State switching adjustment method and apparatus for hydraulic motor, and computer device and storage medium

Abstract

The present application relates to the technical field of hydraulic motor control. Disclosed is a state switching adjustment method for a hydraulic motor. The method comprises: determining whether there is a switching signal configured to control a hydraulic motor to switch the operation state thereof, and if there is such switching signal, determining an actual current curve corresponding to an electromagnetic valve and an actual rotational speed of the hydraulic motor during switching, wherein the electromagnetic valve is configured to receive the switching signal, and control the operation state of the hydraulic motor on the basis of a current; on the basis of the actual current curve and the actual rotational speed, determining a target current value for next switching that corresponds to a switching key point of the hydraulic motor in the corresponding operation state; on the basis of the target current value, determining a corresponding target current curve for the next switching; and on the basis of the target current curve and the actual current curve, matching the actual current curve for the next switching with the target current curve by means of a preset controller.

Description

State switching adjustment method and device of hydraulic motor, computer device, and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to the Chinese patent application No. 202410688402.9, filed on May 30, 2024, and entitled "State switching adjustment method and device of hydraulic motor, computer device, and storage medium", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the technical field of hydraulic motor control, in particular to a state switching adjustment method and device of a hydraulic motor, a computer device, and a storage medium. BACKGROUND

[0004] In the engineering machinery application scenario, in order to meet the needs of different actuators for different working conditions, the hydraulic motor needs to be quickly switched between high torque and high speed, and the stability and non-impact during the switching process need to be ensured. The existing technology mainly uses the method of increasing soft switching valves or proportional solenoid valves to output control pressure to slowly generate control pressure for smooth switching and prevent sudden changes. However, the existing technology has the problem that in order to achieve good rapid soft switching, the switching pressure points of different hydraulic motors need to be calibrated and tested by researchers multiple times, and a better solution is needed.

[0005] SUMMARY

[0006] Therefore, the present application provides a state switching adjustment method and device of a hydraulic motor, a computer device, and a storage medium to solve the problems of high labor cost and poor adaptability in the process of state switching of different hydraulic motors.

[0007] In one aspect, the present application provides a state switching adjustment method of a hydraulic motor. The method includes determining whether a switching signal configured to control the switching of the operating state of the hydraulic motor exists. If the switching signal exists, determining an actual current curve of an electromagnetic valve corresponding to the switching process and an actual speed of the hydraulic motor; wherein the electromagnetic valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current; determining a target current value of the switching key point of the hydraulic motor in the corresponding operating state corresponding to the next switching according to the actual current curve and the actual speed; determining a target current curve corresponding to the next switching according to the target current value; and matching the actual current curve of the next switching with the target current curve through a preset controller according to the target current curve and the actual current curve.

[0008] The application further provides a state switching adjustment device of a hydraulic motor, which comprises: a first determination module configured to determine whether a switching signal configured to control the hydraulic motor to switch a running state exists, and if the switching signal exists, determine an actual current curve of an electromagnetic valve corresponding to a switching process and an actual rotating speed of the hydraulic motor; wherein the electromagnetic valve is configured to receive the switching signal and control the running state of the hydraulic motor according to the current; a second determination module configured to determine a target current value corresponding to a switching key point of the hydraulic motor in a corresponding running state at next switching according to the actual current curve and the actual rotating speed; a third determination module configured to determine a target current curve corresponding to next switching according to the target current value; and a matching module configured to make the actual current curve at next switching match the target current curve by a preset controller according to the target current curve and the actual current curve.

[0009] The application further provides a computer device, which comprises a memory and a processor, the memory and the processor are communicatively connected, the memory stores computer instructions, and the processor realizes the state switching adjustment method of the hydraulic motor by executing the computer instructions.

[0010] The application further provides a computer readable storage medium, which stores computer instructions, and the computer instructions are configured to make a computer realize the state switching adjustment method of the hydraulic motor.

[0011] In the process, according to the actual current value of the switching key point and the target current value at next switching, the actual current curve at next switching of the switching key point of the hydraulic motor is made to match the target current curve according to the preset controller, so that the switching pressure point does not need to be tested for multiple times in the state switching process, the adaptability of different hydraulic motors to the state switching is increased, and the smoothness of the motor in the state switching is improved. BRIEF DESCRIPTION OF DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the specific embodiments or related art, the drawings needed in the specific embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0013] Fig. 1 is a flow diagram of a state switching adjustment method of a hydraulic motor provided by an embodiment of the application;

[0014] Fig. 2 is a current and speed curve of a state switching adjustment method of a hydraulic motor according to an embodiment of the present application;

[0015] Fig. 3 is a flow chart of an adaptive double-speed switching control of a state switching adjustment method of a hydraulic motor according to an embodiment of the present application;

[0016] Fig. 4 is a current and speed curve of a specific embodiment of a state switching adjustment method of a hydraulic motor according to an embodiment of the present application;

[0017] Fig. 5 is a hydraulic control principle diagram of a state switching adjustment method of a hydraulic motor according to an embodiment of the present application;

[0018] Fig. 6 is a structural schematic diagram of a state switching adjustment device of a hydraulic motor according to an embodiment of the present application;

[0019] Fig. 7 is a structural schematic diagram of another state switching adjustment device of a hydraulic motor according to an embodiment of the present application. DETAILED DESCRIPTION

[0020] In some heavy industry and engineering machinery scenarios, in order to meet the needs of different actuators for different working conditions, it is necessary for a hydraulic motor to quickly switch between high torque and high speed, and to ensure stability and no impact during the switching process. At present, the double-speed switching of the walking mechanism of a skid-steer loader is more commonly used, in which a double-displacement motor is mainly used to achieve high-low speed switching of the vehicle. Usually, a high-low speed switching solenoid valve is used to control the motor to switch between large displacement and small displacement, but the solenoid valve will have a problem of displacement mutation during switching, which will cause impact. At present, the problem is mainly solved by increasing a soft switching valve or a proportional solenoid valve to output a control pressure, which slowly generates a control pressure for smooth switching to prevent sudden changes. However, the switching pressure points of each hydraulic motor are different, that is, the pressure points at which the switching spool in the hydraulic motor starts to open and fully opens are different. When we want the hydraulic motor to switch quickly and smoothly, it is necessary for the R&D personnel to test multiple times to find the switching pressure points, so that the soft switching valve or the solenoid valve can generate the desired switching pressure curve during the switching process. However, the determination of the switching pressure curve is relatively cumbersome, and the accuracy of the selection of the switching pressure curve will greatly affect the switching effect. If the selection is not appropriate, it will cause impact and slow response problems during the switching process.

[0021] That is, the prior art has the following problems:

[0022] First, some solutions only consider the smoothness of state switching, without considering the responsiveness of switching;

[0023] Second, the switching pressure points of different hydraulic motors need to be calibrated and tested multiple times by R&D personnel, and the adaptability of the switching pressure points is poor.

[0024] Third, the prior art hardware structure is complex, and functions are realized through electromagnetic valves, soft switching valves or throttle valves.

[0025] To solve at least one of the above problems, the hydraulic motor state switching adjustment method provided in various embodiments of the present application includes: determining whether there is a switching signal configured to control the switching of the operating state of the hydraulic motor, and if there is a switching signal, determining the actual current curve corresponding to the electromagnetic valve during the switching process and the actual speed of the hydraulic motor; wherein the electromagnetic valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current; according to the actual current curve and the actual speed, determining the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching; according to the target current value, determining the target current curve corresponding to the next switching; and according to the target current curve and the actual current curve, matching the actual current curve at the next switching with the target current curve through a preset controller.

[0026] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0027] According to the embodiments of the present application, a hydraulic motor state switching adjustment method is provided, and FIG. 1 is a flowchart of the hydraulic motor state switching adjustment method provided in an embodiment of the present application. As shown in FIG. 1, the flowchart includes the following steps:

[0028] Step S101: determining whether there is a switching signal configured to control the switching of the operating state of the hydraulic motor, and if there is a switching signal, determining the actual current curve corresponding to the electromagnetic valve during the switching process and the actual speed of the hydraulic motor; wherein the electromagnetic valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current;

[0029] Step S102: according to the actual current curve and the actual speed, determining the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching;

[0030] Step S103: according to the target current value, determining the target current curve corresponding to the next switching;

[0031] Step S104: according to the target current curve and the actual current curve, matching the actual current curve at the next switching with the target current curve through a preset controller.

[0032] In one possible implementation, the hydraulic motor can be a device that generates rotary or linear motion by using high-pressure fluid supplied by a hydraulic pump to drive various mechanical components; wherein, a dual-speed hydraulic motor can refer to a specially designed hydraulic motor that can switch between low speed (i.e., high torque) and high speed.

[0033] Optionally, the solenoid valve can be a proportional solenoid valve, which precisely controls the position of the valve core by adjusting the magnitude of the input current. Based on the position of the valve core, the high-pressure liquid flows to different pipelines, thereby controlling the different operating states of the hydraulic motor.

[0034] In one possible implementation, determining whether a switching signal is configured to control the hydraulic motor to switch operating states may include, but is not limited to:

[0035] In a control system, the presence of a switching signal is determined by detecting sensor signals or electrical signals.

[0036] If a switching signal is detected, the switching signal is read.

[0037] The sensors may include: position sensors and pressure sensors; the electrical signals may include: switch signals and digital input signals.

[0038] For example, a position sensor can detect changes in the position of a mechanical component; if a switching signal is triggered by a mechanical operation (e.g., pressing a button), the position sensor can detect the physical change and convert it into an electrical signal; a hydraulic sensor can detect pressure changes in a hydraulic system; if a switching signal is triggered by a virtual button on a control panel, the presence of a switching signal can be detected by detecting digital input signals.

[0039] In one possible implementation, the actual rotational speed of the hydraulic motor is detected by a speed sensor; wherein the speed sensor may include, but is not limited to, a rotary encoder or a Hall effect sensor.

[0040] In one possible implementation, if a switching signal is detected, the real-time current curve corresponding to the solenoid valve is tracked in real time by a preset controller, and the actual speed of the hydraulic motor, the time position corresponding to the switching key point, and the actual current value are determined in each frame during the switching process.

[0041] In one possible implementation, by measuring the target current value of the determined switching key point at the next switching during the switching process, the actual current curve of the switching key point is matched with the target current curve at the next switching, so that the deviation current between the target current value in the target current curve and the actual current value in the actual current curve during the switching process is as small as possible, thereby improving the smoothness of the switching process and reducing the impact of the hydraulic motor.

[0042] In one possible implementation, the switching key point can refer to some important time positions and corresponding control parameters that are pre-set in the hydraulic system to achieve smooth and efficient state switching. By determining the switching key point, the current of the proportional solenoid valve can be adjusted during the switching process, thereby achieving precise control of the hydraulic motor speed and avoiding shocks and delays.

[0043] Using the above method, if a switching signal is present, the actual speed of the hydraulic motor during the switching process is measured in real time to determine the target current value of the switching key point at the next switching. Thus, the switching key points of different hydraulic motors are matched according to the target current curve and the actual current curve at the next switching, eliminating the need for multiple additional calibrations and measurements of the switching key points, reducing the consumption of manpower and material resources. On the other hand, the combination of a proportional solenoid valve and a speed sensor eliminates the need for other mechanical structures, resulting in a simple structure.

[0044] In some embodiments, the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching time is determined based on the actual current curve and the actual rotational speed, including:

[0045] The type of switching signal is determined to be either a first switching signal or a second switching signal; wherein, the first switching signal is configured to switch the hydraulic motor from a low speed state to a high speed state in a first switching state, and the second switching signal is configured to switch the hydraulic motor from a high speed state to a low speed state in a second switching state.

[0046] If the switching signal is the first switching signal, the first target current value corresponding to the first key point of the hydraulic motor in the first switching state at the next switching time is determined according to the first impact factor and the first lag time factor.

[0047] Based on the first impact factor and the first useless time factor, determine the second target current value corresponding to the second key point of the hydraulic motor in the first switching state at the next switching time;

[0048] If the switching signal is the second switching signal, the third target current value corresponding to the third key point of the hydraulic motor in the second switching state is determined according to the second impact factor and the second lag time factor during the next switching.

[0049] Based on the second impact factor and the second useless time factor, determine the fourth target current value corresponding to the fourth key point of the hydraulic motor in the second switching state at the next switching.

[0050] In one possible implementation, if a switching signal is detected and the actual current value of each switching key point is determined, if the actual current value of the first switching state reaches its highest point and the duration is greater than a preset time, it is determined that the first switching state has completed a complete state switch; if the actual current value of the second switching state reaches its lowest point and the duration is greater than a preset time, it is determined that the second switching state has completed a complete state switch.

[0051] Here, the first switching state can represent the process of the hydraulic motor switching from a low speed state to a high speed state, and the second switching state can represent the process of the hydraulic motor switching from a high speed state to a low speed state.

[0052] Figure 2 is a current-speed curve of a hydraulic motor state switching adjustment method provided in an embodiment of this application. As shown in Figure 2,

[0053] Point A can represent the first key point of the target current curve in the first switching state, and the corresponding time point is the time point when the switching button is pressed.

[0054] A keep The point can represent the first target current value I in the actual current curve, where the actual current value has just increased to the first critical point A. A Point A keep The actual current value at point A and the first target current value I at point A A same;

[0055] Point B can represent the second key point of the target current curve in the first switching state;

[0056] Point C can represent the third key point of the target current curve in the second switching state, and the corresponding time point is the time when the switching button is pressed.

[0057] C keep The point can represent the current I in the actual current curve when the actual current value just decreases to the third critical point C. C Point C keep The actual current value at point C and the third target current value I at point C C same;

[0058] Point D can represent the fourth key point corresponding to the target current curve in the second switching state;

[0059] Point E can represent the point at which the hydraulic motor begins to accelerate in the first switching state;

[0060] Point G can represent the point of maximum impact in the first switching state, which is the point at which the tire speed suddenly changes to the maximum actual speed relative to the theoretical speed during the switching process;

[0061] Point F can represent the time point at which the hydraulic motor completes acceleration;

[0062] Point P can represent the point at which the hydraulic motor begins to decelerate in the second switching state;

[0063] Point K can represent the point of maximum impact in the second switching state, which refers to the point where the tire speed suddenly changes to the maximum actual speed relative to the theoretical speed during the switching process;

[0064] Point Q can represent the time point at which the hydraulic motor completes deceleration;

[0065] Point M can represent the point where the actual current value reaches the maximum target current value and stabilizes;

[0066] Point N can represent the point where the actual current value reaches the minimum target current value and stabilizes;

[0067] I CH1 This can represent the current corresponding to the start of acceleration of the hydraulic motor in the first switching state;

[0068] I CH2 This can represent the current corresponding to the hydraulic motor completing acceleration in the first switching state;

[0069] I CL1 This can represent the current corresponding to the hydraulic motor completing deceleration in the second switching state;

[0070] I CL2 This can represent the current corresponding to the start of deceleration of the hydraulic motor in the second switching state;

[0071] T high This can represent the duration of the smooth current segment in the first switching state;

[0072] T low It can represent the time of the smooth current segment in the second switching state.

[0073] Among them, the target current can refer to the current value in the target current curve, the actual current can refer to the current value in the actual current curve, the low-to-high interval can refer to the time interval from the first key point A of pressing the switch button in the first switching state to the actual current value stabilizing at the maximum target current value M, and the high-to-low interval can refer to the time interval from the first key point C of pressing the switch button in the second switching state to the actual current value stabilizing at the minimum target current value N.

[0074] In one possible implementation, the type of switching signal is determined to be either a first switching signal or a second switching signal. If the switching signal is the first switching signal, it indicates that the hydraulic motor is in a low-to-high state, and the first target current value at the first key point A and the second target current value at the second key point B are updated. If the switching signal is the second switching signal, it indicates that the hydraulic motor is in a high-to-low state, and the third target current value at the third key point C and the fourth target current value at the fourth key point D are updated.

[0075] By using the above method, the actual current curves and motor speed curves corresponding to the first and second switching states of the hydraulic motor can be determined. This allows us to determine the actual current values ​​and time positions corresponding to the first, second, third, and fourth key points, thereby enabling the proportional solenoid valve to accurately adjust the state switching of the hydraulic motor according to the current, ensuring a smooth and shock-free switching process.

[0076] In some embodiments, if the switching signal is a first switching signal, determining the first target current value corresponding to the first key point of the hydraulic motor in the first switching state at the next switching time, based on the first impact factor and the first hysteresis time factor, includes:

[0077] Determine the difference between the ideal tire speed and the actual tire speed, and determine the first impact point of the hydraulic motor in the first switching state based on the preset iterative calculation;

[0078] Based on the value and time position of the first impact point, the first impact factor corresponding to the first impact point is determined; wherein, the earlier the time position of the first impact point and the larger the value, the smaller the first target current value.

[0079] The first lag time factor is determined according to the preset first lag time calculation formula; wherein, the first lag time represents the interval between the hydraulic motor entering the first switching state and the tire starting to accelerate. If the first lag time is larger, the first target current value is larger.

[0080] The first target current value for the next switching is determined based on the first impact factor and the first hysteresis time factor.

[0081] In one possible implementation, if the time position of the first impact point is earlier and the value is larger, then the first critical point A moves downward (i.e., I). A (Reduce); if the first lag time is longer, the first critical point A moves upward (i.e., I). A Increase).

[0082] In one possible implementation, the ideal tire speed can refer to the rotational speed that the tire should have under conditions of no external interference and system errors; the actual tire speed can refer to the actual rotational speed reached by the hydraulic motor driving the tire.

[0083] Here, the actual tire speed is affected by factors including but not limited to: load changes, coefficient of friction, and response speed of the hydraulic system.

[0084] Optionally, the difference between the ideal tire speed and the actual tire speed can characterize whether the process of the first switching state is smooth. The smaller the difference, the smoother the switching process and the smaller the impact.

[0085] In one possible implementation, the line connecting points E and F is defined as the ideal velocity line, which represents that the tire is always at the ideal tire speed. The ideal tire speed for each frame is determined by the following formula:

[0086] Where i can represent the sequence number of the current frame, i can represent the tire speed at point E when acceleration begins. E The frame number i can represent point E. G It can represent the frame number of point G. It can represent the tire speed at point G when acceleration ends.

[0087] Specifically, calculate from i E to i G The total number of frames between, i.e., i G -i E Calculate the progress ratio of the current frame relative to the starting point E. The range of speed variation is determined as follows Multiply the progress ratio by the speed variation range to obtain Continue adding the initial speed Determine the ideal speed for the current frame

[0088] Alternatively, the difference between the ideal tire speed and the actual tire speed can be determined using the following formula:

[0089] in, This represents the ideal tire speed in the i-th frame. This represents the actual tire speed measured by the sensor in the i-th frame. This represents the difference.

[0090] The value of the first impact point G was determined through iterative calculation. and the corresponding time position t relative to point E EG This allows us to identify the most unstable moment in the first switching state.

[0091] In one possible implementation, the first impact factor can be calculated using the following formula:

[0092] Among them, X c_A v represents the degree of impact of the shock on key point A in the first switching state. ae_min This indicates the lower limit for calculating the first impact factor within segment AB, v ae_max h represents the upper limit of the calculation of the first impact factor within segment AB. A Representing time t AG Influence factor, h A The value of time t AG For X c_A The degree of influence is directly proportional to t AG This represents the time it takes to travel from point A to point G.

[0093] Specifically, when the difference When the difference in characterization is small, the impact on the system is not significant, then the first impact factor = 0;

[0094] when hour, Here 1-tanh(h) A ·t AG This indicates that the hyperbolic tangent function tanh is used such that time t... AG For X c_A The effect varies non-linearly, h A The larger the value, the longer the time t. AG For X c_A The greater the impact; This means standardizing the difference to between 0 and 1, which can represent the relative size of the difference within the upper and lower limits;

[0095] when At that time, X c_A =1-tanh(h) A ·t AG The first impact factor has a significant impact on the system.

[0096] Here, by distinguishing the degree of influence of the difference in different ranges under different conditions, and combining it with the time influence factor, the calculation of the first impact factor is made more accurate, which helps to optimize the smoothness and stability of the hydraulic motor switching process.

[0097] In one possible implementation, the first lag time is defined as the interval between the hydraulic motor entering the first switching state and the tire starting to accelerate, i.e., the interval between pressing the switching button and the tire starting to accelerate.

[0098] Here, the time interval for the first lag time can be determined at point A. keep The smaller the distance to point B, the better; the minimum limit is...

[0099] The first lag time factor can be calculated using the following formula:

[0100] Among them, t AE This indicates the time from pressing the toggle button to the tires starting to accelerate. The expected minimum acceleration time, i.e., the lower bound of the desired acceleration time, t AE_max This indicates the maximum limit range for calculating the first lag time factor.

[0101] In one embodiment, determining the first target current value for the next switching based on a first impact factor and a first hysteresis time factor includes:

[0102] The first target current value for the next switchover is determined using the following formula: I A =I A_last -(X c_A -X t_A )·I p_A (5)

[0103] Among them, I A Indicates the first target current value at the next switching time, I A_last X represents the current first target current value. c_A X represents the first impact factor. t_A I represents the first lag time factor. p_A This represents the first preset switching coefficient.

[0104] Here, the first target current value of the first key point A in the current switching process is determined by adjusting the first target current value of the first key point A in the next switching process using the first preset switching coefficient, based on the influence of the first impact factor and the first lag time factor measured in the current switching process on the current.

[0105] By using the above method, by determining the first impact factor and the first lag time factor corresponding to the maximum impact point and the first lag time in the first switching process, respectively, the first target current value of point A in the current switching process is adjusted, and the first target current value of point A in the next switching process is adaptively determined, which can improve the responsiveness of the switching process and ensure the stability of the switching.

[0106] In some embodiments, determining the second target current value corresponding to the second key point of the hydraulic motor in the first switching state at the next switching, based on the first impact factor and the first useless time factor, includes:

[0107] Determine the first impact factor corresponding to the first impact point; wherein, the earlier the time position of the first impact point and the larger the value, the larger the second target current value.

[0108] According to the preset first useless time calculation formula, the first useless time factor is determined; where the first useless time refers to the interval between the time position of the second key point and the time position of the hydraulic motor reaching the highest speed. The larger the first useless time, the smaller the second target current value.

[0109] The second target current value for the next switching is determined based on the first impact factor and the first useless time factor.

[0110] In one possible implementation, if the time position of the first impact point is closer to the second critical point B and the value is larger, then the second critical point B moves upward (i.e., I...). B (Increase); if the first useless time is larger, then the second key point B will move downwards (i.e., I). B reduce).

[0111] In one possible implementation, the first impact factor corresponding to the second critical point B can be calculated using the following formula:

[0112] Among them, X c_B This indicates the degree of impact of the shock on key point B during the second switching state, v ae_min This indicates the lower limit for calculating the first impact factor within segment AB, v ae_max h represents the upper limit of the calculation of the first impact factor within segment AB. B1 Representing time t GB Influence factor, h B1 The value of time t GB For X c_B The degree of influence is directly proportional to t GB This represents the time from point B to point G.

[0113] Specifically, when the difference When the difference in characterization is small, the impact on the system is not significant, then the first impact factor = 0;

[0114] when hour, Here 1-tanh(h) B1 ·t GB This indicates the use of the hyperbolic tangent function tanhh, such that time t... GB For X c_B The effect varies non-linearly, h B1 The larger the value, the longer the time t. GB For X c_B The greater the impact; This means standardizing the difference to between 0 and 1, which can represent the relative size of the difference within the upper and lower limits;

[0115] when At that time, X c_A =1-tanh(h) B1 ·t GB The first impact factor has a significant impact on the system.

[0116] Here, by distinguishing the degree of influence of the difference in different ranges under different conditions, and combining it with the time influence factor, the calculation of the first impact factor corresponding to the second key point B is made more accurate, which helps to optimize the smoothness and stability of the hydraulic motor switching process.

[0117] In one possible implementation, the first useless time factor X is determined by the following formula. t_B X t_B =tanh(h) B2 ·t FB (7)

[0118] Among them, h B2 For time t FB Influence factor, t FB It can be negative, indicating that the time position of point F is after point B.

[0119] Here, time difference t is used. FB Multiply by the impact factor h B2 To adjust t FB The input value of the tanh function is used to control the effect of the time difference on the first useless time factor.

[0120] In some embodiments, determining the second target current value for the next switching based on a first impact factor and a first useless time factor includes:

[0121] The second target current value for the next switchover is determined using the following formula: I B =I B_last +(X c_B -X t_B )·I p_B (8)

[0122] Among them, I B Indicates the second target current value at the next switching time, I B_last X represents the current second target current value. c_B X represents the first impact factor. t_B I represents the first useless time factor. p_B This indicates the second preset switching coefficient.

[0123] Here, the second target current value at point B in the next switching process is determined by adjusting the second preset switching coefficient based on the first target current value at point B during this switching process and the influence of the first impact factor and the first useless time factor measured during this switching process on the current.

[0124] By using the above method, and by determining the first impact factor and the first useless time factor corresponding to the maximum impact point and the first useless time in the first switching process, respectively, the second target current value of point B in the current switching process can be adjusted. This allows for the adaptive determination of the second target current value of point B in the next switching process, thereby improving the responsiveness of the switching process and ensuring the stability of the switching.

[0125] In some embodiments, if the switching signal is a second switching signal, determining the third target current value corresponding to the third key point of the hydraulic motor in the second switching state at the next switching time, based on the second impact factor and the second hysteresis time factor, includes:

[0126] Determine the difference between the ideal tire speed and the actual tire speed, and determine the second impact point corresponding to the hydraulic motor in the second switching state based on the preset iterative calculation;

[0127] The second impact factor corresponding to the second impact point is determined based on the value and time position of the second impact point; wherein, the earlier the time position of the second impact point and the larger the value, the larger the third target current value.

[0128] The second lag time factor is determined according to the preset second lag time calculation formula; wherein, the second lag time represents the interval between the hydraulic motor entering the second switching state and the tire starting to decelerate. If the second lag time is larger, the third target current value is smaller.

[0129] The third target current value for the next switching is determined based on the second impact factor and the second hysteresis time factor.

[0130] In one possible implementation, the earlier the time position of the second impact point and the larger its value, the more the third key point C moves upward (i.e., I). C (Increase); if the second lag time is longer, point C will move downwards (i.e., I). C (Decrease).

[0131] In one possible implementation, the time position and magnitude of the second impact point K are determined in a similar way to those of the first impact point G. The time position of the second impact point K can be determined as t in a similar manner. PK Sum of values

[0132] Alternatively, the second impact factor X corresponding to the second impact point can be determined using the following formula.c_C :

[0133] Among them, X c_C This indicates the degree of impact of the shock in the second switching state on the third critical point C, v al_min This indicates the lower limit for calculating the second impact factor within segment CD, v al_max h represents the upper limit of the calculation of the second impact factor within segment CD. C Representing time t CK Influence factor, h C The value of time t CK For X c_C The degree of influence is directly proportional to t CK This represents the time it takes to travel from point C to point K.

[0134] Specifically, when the difference When the difference in characterization is small, the impact on the system is not significant, then the second impact factor = 0;

[0135] when hour, Here 1-tanh(h) C ·t CK This indicates the use of the hyperbolic tangent function tanhh, such that time t... CK For X c_C The effect varies non-linearly, h C The larger the value, the longer the time t. CK For X c_C The greater the impact; This means standardizing the difference to between 0 and 1, which can represent the relative size of the difference within the upper and lower limits;

[0136] when At that time, X c_C =1-tanh(h) C ·t CK The second impact factor has a significant impact on the system.

[0137] Here, by distinguishing the degree of influence of the difference in different ranges under different conditions, and combining it with the time influence factor, the calculation of the second impact factor is made more accurate, which helps to optimize the smoothness and stability of the hydraulic motor switching process.

[0138] In one possible implementation, the second lag time is defined as the interval between the hydraulic motor entering the second switching state and the tire starting to decelerate, i.e., the interval between pressing the switching button and the tire starting to decelerate.

[0139] Here, the time interval for the second lag time can be determined at point C. keep The smaller the distance to point D, the better; the minimum limit is...

[0140] The second lag time factor can be calculated using the following formula:

[0141] Among them, t CP This indicates the time from pressing the toggle button to the tires starting to decelerate. The expected minimum deceleration time, i.e., the lower limit of the desired deceleration time, t CP_max This indicates the maximum limit range for calculating the second lag time factor.

[0142] In some embodiments, determining the third target current value for the next switching based on the second impact factor and the second hysteresis time factor includes:

[0143] The third target current value for the next switchover is determined using the following formula: I C =I C_last +(X c_C -X t_C )·I p_C (10)

[0144] Among them, I C Indicates the third target current value at the next switching time, I C_last X represents the current third target current value. c_C X represents the second impact factor. t_C I represents the second lag time factor. p_C This indicates the third preset switching coefficient.

[0145] Here, based on the third target current value at the third key point C during this switching process, and the influence of the second impact factor and the second lag time factor measured during this switching process on the current, the third preset switching coefficient I is adopted. p_C Adjustments were made to determine the third target current value at point C, the third critical point, during the next switching process.

[0146] By using the above method, and by determining the second impact factor and the second lag time factor corresponding to the maximum impact point K and the second lag time in the second switching process, respectively, the third target current value of point C in the current switching process can be adjusted. This allows for the adaptive determination of the third target current value of point C in the next switching process, thereby improving the responsiveness of the switching process and ensuring the stability of the switching.

[0147] In some embodiments, determining the fourth target current value corresponding to the fourth key point of the hydraulic motor in the second switching state at the next switching, based on the second impact factor and the second useless time factor, includes:

[0148] Determine the second impact factor corresponding to the second impact point; wherein, the later the time position of the second impact point and the larger the value, the smaller the fourth target current value;

[0149] The second useless time factor is determined according to the preset second useless time calculation formula; where the second useless time refers to the interval between the time position of the fourth key point and the time position of the hydraulic motor reaching the minimum speed. The larger the second useless time, the larger the fourth target current value.

[0150] The fourth target current value for the next switching is determined based on the second impact factor and the second useless time factor.

[0151] In one possible implementation, if the time position of the second impact point is closer to the fourth key point D and the value is larger, then the fourth key point D moves downward (i.e., I...). D (Reduce); if the second useless time is greater, then the fourth key point D moves upward (i.e., I). D Increase).

[0152] In one possible implementation, the second impact factor corresponding to the fourth critical point D can be calculated using the following formula:

[0153] Among them, X c_D This indicates the degree of impact of the shock on the fourth critical point D during the second switching state, v al_min This indicates the lower limit for calculating the second impact factor within segment CD, v ae_max h represents the upper limit of the calculation of the second impact factor within segment CD. D1 Representing time t KD Influence factor, h D1 The value of time t KD For X c_D The degree of influence is directly proportional to t KD This represents the time from point D to point K.

[0154] Specifically, when the difference When the difference in characterization is small, the impact on the system is not significant, then the second impact factor = 0;

[0155] when hour, Here 1-tanh(h) D1 ·t KD This indicates the use of the hyperbolic tangent function tanhh, such that time t... KD For X c_D The effect varies non-linearly, h D1 The larger the value, the longer the time t. KD For X c_D The greater the impact; This means standardizing the difference to between 0 and 1, which can represent the relative size of the difference within the upper and lower limits;

[0156] when At that time, X c_D =1-tanh(h) D1 ·t KD The second impact factor has a significant impact on the system.

[0157] Here, by distinguishing the degree of influence of the difference in different ranges under different conditions, and combining it with the time influence factor, the calculation of the first impact factor corresponding to the second key point B is made more accurate, which helps to optimize the smoothness and stability of the hydraulic motor switching process.

[0158] In one possible implementation, the second useless time factor X is determined by the following formula. t_D X t_D =tanh(h) D2 ·t QD (12)

[0159] Among them, h D2 For time t QD Influencing factors.

[0160] Here, the time difference t is used. QD Multiply by the impact factor h D2 To adjust t QD The input value of the tanh function is used to control the effect of the time difference on the second useless time factor.

[0161] In some embodiments, determining the fourth target current value for the next switching based on the second impact factor and the second useless time factor includes:

[0162] The second target current value for the next switchover is determined using the following formula: I D =I D_last -(X c_D -X t_D )·I p_D (13)

[0163] Among them, I D Indicates the fourth target current value at the next switching time, I D_last X represents the current fourth target current value. c_D X represents the second impact factor. t_D I represents the second useless time factor. p_D This represents the fourth preset switching coefficient.

[0164] Here, the fourth target current value at point D in the next switching process is determined by adjusting the fourth preset switching coefficient based on the influence of the second impact factor and the second useless time factor on the current measured in this switching process during the current switching process.

[0165] By using the above method, the target current values ​​of points A and B in the next switching process can be determined in the first switching state, or the target current values ​​of points C and D in the next switching process can be determined in the second switching state. This eliminates the need for R&D personnel to perform multiple debugging tests, reducing workload and achieving better results for different hydraulic motors.

[0166] In some embodiments, determining the target current curve corresponding to the next switching based on the target current value includes:

[0167] Based on the first target current value and the second target current value at the time of the next switch, determine the target current curve corresponding to the first switch state at the time of the next switch;

[0168] Based on the third and fourth target current values ​​at the time of the next switch, determine the target current curve corresponding to the second switch state at the time of the next switch.

[0169] In one possible implementation, determining the target current curve corresponding to the first switching state during the next switching, based on the first target current value and the second target current value at the time of the next switching, may include:

[0170] The target current curve in the first switching state is determined using the following formula:

[0171] Among them, I act I represents the actual current value determined by the preset controller in real time. aim Indicates the target current value, I A This represents the first target current value, i.e., the current corresponding to point A, I. B This represents the second target current value, i.e., the current corresponding to point B, I. M i represents the current at point M. high T represents the number of frames in the first switching state. high The time interval for the first switching state is represented by Δt, where Δt is the control cycle of the control system.

[0172] In one possible implementation, determining the target current curve corresponding to the second switching state during the next switching, based on the third and fourth target current values ​​at the time of the next switching, may include:

[0173] The target current curve in the second switching state is determined using the following formula:

[0174] Among them, I C This represents the third target current value, i.e., the current corresponding to point C, I. D This represents the fourth target current value, i.e., the current corresponding to point D, I. N i represents the current at point N. low T represents the number of frames in operation for the second switching state. low This indicates the time interval for the second switching state.

[0175] Optionally, I M I N T low and T high For what is predetermined and remains unchanged during the control process, I is determined. A I B I C and I D The target current value is such that the target current value and the actual current value meet the switching requirements.

[0176] By adjusting I using the methods described above. A I B I C and I D The target current value is determined, and the target current curves corresponding to the next low-to-high or high-to-low state are determined respectively, so that the hydraulic motor is more stable during the state switching process and has less impact on the system's operating state.

[0177] In some embodiments, based on the target current curve and the actual current curve, a preset controller is used to match the actual current curve with the target current curve during the next switch, including:

[0178] Determine the current error value between the target current curve and the actual current curve;

[0179] Based on the current error value, the preset controller will match the actual current curve with the target current curve during the next switch.

[0180] In one possible implementation, the current error between the target current curve and the actual current curve is determined by the following formula: I error =I aim -I act (16)

[0181] Among them, I aim Represents the target current curve, I act Represents the actual current curve, I error This indicates the current error value between the target current curve and the actual current curve.

[0182] Here, the current error value can characterize the smoothness of the switching process. The larger the error value, the worse the smoothness of the state switching.

[0183] In one possible implementation, the control output signal for matching at each switching key point is determined by the following formula:

[0184] Among them, P out This indicates the control output signal of the preset controller. The solenoid valve responds according to P. out Adjust the status of the hydraulic motor; K P K represents the proportional gain of the preset controller. i K represents the integral gain of the preset controller. d Characterizing the derivative gain of the preset controller, K P With K i Configured to adjust the response performance and stability of a preset controller; ∫I error dt represents I error The integral over time can characterize the cumulative amount of error over time; Indicate I error The derivative with respect to time can characterize the rate of change of the error value over time.

[0185] The preset controller can refer to a proportional-integral-derivative (PID) controller, which can calculate the current error and adjust the control input according to the proportional, integral, and derivative of the error to achieve system stability and fast response.

[0186] In one possible implementation, a PID controller determines the output signal based on the error between the target current curve and the actual current curve at each critical switching point. This minimizes the error between the target and actual current curves, ensuring that the actual current curve closely matches the target current curve. This guarantees smooth speed changes during switching, avoids shocks and vibrations in the hydraulic system, and protects its mechanical structure. The PID controller can also rapidly control the current to the solenoid valve, allowing the hydraulic motor to quickly reach the required speed and improving the responsiveness of the switching state. Furthermore, adjustments can be made for different models of hydraulic motors without requiring multiple calibration tests by testing personnel, reducing labor costs.

[0187] In a specific embodiment of this solution, Figure 3 is an adaptive dual-speed switching control flowchart of a hydraulic motor state switching adjustment method provided in this application embodiment. As shown in Figure 3, the process includes the following steps:

[0188] Step S301: PID controller tracks the current curve and controls the proportional solenoid valve.

[0189] Here, the actual current curve of the solenoid valve is tracked in real time by the PID controller, and the proportional solenoid valve is controlled according to the actual current curve, thereby controlling the state switching of the hydraulic motor.

[0190] Step S302: Determine whether a switching signal has been generated; if yes, proceed to step S303; otherwise, return to step S301.

[0191] Here, by detecting mechanical or electrical signals, the presence of a switching signal in the control system is detected in real time. If a switching signal is present, proceed to step S303 and collect data during the switching process. If no switching signal is present, return to step S301 and continue to track the actual current curve.

[0192] Step S303: Collect data during the switching process, including the wheel speed of each frame and the time corresponding to the switching current point;

[0193] Here, the acquisition time interval for the low-to-high phase is determined to be from point A to point M, and the acquisition time interval for the high-to-low phase is determined to be from point C to point N; the tire speed during the switching process is acquired in real time, the time position corresponding to the switching key point is acquired, and the current magnitude corresponding to the switching key point is acquired and saved.

[0194] Step S304: Determine whether a complete switch has been completed; if yes, proceed to step S305; otherwise, proceed to step S301.

[0195] Here, it is determined whether the actual current value has reached the highest or lowest point and stabilized for a preset period of time to determine whether a complete switching segment has been completed; if a complete switching segment has been completed, the next operation is performed, the switching key points of the current are updated and the target current value is maintained;

[0196] Step S305: Determine if it is a low-to-high state. If yes, proceed to step S306; otherwise, proceed to step S307.

[0197] Here, determine whether it is a low-to-high phase. If so, update the target current values ​​of key points A and B. If not, update the target current values ​​of key points C and D.

[0198] Step S306, calculate the current magnitude at key points A and B;

[0199] Step S307, calculate the current magnitude at key points C and D.

[0200] Figure 4 is a current and speed curve diagram showing a specific embodiment of the state switching adjustment method for a hydraulic motor provided in this application. As shown in Figure 4, taking the adaptive change of the preset target current curve in the low-to-high state as a specific embodiment, when the high-low speed switching button is pressed, the current and speed are recorded, and the resulting current and speed curves are shown in Figure 4.

[0201] An impact occurs when the toggle button is pressed, with a useless time t. FB The actual current value rises to the highest point M, which indicates that the low-cut-high state is completed. At this time, the target current values ​​of points A and B are calculated. For the calculation of the first target current value of point A, it can be seen from Figure 4 that since the first impact point G is close to point A and the value is large, the first impact factor X can be determined according to formula (3). c_A Increase; and due to t in Figure 4 AE and The fact that they are almost equal indicates that the first lag time is almost zero. The first lag time factor X can be obtained through equation (4). t_A It is almost zero; according to formula (5), the first target current value I at point A can be obtained. A The decrease, as shown in Figure 4, means that point A will move to point I. CH1 Under these conditions, the preset requirements can be met; for the calculation of the second target current value at point B, it can be seen from Figure 4 that although the value of the first impact point G is large, it is far away from point B. According to formula (6), the first impact factor X corresponding to point B can be determined. c_B Decrease; First useless time t FB The first useless time factor X is relatively large, and according to equation (7), it can be obtained. t_B The value is relatively large, meaning that the second target current value I at point B can be obtained according to equation (8). B It will decrease, as shown in Figure 4, point B will decrease to be close to I. CH2 The location can meet the preset requirements.

[0202] In one specific embodiment of this application, Figure 5 is a hydraulic control principle diagram of a hydraulic motor state switching adjustment method provided in this application embodiment, as shown in Figure 5:

[0203] The dual-speed hydraulic motor 501 is the actuator of the hydraulic system, which rotates by being driven by hydraulic oil. Ports A and B are the main oil inlet and outlet ports of the dual-speed hydraulic motor 501, which are configured for the inlet and outlet of hydraulic oil. Port X is the control pressure port for dual-speed switching, which is configured to receive the control pressure signal of the proportional solenoid valve 502 to switch the speed of the hydraulic motor.

[0204] Pilot pressure 503 is a small hydraulic signal pressure configured to control the hydraulic system. Pilot pressure 503 is configured to control proportional solenoid valve 502, thereby indirectly controlling dual-speed hydraulic motor 501.

[0205] The control pressure 504 is a pressure signal regulated by the proportional solenoid valve 502, which acts on the switching control port (X port) of the dual-speed hydraulic motor 501.

[0206] L-port indicates the drain port of the hydraulic system, which is configured to drain excess hydraulic oil back to the tank to maintain system pressure balance and cooling.

[0207] Figure 6 is a structural schematic diagram of a hydraulic motor state switching adjustment device provided in an embodiment of this application. As shown in Figure 6, the device can be applied to intelligent electronic devices such as servers and computers. The device includes: a first determining module 601, a second determining module 602, a third determining module 603, and a matching module 604.

[0208] The first determining module 601 is configured to determine whether there is a switching signal configured to control the hydraulic motor to switch operating states. If there is a switching signal, it determines the actual current curve of the solenoid valve and the actual speed of the hydraulic motor during the switching process. The solenoid valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current.

[0209] The second determining module 602 is configured to determine the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching based on the actual current curve and the actual rotation speed.

[0210] The third determining module 603 is configured to determine the target current curve corresponding to the next switching based on the target current value;

[0211] Matching module 604 is configured to match the actual current curve with the target current curve during the next switch by using a preset controller, based on the target current curve and the actual current curve.

[0212] The second determining module 602 is configured to determine whether the type of the switching signal is a first switching signal or a second switching signal; wherein, the first switching signal is configured to switch the hydraulic motor from a low speed state to a high speed state in the first switching state, and the second switching signal is configured to switch the hydraulic motor from a high speed state to a low speed state in the second switching state.

[0213] If the switching signal is the first switching signal, the first target current value corresponding to the first key point of the hydraulic motor in the first switching state at the next switching time is determined according to the first impact factor and the first lag time factor.

[0214] Based on the first impact factor and the first useless time factor, determine the second target current value corresponding to the second key point of the hydraulic motor in the first switching state at the next switching time;

[0215] If the switching signal is the second switching signal, the third target current value corresponding to the third key point of the hydraulic motor in the second switching state is determined according to the second impact factor and the second lag time factor during the next switching.

[0216] Based on the second impact factor and the second useless time factor, determine the fourth target current value corresponding to the fourth key point of the hydraulic motor in the second switching state at the next switching time.

[0217] The second determining module 602 is configured to determine the first impact factor corresponding to the first impact point based on the value and time position of the first impact point; wherein, if the time position of the first impact point is earlier and the value is larger, the first target current value is smaller.

[0218] The first lag time factor is determined according to the preset first lag time calculation formula; wherein, the first lag time represents the interval between the hydraulic motor entering the first switching state and the tire starting to accelerate. If the first lag time is larger, the first target current value is larger.

[0219] The first target current value for the next switching is determined based on the first impact factor and the first hysteresis time factor.

[0220] The second determining module 602 is configured to determine the first target current value for the next switching using the following formula: I A =I A_last -(X c_A -X t_A )·I p_A

[0221] Among them, I A Indicates the first target current value at the next switching time, I A_last X represents the current first target current value. c_A X represents the first impact factor. t_A I represents the first lag time factor. p_A This represents the first preset switching coefficient;

[0222] The second determining module 602 is configured to determine the first impact factor corresponding to the first impact point; wherein, the earlier the time position of the first impact point and the larger the value, the larger the second target current value.

[0223] According to the preset first useless time calculation formula, the first useless time factor is determined; where the first useless time refers to the interval between the time position of the second key point and the time position of the hydraulic motor reaching the highest speed. The larger the first useless time, the smaller the second target current value.

[0224] The second target current value for the next switching is determined based on the first impact factor and the first useless time factor.

[0225] The second determining module 602 is configured to determine the second target current value for the next switching using the following formula: I B =I B_last +(X c_B -X t_B )·I p_B

[0226] Among them, I B Indicates the second target current value at the next switching time, I B_last X represents the current second target current value. c_B X represents the first impact factor. t_B I represents the first useless time factor. p_B This indicates the second preset switching coefficient;

[0227] The second determining module 602 is configured to determine the difference between the ideal tire speed and the actual tire speed, and to determine the second impact point corresponding to the hydraulic motor in the second switching state based on a preset iterative calculation.

[0228] The second impact factor corresponding to the second impact point is determined based on the value and time position of the second impact point; wherein, the earlier the time position of the second impact point and the larger the value, the larger the third target current value.

[0229] The second lag time factor is determined according to the preset second lag time calculation formula; wherein, the second lag time represents the interval between the hydraulic motor entering the second switching state and the tire starting to decelerate. If the second lag time is larger, the third target current value is smaller.

[0230] The third target current value for the next switching is determined based on the second impact factor and the second hysteresis time factor.

[0231] The second determining module 602 is configured to determine the third target current value for the next switch using the following formula: I C =I C_last +(X c_C -X t_C )·I p_C

[0232] Among them, I C Indicates the third target current value at the next switching time, IC_last X represents the current third target current value. c_C X represents the second impact factor. t_C I represents the second lag time factor. p_C This indicates the third preset switching coefficient;

[0233] The second determining module 602 is configured to determine the second impact factor corresponding to the second impact point; wherein, the later the time position of the second impact point and the larger the value, the smaller the fourth target current value;

[0234] The second useless time factor is determined according to the preset second useless time calculation formula; where the first useless time refers to the interval between the time position of the fourth key point and the time position of the hydraulic motor reaching the minimum speed. The larger the second useless time, the larger the fourth target current value.

[0235] The fourth target current value for the next switching is determined based on the second impact factor and the second useless time factor.

[0236] The second determining module 602 is configured to determine the second target current value for the next switching using the following formula: I D =I D_last -(X c_D -X t_D )·I p_D

[0237] Among them, I D Indicates the fourth target current value at the next switching time, I D_last X represents the current fourth target current value. c_D X represents the second impact factor. t_D I represents the second useless time factor. p_D This indicates the fourth preset switching coefficient;

[0238] The third determining module 603 is configured to determine the target current curve corresponding to the first switching state during the next switching based on the first target current value and the second target current value during the next switching.

[0239] Based on the third and fourth target current values ​​at the time of the next switch, determine the target current curve corresponding to the second switch state at the time of the next switch;

[0240] Matching module 604 is configured to determine the current error value between the target current curve and the actual current curve;

[0241] Based on the current error value, the preset controller will match the actual current curve with the target current curve during the next switch.

[0242] It should be noted that the state switching and adjustment device for the hydraulic motor provided in the above embodiments is only illustrated by the division of the above-described program modules when implementing the corresponding state switching and adjustment method for the hydraulic motor. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the device provided in the above embodiments and the embodiments of the corresponding methods shown in Figure 1 belong to the same concept, and the specific implementation process can be found in the method embodiments, which will not be repeated here.

[0243] To implement the method of the embodiments of this application, this application provides a state switching and adjustment device for a hydraulic motor, as shown in FIG7. The device includes: a processor 701 and a memory 702 configured to store a computer program capable of running on the processor; wherein,

[0244] When the processor 701 is configured to run the computer program, it performs the following: determining whether a switching signal configured to control the hydraulic motor to switch operating states exists; if a switching signal exists, determining the actual current curve of the solenoid valve and the actual speed of the hydraulic motor during the switching process; wherein the solenoid valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current; determining the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching time based on the actual current curve and the actual speed; determining the target current curve corresponding to the next switching time based on the target current value; and matching the actual current curve at the next switching time with the target current curve based on the target current curve and the actual current curve through a preset controller. Specifically, the device can execute the method shown in Figure 1, which belongs to the same concept as the hydraulic motor state switching adjustment method embodiment shown in Figure 1. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0245] In practical applications, as shown in Figure 7, the device may further include at least one network interface 703. The various components in the hydraulic motor state switching adjustment device are coupled together via a bus system 704. It is understood that the bus system 704 is configured to enable communication between these components. In addition to a data bus, the bus system 704 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 704 in Figure 7. The number of processors 701 can be at least one. The network interface 703 is configured for wired or wireless communication between the hydraulic motor state switching adjustment device and other devices.

[0246] The memory 702 in this embodiment is configured to store various types of data to support the operation of the hydraulic motor state switching adjustment device.

[0247] The methods disclosed in the embodiments of this application described above can be configured in or implemented by processor 701. Processor 701 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by integrated logic circuits in the hardware of processor 701 or by instructions in software form.

[0248] The processor 701 described above can be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 701 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules can be located in a storage medium, which is located in memory 702. The processor 701 reads information from memory 702 and, in conjunction with its hardware, completes the steps of the aforementioned methods.

[0249] In an exemplary embodiment, the state switching adjustment device of the hydraulic motor may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components, and configured to perform the aforementioned method.

[0250] This application embodiment also provides a computer-readable storage medium storing a computer program thereon. When the computer program is executed by a processor, it performs the following: determining whether a switching signal configured to control the switching of the operating state of a hydraulic motor exists; if a switching signal exists, determining the actual current curve of the solenoid valve and the actual speed of the hydraulic motor during the switching process; wherein the solenoid valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current; determining the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching time based on the actual current curve and the actual speed; determining the target current curve corresponding to the next switching time based on the target current value; and matching the actual current curve at the next switching time with the target current curve and the actual current curve through a preset controller. Specifically, the computer program can also execute the method shown in Figure 1, which belongs to the same concept as the method embodiment shown in Figure 1. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0251] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: multiple units or components can be combined, or integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0252] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0253] In addition, each functional unit in the various embodiments of this application can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0254] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0255] Alternatively, if the integrated units described above are implemented as software functional modules and sold or used as independent products, they can also be stored in a computer-readable storage medium. Based on this understanding, the technical solutions of the embodiments of this application, or the parts that contribute to related technologies, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

[0256] It should be noted that terms such as "first" and "second" are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0257] Furthermore, the technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0258] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A state switching adjustment method of a hydraulic motor, wherein, The method comprises: determining whether there is a switching signal configured to control the hydraulic motor switching operation state, if there is the switching signal, determining the actual current curve of the electromagnetic valve in the switching process and the actual speed of the hydraulic motor; wherein the electromagnetic valve is configured to receive the switching signal, and control the operation state of the hydraulic motor according to the current; determining the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operation state at the next switching according to the actual current curve and the actual speed; determining the target current curve corresponding to the next switching according to the target current value; according to the target current curve and the actual current curve, the actual current curve at the next switching is matched with the target current curve through the preset controller.

2. The method of claim 1, wherein, The target current value corresponding to the switching key point of the hydraulic motor in the corresponding operation state at the next switching is determined according to the actual current curve and the actual speed, which comprises: determining the type of switching signal is the first switching signal or the second switching signal; wherein the first switching signal is configured to switch the hydraulic motor from low speed state to high speed state in the first switching state, and the second switching signal is configured to switch the hydraulic motor from high speed state to low speed state in the second switching state; if the switching signal is the first switching signal, the first target current value corresponding to the first key point of the hydraulic motor in the first switching state at the next switching is determined according to the first impact factor and the first lag time factor; the second target current value corresponding to the second key point of the hydraulic motor in the first switching state at the next switching is determined according to the first impact factor and the first useless time factor; if the switching signal is the second switching signal, the third target current value corresponding to the third key point of the hydraulic motor in the second switching state at the next switching is determined according to the second impact factor and the second lag time factor; the fourth target current value corresponding to the fourth key point of the hydraulic motor in the second switching state at the next switching is determined according to the second impact factor and the second useless time factor.

3. The method of claim 2, wherein, If the switching signal is the first switching signal, the first target current value corresponding to the first key point of the hydraulic motor in the first switching state at the next switching is determined according to the first impact factor and the first lag time factor, which comprises: determining the difference between the ideal tire speed and the actual tire speed, and determining the first impact point corresponding to the hydraulic motor in the first switching state according to the preset iterative calculation; determining the first impact factor corresponding to the first impact point according to the numerical value and time position of the first impact point; wherein the first target current value is smaller if the time position of the first impact point is earlier and the numerical value is larger; determining the first lag time factor according to the preset first lag time calculation formula; wherein the first lag time represents the interval time from the entry of the hydraulic motor into the first switching state to the start of the tire acceleration, and the first target current value is larger if the first lag time is larger. The first target current value at the next switching is determined according to the first impact factor and the first lag time factor.

4. The method of claim 3, wherein, The first target current value at the next switching is determined according to the first impact factor and the first lag time factor. The first target current value at the next switching is determined according to the first impact factor and the first lag time factor. I A = I A_last - (X c_A - X t_A ) · I p_A wherein I A represents the first target current value at the next switching, I A_last represents the current first target current value, X c_A represents the first impact factor, X t_A represents the first hysteresis time factor, I p_A represents a first preset switching coefficient.

5. The method of claim 2, wherein, The second target current value at the next switching is determined according to the first impact factor and the first useless time factor. The second target current value at the next switching is determined according to the first impact factor and the first useless time factor. The second target current value at the next switching is determined according to the first impact factor and the first useless time factor. The second target current value at the next switching is determined according to the first impact factor and the first useless time factor.

6. The method of claim 5, wherein, The third target current value at the next switching is determined according to the second impact factor and the second lag time factor. The third target current value at the next switching is determined according to the second impact factor and the second lag time factor. I B = I B_last + (X c_B - X t_B ) · I p_B wherein I B represents the second target current value at the next switching, I B_last represents the current second target current value, X c_B represents the first impact factor, X t_B represents the first useless time factor, I p_B represents a second preset switching coefficient.

7. The method of claim 2, wherein, The third target current value at the next switching is determined according to the second impact factor and the second lag time factor. The fourth target current value at the next switching is determined according to the second impact factor and the second useless time factor. The fourth target current value at the next switching is determined according to the second impact factor and the second useless time factor. The fourth target current value at the next switching is determined according to the second impact factor and the second useless time factor. ​ 8. The method of claim 7, wherein, ​ ​ I C = I C_last + (X c_C - X t_C ) · I p_C wherein I C represents the third target current value at the next switching, I C_last represents the current third target current value, X c_C represents the second impact factor, X t_C represents the second hysteresis time factor, I p_C represents a third preset switching coefficient.

9. The method of claim 2, wherein, ​ ​ According to a preset second dead time calculation formula, a second dead time factor is determined; wherein the second dead time refers to the interval time between the time position of the fourth key point and the time position at which the hydraulic motor reaches the minimum rotating speed, and the greater the second dead time, the greater the fourth target current value; According to the second impact factor and the second dead time factor, the fourth target current value at the next switching is determined.

10. The method of claim 9, wherein, According to the second impact factor and the second dead time factor, the fourth target current value at the next switching is determined. The second target current value at the next switching is determined by using the following formula: I D = I D_last - (X c_D - X t_D ) · I p_D wherein I D represents the fourth target current value at the next switching, I D_last represents the current fourth target current value, X c_D represents the second impact factor, X t_D represents the second useless time factor, I p_D represents a fourth preset switching coefficient.

11. The method of claim 3 or 5 or 7 or 9, wherein, According to the target current value, the target current curve corresponding to the next switching is determined. According to the first target current value and the second target current value at the next switching, the target current curve corresponding to the first switching state at the next switching is determined. According to the third target current value and the fourth target current value at the next switching, the target current curve corresponding to the second switching state at the next switching is determined.

12. The method of claim 11, wherein, According to the target current curve and the actual current curve, the actual current curve at the next switching is matched with the target current curve by a preset controller. The current error value between the target current curve and the actual current curve is determined. According to the current error value, the actual current curve is matched with the target current curve at the next switching by a preset controller.

13. A state switching adjustment device of a hydraulic motor, wherein The device comprises: The first determination module is configured to determine whether there is a switching signal configured to control the switching of the operating state of the hydraulic motor, and if the switching signal exists, to determine the actual current curve of the electromagnetic valve and the actual rotating speed of the hydraulic motor during the switching process; wherein the electromagnetic valve is configured to receive the switching signal and control the operating state of the hydraulic motor according to the current; The second determination module is configured to determine the target current value corresponding to the switching key point of the hydraulic motor in the corresponding operating state at the next switching according to the actual current curve and the actual rotating speed; The third determination module is configured to determine the target current curve corresponding to the next switching according to the target current value; The matching module is configured to match the actual current curve at the next switching with the target current curve by a preset controller according to the target current curve and the actual current curve. It comprises:

14. A computer device, wherein, The memory and the processor are communicatively connected, the memory stores computer instructions, and the processor executes the computer instructions to perform the state switching adjustment method of the hydraulic motor in any one of claims 1-12. The computer readable storage medium stores computer instructions, and the computer instructions are configured to make the computer execute the state switching adjustment method of the hydraulic motor in any one of claims 1-12.

15. A computer readable storage medium, wherein, ​

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