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Method and device for controlling working machine, and working machine
The invention provides a control method and device for an operation machine and the operation machine, and the method comprises the steps: obtaining an operation instruction feature of an operation part, and generating a feedforward setting signal and an expected operation parameter of an execution part according to the operation instruction feature; real-time operation parameters of the execution part are obtained, and feedback correction signals are generated according to the expected operation parameters and the real-time operation parameters; a control strategy is generated according to the feedforward setting signal and the feedback correction signal, and operation of the execution part is adjusted according to the control strategy. According to the invention, control correction is carried out according to parameter feedback of the execution parts, so that a plurality of different execution parts operate according to the operation instruction speed proportion of the operation part under different load working conditions, that is, the execution speed proportion of the plurality of execution parts is consistent with the operation instruction output by the operation part; a driver does not need to frequently operate and adjust operation parts such as a handle so as to adapt to the influence of load change on the speed proportion, and the operation difficulty of operation machinery is reduced.
本发明提供一种作业机械的控制方法、装置及作业机械，方法包括：获取操作部的操作指令特征，并根据操作指令特征生成前馈设定信号和执行部的预期运行参数；获取执行部的即时运行参数，根据预期运行参数和即时运行参数生成反馈修正信号；根据前馈设定信号和反馈修正信号生成控制策略，根据控制策略调节执行部的运行。本发明通过根据执行部的参数反馈进行控制的修正，实现了在不同负载工况下，多个不同执行部之间根据操作部的操作指令速度比例运行，即多个执行部执行的速度比例与操作部输出的操作指令一致，驾驶员无需频繁的操作和调整手柄等操作部，以适应负载变化对速度比例产生的影响，降低了作业机械的操作难度。
Method and device for controlling working machine, and working machine
The invention provides a control method and device for an operation machine and the operation machine, and the method comprises the steps: obtaining an operation instruction feature of an operation part, and generating a feedforward setting signal and an expected operation parameter of an execution part according to the operation instruction feature; real-time operation parameters of the execution part are obtained, and feedback correction signals are generated according to the expected operation parameters and the real-time operation parameters; a control strategy is generated according to the feedforward setting signal and the feedback correction signal, and operation of the execution part is adjusted according to the control strategy. According to the invention, control correction is carried out according to parameter feedback of the execution parts, so that a plurality of different execution parts operate according to the operation instruction speed proportion of the operation part under different load working conditions, that is, the execution speed proportion of the plurality of execution parts is consistent with the operation instruction output by the operation part; a driver does not need to frequently operate and adjust operation parts such as a handle so as to adapt to the influence of load change on the speed proportion, and the operation difficulty of operation machinery is reduced.
本发明提供一种作业机械的控制方法、装置及作业机械，方法包括：获取操作部的操作指令特征，并根据操作指令特征生成前馈设定信号和执行部的预期运行参数；获取执行部的即时运行参数，根据预期运行参数和即时运行参数生成反馈修正信号；根据前馈设定信号和反馈修正信号生成控制策略，根据控制策略调节执行部的运行。本发明通过根据执行部的参数反馈进行控制的修正，实现了在不同负载工况下，多个不同执行部之间根据操作部的操作指令速度比例运行，即多个执行部执行的速度比例与操作部输出的操作指令一致，驾驶员无需频繁的操作和调整手柄等操作部，以适应负载变化对速度比例产生的影响，降低了作业机械的操作难度。
Method and device for controlling working machine, and working machine
作业机械的控制方法、装置及作业机械
SHI JIANPENG (author) / OUYANG WANQING (author) / LIU YINGHAO (author) / LEI XIAOFENG (author)
2023-12-01
Patent
Electronic Resource
Chinese
IPC:
E02F
Baggern
,
DREDGING
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