CN115929738A - Method for a hydraulic system, training method for a control model and control method - Google Patents
Method for a hydraulic system, training method for a control model and control method Download PDFInfo
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Abstract
The embodiment of the invention provides a method for a hydraulic system, a training method for a control model and a control method, and belongs to the field of hydraulic control. The method for a hydraulic system includes: acquiring a control instruction; determining a first control signal according to the control instruction by using a feedforward control model, wherein the first control signal is used for controlling a main control valve to control the flow of hydraulic oil of a plurality of execution mechanisms according to the first control signal; determining a command error correction amount according to the control command by using the error model; and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve. By the method, errors existing in the feedforward model can be corrected by the error model in the use process of the hydraulic system, and the control precision of the hydraulic system and the reliability of engineering machinery are improved.
Description
Technical Field
The invention relates to the field of hydraulic control, in particular to a method for a hydraulic system, a training method for a control model and a control method.
Background
For example, on an excavator, an operator sends a command through a handle, the command is processed through a feedforward model in the whole machine control system and is converted into a control command for indicating corresponding flow distribution so as to control the opening of a valve core of a main control valve, and therefore the action of an actuating mechanism is controlled. Therefore, in the prior art, the control accuracy of the control system depends on the accuracy of a built-in feedforward model in the control system, and errors caused by the feedforward model cannot be corrected, that is, the prior art naturally inherits the steady-state invariance of feedforward control, the errors caused by the feedforward model always exist and cannot be automatically optimized in the use process, so that the instruction input by an operator is often not matched with the motion result of an execution mechanism.
Disclosure of Invention
The embodiment of the invention aims to overcome the problem that errors cannot be corrected when a feedforward model is adopted to control a hydraulic system of engineering machinery in the prior art, and provides a method for the hydraulic system, a training method for a control model and a control method.
The first aspect of the present application provides a method for a hydraulic system, where the hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, where the main control valve is configured to control hydraulic oil flow of the multiple actuators according to an acquired control signal, so as to control the multiple actuators to move, and the method includes:
acquiring control instructions generated by an instruction generating unit according to user operation, wherein each control instruction corresponds to the target motion of one executing mechanism;
determining a first control signal according to the control instruction by using a feedforward control model;
determining a command error correction amount according to the control command by using the error model;
and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
In one embodiment of the present application, the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
and correcting the error model according to the error between the displacement information and the corresponding control command.
In one embodiment of the present application, the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
a third control signal obtained by PID adjustment according to the error between the displacement information and the corresponding control instruction;
the third control signal and the second control signal are input to the main control valve.
In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the error model establishing process includes:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
and taking the displacement information and the corresponding control instruction as analysis data, and establishing an error model according to the analysis data.
In an embodiment of the present application, the establishing an error model according to the analysis data by using the displacement information and the corresponding control command as the analysis data includes:
confirming errors between displacement information in the analysis data and corresponding control instructions, and performing error approval based on statistics on the errors to screen out data in the analysis data, wherein the errors do not meet preset conditions, so as to obtain model construction data;
and establishing an error model according to the model construction data.
The second aspect of the present application provides a training method for a control model of a hydraulic system, where the hydraulic system includes an instruction generating unit, a main control valve, and multiple actuators connected to the main control valve, where the main control valve is configured to control hydraulic oil flow of the multiple actuators according to an acquired control signal to control the multiple actuators to move, and the method includes:
acquiring hydraulic oil flow data and displacement data of an executing mechanism in a movement process and control instruction data output by an instruction generating unit as a data set, wherein the hydraulic oil flow data, the displacement data and the control instruction data are obtained by executing the method for the hydraulic system provided by the first aspect of the application;
and inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
The third aspect of the present application provides a control method for a hydraulic system, where the hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, where the main control valve is configured to control hydraulic oil flow of the multiple actuators according to an acquired control signal to control the multiple actuators to move, and the method includes:
inputting a control instruction into a control model to determine a hydraulic oil flow corresponding to each actuating mechanism, wherein the control model is obtained by a training method for the control model of the hydraulic system provided by the second aspect of the application;
the plurality of hydraulic oil flow rates are sent to the main control valve as control signals.
The fourth aspect of the present application provides a device for a hydraulic system, the hydraulic system includes an instruction generating unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an obtained control signal, so as to control the movement of the plurality of actuators, the device includes:
the command acquisition unit is used for acquiring control commands generated by the command generation unit according to user operation, wherein each control command corresponds to the target motion of one execution mechanism;
the first control signal generating unit is used for determining a first control signal according to the control instruction by utilizing a feedforward model;
a first control signal correction unit for determining a commanded error correction from the control command using the error model;
and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
The fifth aspect of the present application provides a training device for a control model of a hydraulic system, the hydraulic system includes an instruction generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to an acquired control signal to control the movement of the plurality of actuators, and the device includes:
the hydraulic system comprises a data acquisition unit, a command generation unit and a control unit, wherein the data acquisition unit is used for acquiring hydraulic oil flow data and displacement data of an execution mechanism in a movement process and control command data output by the command generation unit as a data set, and the hydraulic oil flow data, the displacement data and the control command data are obtained by executing the method for the hydraulic system provided by the first aspect of the application;
and the model training unit is used for inputting the data set into the model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
The sixth aspect of the present application provides a control device for a hydraulic system, the hydraulic system includes an instruction generating unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal, so as to control the plurality of actuators to move, the device includes:
the hydraulic system comprises a flow determining unit, a control unit and a control unit, wherein the flow determining unit is used for inputting a control command into a control model to determine the hydraulic oil flow corresponding to each actuating mechanism, and the control model is obtained by the training method for the control model of the hydraulic system provided by the second aspect of the application;
and the signal sending unit is used for sending the flow of the plurality of hydraulic oil as control signals to the main control valve.
A seventh aspect of the present application provides an electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to implement the method for a hydraulic system provided by the first aspect of the present application, or the training method for a control model of a hydraulic system provided by the second aspect of the present application, or the control method for a hydraulic system provided by the third aspect of the present application.
An eighth aspect of the present application provides a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to implement the method for a hydraulic system provided by the first aspect of the present application, or the method for training a control model for a hydraulic system provided by the second aspect of the present application, or the method for controlling a hydraulic system provided by the third aspect of the present application.
According to the technical scheme, after the processor obtains the control command sent by the command generation unit, the error model determines the command error correction amount according to the control command so as to correct the first control signal output by the feedforward model, and therefore the error between the motion control result of the first control signal and the corresponding target motion is reduced. Namely, the processor corrects the error of the feedforward model in the use process of the hydraulic system through the error model, and the control precision of the hydraulic system and the reliability of the engineering machinery are improved.
Additional features and advantages of embodiments of the present invention will be described in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 schematically illustrates a flow diagram of a method for a hydraulic system according to an embodiment of the present application;
FIG. 2 schematically illustrates steps performed in a hydraulic system by a method for a hydraulic system according to an embodiment of the present application;
FIG. 3 schematically illustrates a flow chart of a method of training a control model for a hydraulic system, in accordance with an embodiment of the present application;
fig. 4 schematically shows a flow chart of a control method for a hydraulic system according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present application, the directional indications are only used to explain the relative position relationship between the components in a specific posture (as shown in the drawing), the direction change, etc., and if the specific posture is changed, the directional indication is changed accordingly.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present application, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between the embodiments may be combined with each other, but must be based on the realization of the technical solutions by a person skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope claimed in the present application.
Fig. 1 schematically shows a flowchart of a method for a hydraulic system according to an embodiment of the present application, and as shown in fig. 1, in an embodiment of the present application, there is provided a method for a hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to an acquired control signal to control movement of the plurality of actuators, and the method may include steps S100-S400.
The hydraulic system included in the construction machine is usually controlled by a control method based on a feed-forward model, which may convert received control commands into signals for controlling the actuator. The control logic of the feedforward model is open-loop, namely the accuracy of the feedforward model to hydraulic control depends on the accuracy of the feedforward model.
Step S100: and the acquisition instruction generating unit generates control instructions according to user operation, wherein each control instruction corresponds to the target motion of one execution mechanism.
Illustratively, the instruction generating unit comprises a hydraulic control handle integrated on the engineering machinery, an operator operates the handle, and the instruction generating unit generates corresponding control instructions according to the opening degree of the handle, wherein each control instruction corresponds to a target movement of one type of executing mechanism, for example, the operator sends out a "movement speed of 5m/s" through the opening degree of the control handle, namely, instructs one type of executing mechanism to perform a movement with the speed of 5 m/s. The instruction sending unit sends a control instruction based on the opening degree of the handle to the processor, so that the processor performs corresponding motion control according to the control instruction.
In an embodiment of the application, after the opening degree of the handle is obtained, the instruction generating unit converts the opening degree into an opening degree curve, and performs buffering processing to form a control instruction in the form of an electric signal for subsequent determination of a first control signal and determination of an instruction error correction amount.
Step S200: a first control signal is determined from the control command using a feed forward control model.
Fig. 2 is a schematic diagram illustrating steps performed in a hydraulic system according to a method of an embodiment of the present application, and please refer to fig. 1 and 2 together.
The hardware facilities of the hydraulic system can also comprise an oil tank for storing hydraulic oil and hydraulic auxiliary mechanisms, the hydraulic oil in the oil tank is pumped into the main control valve through a load-sensitive main pump, and the main control valve controls different valve blocks to distribute hydraulic oil with different flow rates to corresponding execution mechanisms according to received control signals sent by the processor so as to control the execution mechanisms to perform different types of movement.
The processor outputs a first control signal corresponding to the acquired control instruction according to the control instruction by using a feedforward model, wherein the first control signal is a feedforward signal which is not corrected and has control accuracy depending on the accuracy of the model, and if the first control signal is directly output to a main control valve, the main control valve controls the hydraulic oil flow of a plurality of execution mechanisms according to the first control signal, so that an error existing in the feedforward model cannot be corrected.
Step S300: a commanded error modifier is determined from the control command using an error model.
The error model can output a command error correction amount corresponding to the control model according to the control command, and the establishment of the error model requires a certain amount of data basis.
In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the process of establishing the error model includes:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
and taking the displacement information and the corresponding control instruction as analysis data, and establishing an error model according to the analysis data.
The error model outputs different instruction error correction amounts according to different control instructions, and displacement information acquired by the displacement sensor is not enough to establish the error model in the initial stage of the hydraulic system control of the processor, namely the processor does not correct the feedforward model in the initial stage.
After the processor controls the hydraulic system for a certain number of times, the displacement information acquired by the displacement sensor is enough to establish an error model, the displacement information and a control instruction for controlling the execution mechanism to generate corresponding displacement information are used as analysis data, and the processor can establish the error model according to the target motion corresponding to the control instruction and the error between the real motion control result (namely, the displacement information) generated by the control instruction, so that the error model can directly output a corresponding instruction error correction amount according to the control instruction.
In an embodiment of the present application, the establishing an error model according to the analysis data by using the displacement information and the corresponding control instruction as the analysis data includes:
confirming errors between displacement information in the analysis data and corresponding control instructions, and performing error approval based on statistics on the errors to screen out data in the analysis data, wherein the errors do not meet preset conditions, so as to obtain model construction data;
and establishing an error model according to the model construction data.
When the error model is established according to the analysis data, the processor also confirms the error between the displacement information and the corresponding control instruction, and then utilizes a statistical distribution model to carry out error approval to confirm whether the error is reasonable or not according to preset conditions, wherein the displacement information and the control instruction corresponding to larger and unreasonable errors can be screened out to obtain model construction data for establishing the error model.
In one embodiment of the present application, the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
and correcting the error model according to the error between the displacement information and the corresponding control command.
In the method for the hydraulic system provided by the embodiment of the application, the processor can also correct the error model in real time according to the error between the displacement information of the execution mechanism and the corresponding control instruction, namely the error model can be continuously calibrated in the control process of the hydraulic system, and the output instruction error correction amount is more and more accurate.
In one embodiment of the present application, a statistical-based error approval is performed on the error between the collected displacement information and the corresponding control command before the error model is corrected to screen out unreasonable errors.
Step S400: and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
After the command error correction quantity output by the error model is obtained, the first control signal is corrected, and the second control signal obtained after correction can be output to the main control valve, namely the feedforward signal output in the feedforward control obtains corresponding error correction.
In one embodiment of the present application, the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of a plurality of actuating mechanisms acquired by a displacement sensor;
a third control signal obtained by PID adjustment according to the error between the displacement information and the corresponding control instruction;
the third control signal and the second control signal are input to the main control valve.
The method for the hydraulic system provided by the embodiment of the application is combined with PID (proportional-integral-derivative) closed-loop control, the PID control is widely applied to industrial process control, the method has the advantages of relatively simple algorithm, high stability and good robustness, and meanwhile, the PID closed-loop control adjusts the command of the next control according to the error of the last control, so that the problem of hysteresis is solved. And the PID closed-loop control calculates the error amount through the determined proportional coefficient, integral coefficient and differential coefficient to obtain the regulating quantity.
After the processor acquires the displacement information of the executing mechanism, the error between the displacement information and the corresponding control instruction is determined, namely the error between the real motion control result and the target motion is determined, PID (proportion integration differentiation) regulation calculation is carried out according to the error, a third control signal, namely the instruction correction amount based on PID closed-loop control is obtained, the third control signal and a second control signal obtained through error model correction are input into the main control valve together, and the hydraulic oil flow of the executing mechanism is controlled together, namely the motion control of the executing mechanism is carried out together.
Therefore, the method for the hydraulic system provided by the embodiment of the application combines open-loop control and PID closed-loop control based on a feedforward model, and realizes faster, more stable and more accurate motion control of the actuating mechanism.
According to the technical scheme, after the processor obtains the control instruction sent by the instruction generating unit, the instruction error correction amount is determined through the error model according to the control instruction so as to correct the first control signal output by the feedforward model, and the error between the motion control result of the first control signal and the corresponding target motion is reduced. Namely, the processor corrects the error of the feedforward model in the use process of the hydraulic system through the error model, and the control precision of the hydraulic system and the reliability of the engineering machinery are improved.
Fig. 3 schematically shows a flowchart of a training method for a control model of a hydraulic system according to an embodiment of the present application, and as shown in fig. 3, in an embodiment of the present application, there is provided a training method for a control model of a hydraulic system, the hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal to control movement of the plurality of actuators, the method including:
step S500: acquiring hydraulic oil flow data and displacement data of an executing mechanism in a movement process and control instruction data output by an instruction generating unit as a data set, wherein the hydraulic oil flow data, the displacement data and the control instruction data are obtained by executing the method for the hydraulic system in the embodiment;
step S600: and inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
When the processor executes the method for the hydraulic system in the above embodiment, the displacement data of the actuator, the hydraulic oil flow data, and the corresponding control instruction data can all be used as an effective training set of a control model for auxiliary control or automatic control, and a control model for directly obtaining the hydraulic oil flow of each actuator by the control instruction is trained. Therefore, hydraulic oil flow data and displacement data of the executing mechanism in the moving process and control instruction data output by the instruction generating unit are used as data sets, the data sets are input into the model to be trained for iterative training, the model to be trained can be selected according to design requirements and moving characteristics of engineering machinery until preset iterative training convergence conditions are met, the control model is obtained, hydraulic oil flow distribution in full motion and full time can be achieved according to needs, support is provided for unmanned driving and automatic control, and the control model can be used as auxiliary guidance during manual driving.
Fig. 4 schematically shows a flowchart of a control method for a hydraulic system according to an embodiment of the present application, and as shown in fig. 4, in an embodiment of the present application, there is provided a control method for a hydraulic system including a command generation unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow rates of the plurality of actuators according to an acquired control signal to control movement of the plurality of actuators, the method including:
step S700: inputting a control instruction into a control model to determine the hydraulic oil flow corresponding to each actuating mechanism, wherein the control model is obtained by the training method for the control model of the hydraulic system in the embodiment;
step S800: the plurality of hydraulic oil flow rates are sent to the main control valve as control signals.
As mentioned above, the control model can directly obtain the hydraulic oil flow of each execution mechanism by the control instruction, when the control model is used to control the hydraulic system, the control instruction is input to the control model, so that the hydraulic oil flow corresponding to each execution mechanism can be obtained, the obtained hydraulic oil flows of the multiple execution mechanisms are integrated into a control signal and sent to the main control valve, and the main control valve can distribute different hydraulic oil flows to each execution mechanism according to the control signal, so as to realize the hydraulic oil flow distribution in full motion and full time period according to the requirement.
In an embodiment of the present application, there is provided an apparatus for a hydraulic system, the hydraulic system including a command generating unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the command transmitting unit is configured to output control commands, each control command corresponds to a target motion of one of the actuators, and the main control valve is configured to control hydraulic oil flow rates of the plurality of actuators according to an acquired control signal, so as to control the motions of the plurality of actuators, the apparatus including:
the command acquisition unit is used for acquiring control commands generated by the command generation unit according to user operation, wherein each control command corresponds to the target motion of one execution mechanism;
a first control signal generation unit for determining a first control signal according to the control instruction using a feedforward model;
a first control signal correction unit for determining a commanded error correction from the control command using the error model;
and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
The device for the hydraulic system provided in the embodiment of the present application can implement each process of step S100 to step S400 in the method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
In an embodiment of the present application, a training device for a control model of a hydraulic system is provided, the hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal to control the plurality of actuators to move, the training device includes:
the data acquisition unit is used for acquiring hydraulic oil flow data and displacement data of the actuating mechanism in the movement process and control instruction data output by the instruction generation unit as a data set, wherein the hydraulic oil flow data, the displacement data and the control instruction data are obtained by executing the method for the hydraulic system in the embodiment;
and the model training unit is used for inputting the data set into the model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
The training device for the control model of the hydraulic system provided in the embodiment of the present application can implement each process from step S500 to step S600 in the method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
In one embodiment of the present application, a control device for a hydraulic system is provided, the hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal to control movement of the plurality of actuators, the device including:
the flow determining unit is used for inputting a control instruction into a control model to determine the hydraulic oil flow corresponding to each actuating mechanism, wherein the control model is obtained by the training method of the control model for the hydraulic system in the embodiment;
and the signal sending unit is used for sending the flow of the plurality of hydraulic oil as control signals to the main control valve.
The control device for the hydraulic system provided in the embodiment of the present application can implement each process from step S700 to step S800 in the method embodiment, and can achieve the same technical effect, and is not described herein again to avoid repetition.
In an embodiment of the application, there is provided an electronic device comprising a processor and a memory, the memory storing machine executable instructions capable of being executed by the processor, the processor being capable of executing the machine executable instructions to implement the method for a hydraulic system in the above-described embodiment, or the training method for a control model of a hydraulic system in the above-described embodiment, or the control method for a hydraulic system in the above-described embodiment.
In an embodiment of the present application, there is provided a machine-readable storage medium having stored thereon instructions, which when executed by a processor, cause the processor to implement the method for a hydraulic system provided in the first aspect of the present application, or the method for training a control model for a hydraulic system provided in the second aspect of the present application, or the method for controlling a hydraulic system provided in the third aspect of the present application.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD ROM, optical storage, etc.) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art to which the present application pertains. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (12)
1. A method for a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:
acquiring control instructions generated by the instruction generating unit according to user operation, wherein each control instruction corresponds to the target motion of one executing mechanism;
determining a first control signal according to the control instruction by utilizing a feedforward model;
determining a command error correction amount according to the control command by using an error model;
and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
2. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of the plurality of actuating mechanisms acquired by the displacement sensor;
and correcting the error model according to the error between the displacement information and the corresponding control command.
3. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, the method further comprising:
acquiring displacement information of the plurality of actuating mechanisms acquired by the displacement sensor;
a third control signal obtained by PID adjustment according to the error between the displacement information and the corresponding control instruction;
and inputting the third control signal and the second control signal into the main control valve.
4. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, and wherein the error model building process comprises:
acquiring displacement information of the plurality of actuating mechanisms acquired by a displacement sensor;
and taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data.
5. The method of claim 4, wherein the step of establishing the error model based on the analysis data by using the displacement information and the corresponding control command as analysis data comprises:
confirming errors between the displacement information in the analysis data and the corresponding control instructions, and performing error approval based on statistics on the errors to screen out data, which do not accord with preset conditions, in the analysis data to obtain model construction data;
and establishing the error model according to the model construction data.
6. A training method for a control model of a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:
acquiring hydraulic oil flow data and displacement data of the actuating mechanism in the movement process and control instruction data output by the instruction generating unit as a data set, wherein the hydraulic oil flow data, the displacement data and the control instruction data are obtained by executing the method for the hydraulic system according to any one of claims 1-5;
and inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
7. A control method for a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:
inputting the control commands into a control model to determine a hydraulic oil flow corresponding to each actuator, wherein the control model is obtained by the training method for the control model of the hydraulic system according to claim 6;
sending a plurality of the hydraulic oil flow rates as the control signal to the main control valve.
8. An apparatus for a hydraulic system, the hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow rates of the plurality of actuators according to an acquired control signal so as to control the plurality of actuators to move, the apparatus comprising:
the instruction acquisition unit is used for acquiring control instructions generated by the instruction generation unit according to user operation, wherein each control instruction corresponds to the target motion of one execution mechanism;
a first control signal generation unit for determining a first control signal according to the control instruction by using a feedforward model;
a first control signal correction unit for determining a commanded error correction from the control command using an error model;
and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.
9. A training device for a control model of a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the actuators according to an acquired control signal to control the actuators to move, the device comprises:
a data acquisition unit, configured to acquire hydraulic oil flow data and displacement data of the actuator during movement, and control instruction data output by the instruction generation unit as a data set, where the hydraulic oil flow data, the displacement data, and the control instruction data are obtained by performing the method for the hydraulic system according to any one of claims 1 to 5;
and the model training unit is used for inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.
10. A control device for a hydraulic system, the hydraulic system comprising a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal so as to control the plurality of actuators to move, the device comprising:
a flow rate determining unit, configured to input the control command into a control model to determine a hydraulic oil flow rate corresponding to each actuator, wherein the control model is obtained by the training method for the control model of the hydraulic system according to claim 6;
and a signal transmitting unit for transmitting the plurality of hydraulic oil flows as the control signal to the main control valve.
11. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method for a hydraulic system of any one of claims 1 to 5, or the method for training a control model for a hydraulic system of claim 6, or the method for controlling a hydraulic system of claim 7.
12. A machine readable storage medium, characterized in that it has stored thereon instructions which, when executed by a processor, cause the processor to carry out a method for a hydraulic system according to any one of claims 1 to 5, or a training method for a control model of a hydraulic system according to claim 6, or a control method for a hydraulic system according to claim 7.
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| CN202211698371.2A CN115929738A (en) | 2022-12-28 | 2022-12-28 | Method for a hydraulic system, training method for a control model and control method |
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