the target control device based on the initial parameter value and the target current value and the current current value of the constant current system until the difference between the current current value and the target current value meets a preset threshold range; wherein the target control device is used to perform current regulation on the constant current system based on the current parameter value.

13. A vehicle, characterized in that: The vehicle comprises the constant current control device as claimed in claim 12, or adopts the constant current control method as claimed in any one of claims 1 to 11.

14. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the constant current control method according to any one of claims 1 to 11 is implemented.

15. A computer program product, characterized in that The computer program product comprises a computer program, the computer program being stored in a computer-readable storage medium; The processor of the computer device reads the computer program from the computer-readable storage medium, and implements the constant current control method according to any one of claims 1 to 11 when the processor executes the computer program.

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