阅读说明：本技术 基于步进电机控制工程机械发动机转速的方法和系统 (Method and system for controlling rotating speed of engine of engineering machinery based on stepping motor ) 是由 王宗强 罗建华 朱文耀 于 2020-11-18 设计创作，主要内容包括：本发明提供了一种基于步进电机控制工程机械发动机转速的方法和系统,应用于步进电机,步进电机输出端与目标发动机的油门相连接,目标发动机为工程机械发动机；方法包括：获取目标转速；通过目标传感器实时获取目标发动机的油门的当前位置所对应的第一电信号；基于第一预设曲线,确定目标转速对应的第二电信号；基于第一电信号和第二电信号,控制步进电机的转动,以使步进电机控制油门的位置发生变化。本发明解决了现有技术中存在的电机转速调节累计偏差较大的技术问题。(The invention provides a method and a system for controlling the rotating speed of an engine of engineering machinery based on a stepping motor, which are applied to the stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engine of the engineering machinery; the method comprises the following steps: acquiring a target rotating speed; acquiring a first electric signal corresponding to the current position of an accelerator of a target engine in real time through a target sensor; determining a second electric signal corresponding to the target rotating speed based on the first preset curve; and controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change. The invention solves the technical problem of larger accumulated deviation of motor rotating speed regulation in the prior art.)

1. A method for controlling the rotating speed of an engine of an engineering machine based on a stepping motor is applied to the stepping motor, the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engine of the engineering machine; it is characterized by comprising:

acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine;

acquiring a first electric signal corresponding to the current position of an accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of the accelerator;

determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target engine at different rotating speeds corresponding to the position of the target sensor based on the accelerator; the second electrical signal is the same type of electrical signal as the first electrical signal;

and controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change.

2. The method of claim 1, wherein controlling rotation of the stepper motor based on the first electrical signal and the second electrical signal comprises:

calculating a difference value between the first electric signal and the second electric signal to obtain a target difference value;

determining the rotation direction of the stepping motor based on the positive and negative of the target difference value;

determining the pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of a pulse signal for controlling the stepping motor;

and controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value to stop rotating.

3. The method of claim 2, wherein determining the rotational direction of the stepper motor based on the target difference value being positive or negative comprises:

judging whether the target difference value is a positive number or not;

if so, controlling the rotation direction of the stepping motor to be positive rotation;

and if not, controlling the rotation direction of the stepping motor to be reverse rotation.

4. The method of claim 1, further comprising:

the first preset curve is determined based on the electric signal values of the target sensor at different rotating speeds of the target engine.

5. A system for controlling the rotating speed of an engine of an engineering machine based on a stepping motor is applied to the stepping motor, the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engine of the engineering machine; it is characterized by comprising: a first obtaining module, a second obtaining module, a first determining module and a control module, wherein,

the first acquisition module is used for acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine;

the second acquisition module is used for acquiring a first electric signal corresponding to the current position of the accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of the accelerator;

the first determining module is used for determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target engine at different rotating speeds corresponding to the position of the target sensor based on the accelerator; the second electrical signal is the same type of electrical signal as the first electrical signal;

the control module is used for controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change.

6. The system of claim 5, wherein the control module further comprises: a calculation unit, a first determination unit, a second determination unit and a control unit, wherein,

the calculating unit is used for calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value;

the first determination unit is used for determining the rotation direction of the stepping motor based on the positive and negative of the target difference value;

the second determining unit is used for determining the pulse frequency of the pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of a pulse signal for controlling the stepping motor;

and the control unit is used for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value and stopping the rotation.

7. The system of claim 6, wherein the first determination unit is further configured to:

judging whether the target difference value is a positive number or not;

if so, controlling the rotation direction of the stepping motor to be positive rotation;

and if not, controlling the rotation direction of the stepping motor to be reverse rotation.

8. The system of claim 5, further comprising: the second determination module is used for determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.

9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of any of the preceding claims 1 to 4 are implemented when the computer program is executed by the processor.

10. A computer-readable medium having non-volatile program code executable by a processor, wherein the program code causes the processor to perform the method of any of claims 1-4.

Technical Field

The invention relates to the technical field of engineering machinery, in particular to a method and a system for controlling the rotating speed of an engine of the engineering machinery based on a stepping motor.

Background

The control of the stepping motor can be summarized as driving the motor to run by sending a certain number of pulse signals to the stepping motor, and the running distance of the motor is determined by the number of pulses. At present, many engineering machines also use step motor to control the throttle opening of engine to control the rotational speed of engine, its control mode is: when the machine is debugged, firstly, a motor output frequency is selected according to the frequency and the output characteristic of the stepping motor, then the number of pulses required by the stepping motor to adjust the position of the accelerator to the position is calculated according to the accelerator position corresponding to the engine rotating speed of each gear, and the number of the pulses is recorded in the controller, and then the controller only needs to send the corresponding number of pulses according to the number of the pulses required by the position of each gear of the accelerator, which is recorded in the system, when the stepping motor is controlled, and the accelerator can be adjusted to the set position.

The method for controlling the rotating speed of the engine by the stepping motor is simple and easy to implement, but because the stepping motor has a special 'step loss' phenomenon, when the frequency is higher, the load is heavier, or the direction is switched, a pulse loss phenomenon can be generated, so that the actual running distance of the motor is influenced, an accumulated error can be generated after the motor is run for many times, the more the adjustment times are, and the larger the accumulated deviation is.

Disclosure of Invention

In view of the above, an object of the present invention is to provide a method and a system for controlling the engine speed of a construction machine based on a stepping motor, so as to alleviate the technical problem of large accumulated deviation of motor speed adjustment in the prior art.

In a first aspect, the embodiment of the invention provides a method for controlling the rotating speed of an engine of an engineering machine based on a stepping motor, which is applied to the stepping motor, wherein the output end of the stepping motor is connected with an accelerator of a target engine, and the target engine is the engine of the engineering machine; the method comprises the following steps: acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine; acquiring a first electric signal corresponding to the current position of an accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of the accelerator; determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target engine at different rotating speeds corresponding to the position of the target sensor based on the accelerator; the second electrical signal is the same type of electrical signal as the first electrical signal; and controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change.

Further, controlling the rotation of the stepping motor based on the first electric signal and the second electric signal includes: calculating a difference value between the first electric signal and the second electric signal to obtain a target difference value; determining the rotation direction of the stepping motor based on the positive and negative of the target difference value; determining the pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of a pulse signal for controlling the stepping motor; and controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value to stop rotating.

Further, determining the rotation direction of the stepping motor based on the positive and negative of the target difference value includes: judging whether the target difference value is a positive number or not; if so, controlling the rotation direction of the stepping motor to be positive rotation; and if not, controlling the rotation direction of the stepping motor to be reverse rotation.

Further, the method further comprises: the first preset curve is determined based on the electric signal values of the target sensor at different rotating speeds of the target engine.

In a second aspect, the embodiment of the invention further provides a system for controlling the rotating speed of the engine of the engineering machinery based on the stepping motor, which is applied to the stepping motor, wherein the output end of the stepping motor is connected with the accelerator of a target engine, and the target engine is the engine of the engineering machinery; the method comprises the following steps: the device comprises a first acquisition module, a second acquisition module, a first determination module and a control module, wherein the first acquisition module is used for acquiring a target rotating speed; the target rotating speed is the rotating speed to be adjusted of the target engine; the second acquisition module is used for acquiring a first electric signal corresponding to the current position of the accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of the accelerator; the first determining module is used for determining a second electric signal corresponding to the target rotating speed based on a first preset curve; the first preset curve is a relation curve of electric signals generated by the target engine at different rotating speeds corresponding to the position of the target sensor based on the accelerator; the second electrical signal is the same type of electrical signal as the first electrical signal; the control module is used for controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change.

Further, the control module further comprises: the device comprises a calculating unit, a first determining unit, a second determining unit and a control unit, wherein the calculating unit is used for calculating the difference value of the first electric signal and the second electric signal to obtain a target difference value; the first determination unit is used for determining the rotation direction of the stepping motor based on the positive and negative of the target difference value; the second determining unit is used for determining the pulse frequency of the pulse signal for controlling the stepping motor based on the magnitude of the target difference value and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of a pulse signal for controlling the stepping motor; and the control unit is used for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value and stopping the rotation.

Further, the first determining unit is further configured to: judging whether the target difference value is a positive number or not; if so, controlling the rotation direction of the stepping motor to be positive rotation; and if not, controlling the rotation direction of the stepping motor to be reverse rotation.

Further, the system further comprises: the second determination module is used for determining the first preset curve based on the electric signal values of the target sensor at different rotating speeds of the target engine.

In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method according to the first aspect when executing the computer program.

In a fourth aspect, the present invention further provides a computer-readable medium having non-volatile program code executable by a processor, where the program code causes the processor to execute the method according to the first aspect.

The invention provides a method and a system for controlling the rotating speed of an engine of engineering machinery based on a stepping motor, which realize the accurate control of the stepping motor by the feedback electric signal of the position of the stepping motor, do not record the number of pulses any more, avoid the problem of overlarge error caused by 'step missing' in the process of controlling the number of pulses, and relieve the technical problem of larger accumulated deviation of motor rotating speed regulation in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 is a flowchart of a method for controlling the engine speed of an engineering machine based on a stepping motor according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a system for controlling the engine speed of a construction machine based on a stepping motor according to an embodiment of the present invention;

fig. 3 is a schematic diagram of a control module according to an embodiment of the present invention.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

fig. 1 is a flowchart of a method for controlling the rotation speed of an engine of an engineering machine based on a stepping motor according to an embodiment of the present invention, where the method is applied to the stepping motor, an output end of the stepping motor is connected to an accelerator of a target engine, and the rotation of the stepping motor can drive the position of the accelerator to change, so as to control the rotation speed of the target engine, where the target engine is the engine of the engineering machine. As shown in fig. 1, the method specifically includes the following steps:

step S102, acquiring a target rotating speed; the target rotating speed is the target rotating speed to be adjusted of the engine.

Step S104, acquiring a first electric signal corresponding to the current position of the accelerator of the target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of an accelerator.

Specifically, when the accelerator of the target engine is at a position between a maximum position and a minimum position (i.e., a flameout position), the output device of the stepping motor is provided with a fixed position sensor (i.e., a target sensor), so that the stepping motor obtains a linear feedback electric signal through the target sensor, for example, a voltage signal of 0-5V or a current signal of 4-20 mA.

Step S106, determining a second electric signal corresponding to the target rotating speed based on the first preset curve; the first preset curve is a relation curve of electric signals generated by the target engine at different rotating speeds corresponding to the position of the target sensor based on the accelerator; the second electrical signal is the same type of electrical signal as the first electrical signal. For example, when the first electrical signal is a voltage signal, the second electrical signal is also a voltage signal; when the first electrical signal is a current signal, the second electrical signal is also a current signal.

And S108, controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so that the stepping motor controls the position of the accelerator to change, and further controlling the rotating speed of the target engine to change, so that the rotating speed of the target engine is adjusted to be the target rotating speed.

The invention provides a method for controlling the rotating speed of an engine of engineering machinery based on a stepping motor, which realizes the accurate control of the stepping motor by feeding back an electric signal of the position of the stepping motor, does not record the number of pulses any more, avoids the problem of overlarge error caused by 'step missing' in the process of controlling the quantity of the pulses, and relieves the technical problem of larger accumulated deviation of motor rotating speed regulation in the prior art.

Optionally, step S108 specifically includes the following steps:

step S1081, calculating a difference between the first electrical signal and the second electrical signal to obtain a target difference.

Step S1082, determining a rotation direction of the stepping motor based on the positive and negative of the target difference.

Specifically, whether the target difference value is a positive number is judged; if yes, controlling the rotation direction of the stepping motor to be positive rotation; if not, the rotation direction of the stepping motor is controlled to be reverse rotation.

Step S1083, determining a pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor.

Optionally, when the target difference value is larger, the pulse frequency is higher, and the speed for controlling the stepping motor to rotate is higher; the smaller the target difference, the lower the pulse frequency and the slower the speed of controlling the rotation of the stepper motor.

And step S1084, controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the target difference value is smaller than a preset threshold value, and stopping the rotation.

Specifically, when control step motor's rotation, the position of throttle can follow and change, and the target sensor can obtain first signal of telecommunication in real time according to the position change of throttle to make the target difference also follow the change in real time, when the size of target difference is less than and predetermines the threshold value, control step motor stall, the rotational speed of target engine is the target rotational speed this moment.

Optionally, the method provided in the embodiment of the present invention further includes: a first preset curve is determined based on the electric signal values of the target sensor at different rotating speeds of the target engine.

It should be noted that the output frequency of the stepping motor is closely related to the torque, so that the torque required by the mechanical structure is required to be met when the pulse frequency is set, and the mechanical structure can be ensured to normally operate; when the stepping motor is controlled, in order to prevent the oscillating operation in the positive and negative directions from generating, the rotating speed of the engine is suddenly increased and suddenly decreased, and hysteresis control must be added to the control of the starting and stopping of the motor.

According to the method for controlling the rotating speed of the engine of the engineering machinery based on the stepping motor, provided by the embodiment of the invention, the stepping motor is accurately controlled mainly through the feedback signal of the position of the stepping motor, the number of pulses is not recorded any more, and the problem of overlarge error caused by step loss in the pulse number control process is avoided; meanwhile, the output frequency of the stepping motor can be dynamically adjusted based on the pulse frequency according to the change conditions of the distance and the load by using a control mode of the position feedback signal, so that the variable-frequency operation of the stepping motor is realized, the control is more accurate, the full-automatic calibration is easily realized in the rotating speed calibration process, and the debugging efficiency is greatly improved.

Example two:

fig. 2 is a schematic diagram of a system for controlling the rotation speed of an engine of an engineering machine based on a stepping motor, the system being applied to the stepping motor, an output end of the stepping motor being connected to an accelerator of a target engine, the rotation of the stepping motor being capable of driving the accelerator to change its position so as to control the rotation speed of the target engine, the target engine being the engine of the engineering machine. As shown in fig. 2, the system includes: a first obtaining module 10, a second obtaining module 20, a first determining module 30 and a control module 40.

Specifically, the first obtaining module 10 is configured to obtain a target rotation speed; the target rotating speed is the target rotating speed to be adjusted of the engine.

The second obtaining module 20 is configured to obtain a first electrical signal corresponding to a current position of an accelerator of a target engine in real time through a target sensor; the first electrical signal is any one of: a voltage signal, a current signal; the target sensor is a position sensor of an accelerator.

The first determining module 30 is configured to determine, based on a first preset curve, a second electrical signal corresponding to the target rotational speed; the first preset curve is a relation curve of electric signals generated by a target sensor based on the position of the accelerator at different rotating speeds of a target engine; the second electrical signal is the same type of electrical signal as the first electrical signal.

And the control module 40 is used for controlling the rotation of the stepping motor based on the first electric signal and the second electric signal so as to enable the stepping motor to control the position of the accelerator to change, further control the rotating speed of the target engine to change and enable the rotating speed of the target engine to be adjusted to the target rotating speed.

The invention provides a system for controlling the rotating speed of an engine of engineering machinery based on a stepping motor, which realizes the accurate control of the stepping motor by the feedback electric signal of the position of the stepping motor, does not record the number of pulses any more, avoids the problem of overlarge error caused by 'step missing' in the process of controlling the quantity of the pulses, and relieves the technical problem of larger accumulated deviation of motor rotating speed regulation in the prior art.

Optionally, as shown in fig. 2, the system further includes: the second determination module 50 is configured to determine a first predetermined curve based on values of an electrical signal of the target sensor at different rotational speeds of the target engine.

Fig. 3 is a schematic diagram of a control module according to an embodiment of the present invention, and as shown in fig. 3, the control module 40 further includes: a calculation unit 41, a first determination unit 42, a second determination unit 43 and a control unit 44.

Specifically, the calculating unit 41 is configured to calculate a difference between the first electrical signal and the second electrical signal to obtain a target difference.

A first determination unit 42 for determining the rotation direction of the stepping motor based on the positive and negative of the target difference.

Specifically, the first determination unit 42 is further configured to: judging whether the target difference value is a positive number; if yes, controlling the rotation direction of the stepping motor to be positive rotation; if not, the rotation direction of the stepping motor is controlled to be reverse rotation.

A second determining unit 43, configured to determine a pulse frequency of a pulse signal for controlling the stepping motor based on the magnitude of the target difference and a second preset curve; the second preset curve is a relation curve of the size of the target difference value and the pulse frequency of the pulse signal for controlling the stepping motor.

And a control unit 44 for controlling the rotation of the stepping motor based on the rotation direction and the pulse frequency until the magnitude of the target difference is less than a preset threshold value to stop the rotation.

The embodiment of the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and when the processor executes the computer program, the steps of the method in the first embodiment are implemented.

The embodiment of the invention also provides a computer readable medium with a non-volatile program code executable by a processor, wherein the program code causes the processor to execute the method in the first embodiment.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.