Design methods, devices, equipment and media for hydraulic control systems

Abstract

The present disclosure provides a design method, device, equipment and medium for a hydraulic control system. The method includes: generating a flexible body file of a target structural part; establishing a joint simulation model based on the flexible body file, the joint simulation model includes a mechanism dynamics model and a hydraulic control system model, the hydraulic control system model includes a hydraulic system sub-model and a control system sub-model, the control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model, so that the model of the target structural part is deformed; controlling the model of the target structural part to deform based on the joint simulation model; optimizing the hydraulic control system model according to the deformation process of the model of the target structural part. Using the joint simulation model can help build a hydraulic system and optimize the parameters of the control system.

Description

Technical Field

[0001] The present invention belongs to the field of mechanical design, and in particular relates to a design method, device, equipment and medium for a hydraulic control system. Background Art

[0002] Engineering often involves the problem of a mechanical structure satisfying a predetermined deformation under specified working conditions. Especially for those with high-precision control requirements, it is necessary to control the deformation of the mechanical structure under the premise of a certain structural strength, and the deformation accuracy must also meet the predetermined requirements.

[0003] In the related art, the deformation of the target structural part is mainly controlled by a hydraulic control system. The hydraulic control system includes a hydraulic subsystem and a control subsystem, and the actuator in the hydraulic subsystem is connected to the target structural part. The control subsystem controls the action of the actuator in the hydraulic subsystem to cause the target structural part to deform.

[0004] In the design process of the hydraulic control system, components are first selected based on experience, and then a physical hydraulic control system is built. The deformation of the target structural parts is then controlled through the hydraulic control system, and the control results are used to verify whether the hydraulic control system meets the requirements. In this design method, a physical hydraulic control system needs to be built first, and there are often problems such as unreasonable component selection and long later debugging cycles. Especially in engineering equipment with high deformation control accuracy, unreasonable component selection may lead to the subversion of the entire hydraulic control system design. Summary of the invention

[0005] The disclosed example provides a design method, device, equipment and medium for a hydraulic control system, which can reasonably select components in the hydraulic control system and shorten the later debugging cycle. The technical solution is as follows:

[0006] On the one hand, an embodiment of the present disclosure provides a design method for a hydraulic control system, the design method comprising: generating a flexible body file of a target structural part, the flexible body file being used to form a model of the target structural part; establishing a joint simulation model based on the flexible body file, the joint simulation model comprising a mechanism dynamics model and a hydraulic control system model, the hydraulic control system model comprising a hydraulic system sub-model and a control system sub-model, the control system sub-model being used to drive the mechanism dynamics model to move through the hydraulic system sub-model so as to cause the model of the target structural part to deform; controlling the model of the target structural part to deform based on the joint simulation model; and optimizing the hydraulic control system model according to the deformation process of the model of the target structural part.

[0007] Optionally, establishing a joint simulation model based on the flexible body file includes: establishing a mechanism dynamics model based on the flexible body file; establishing the hydraulic control system model; connecting the mechanism dynamics model and the hydraulic control system model through a data interface to obtain the joint simulation model.

[0008] Optionally, connecting the mechanism dynamics model and the hydraulic control system model through a data interface includes: using the load of the actuator in the hydraulic control system model as the excitation of the mechanism dynamics model; using the displacement and velocity of the actuator in the mechanism dynamics model as the load of the hydraulic control system model.

[0009] Optionally, establishing the hydraulic control system model includes: establishing a component-level model of the hydraulic components for at least some of the hydraulic components in the hydraulic control system; building a hydraulic system sub-model based on the hydraulic system schematic and the component-level model; establishing a control system sub-model, and connecting the control system sub-model with the hydraulic system sub-module.

[0010] Optionally, optimizing the hydraulic control system model according to the deformation process of the model of the target structural component includes: adjusting control parameters of a control system sub-model according to a theoretical deformation curve of the target structural component, wherein the theoretical deformation curve is a step curve.

[0011] Optionally, optimizing the hydraulic control system model according to the deformation process of the model of the target structural component further includes: optimizing the hydraulic control system model according to a deviation between an actual deformation curve of the target structural component and a target deformation curve.

[0012] On the other hand, an embodiment of the present disclosure provides a design device for a hydraulic control system, the design device comprising: a generation module, an establishment module, a control module and a determination module. The generation module is used to generate a flexible body file of a target structural part, and the flexible body file is used to form a model of the target structural part. The establishment module is used to establish a joint simulation model based on the flexible body file, and the joint simulation model includes a mechanism dynamics model and a hydraulic control system model. The hydraulic control system model includes a hydraulic system sub-model and a control system sub-model. The control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model so that the model of the target structural part is deformed. The control module is used to control the deformation of the model of the target structural part based on the joint simulation model. The determination module is used to optimize the hydraulic control system model according to the deformation process of the model of the target structural part to determine the design scheme of the hydraulic control system.

[0013] In another aspect, an embodiment of the present disclosure further provides a computer device, the computer device comprising: a processor and a memory for storing processor executable instructions, wherein the processor is configured to execute the executable instructions to implement the aforementioned method.

[0014] On the other hand, the embodiments of the present disclosure further provide a computer-readable storage medium. When the instructions in the computer-readable storage medium are executed by the processor of the computer device, the computer device can execute the aforementioned method.

[0015] On the other hand, an embodiment of the present disclosure further provides a computer program product, including a computer program / instructions, which implement the aforementioned method when executed by a processor.

[0016] The beneficial effects brought by the technical solution provided by the embodiments of the present disclosure include:

[0017] The disclosed embodiment controls the deformation of the model of the target structural part based on the joint simulation model, and optimizes the hydraulic control system model according to the deformation process of the model of the target structural part, thereby determining the design scheme of the hydraulic control system without building an actual hydraulic control system. In addition, the joint simulation model can effectively take into account multiple professional fields such as dynamics, hydraulic systems, and control systems, realize multi-disciplinary joint simulation, avoid the limitations and over-simplification of single-disciplinary simulation, and can quickly evaluate and verify the feasibility and accuracy of the hydraulic control system design scheme, shorten the hydraulic control system scheme design cycle, the later control system parameter debugging cycle, and reduce the design and debugging costs of mechanical equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 is a flow chart of a design method of a hydraulic control system provided by an embodiment of the present disclosure;

[0020] Figure 2 is a flow chart of another method for designing a hydraulic control system provided by an embodiment of the present disclosure;

[0021] Figure 3 is a schematic diagram of a mechanism kinematic model provided by an embodiment of the present disclosure;

[0022] Figure 4 is a schematic diagram of a servo valve model provided by an embodiment of the present disclosure;

[0023] Figure 5 is a dynamic response curve-Bode diagram of a servo valve sample provided by an embodiment of the present disclosure;

[0024] Figure 6 is a dynamic response curve-Bode diagram of a servo valve model provided by an embodiment of the present disclosure;

[0025] Figure 7 It is a joint simulation result of a hydraulic control system provided by an embodiment of the present disclosure;

[0026] Figure 8 is a structural schematic diagram of a design device for a hydraulic control system provided by an embodiment of the present disclosure;

[0027] Fig. 9 It is a structural diagram of a computer device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present disclosure more clear, the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings.

[0029] The present disclosure provides a design method for a hydraulic control system. Figure 1 As shown, the design method includes:

[0030] 101: Generate the flexible body file of the target structural part.

[0031] In the embodiment of the present disclosure, the target structural member is a structural member that needs to be deformed, which may also be referred to as a flexible body, including but not limited to a strip-shaped structural member, a plate-shaped structural member, and the like.

[0032] The flexible body file of the target structural part includes the finite element model data, interface node information and modal information of the target structure. The finite element model data includes but is not limited to mesh coordinates and material properties. Interface nodes refer to nodes that can be used to establish connections with other components, and interface node information includes the position coordinates of interface nodes. Modal information includes the frequencies corresponding to multiple modal orders.

[0033] 102: A joint simulation model is established based on the flexible body file. The joint simulation model includes a mechanism dynamics model and a hydraulic control system model. The hydraulic control system model includes a hydraulic system sub-model and a control system sub-model. The control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model so as to cause deformation of the target structural component.

[0034] In the disclosed embodiment, the mechanism dynamics model can be referred to as a rigid-flexible coupling dynamics model. The mechanism dynamics model includes a target structure and an actuator (such as a cylinder, etc.) connected to the target structure. Among them, the target structure is a flexible body and the actuator is a rigid body. The actuator will apply a load to the force point of the target structure, where the force point is the interface node where the actuator and the target structure establish a hinge.

[0035] 103: Control the deformation of target structural parts based on the joint simulation model.

[0036] 104: According to the response speed of the target structural component during the deformation process, the hydraulic control system model is optimized to determine the design scheme of the hydraulic control system.

[0037] In the disclosed embodiment, the design scheme of the hydraulic control system includes but is not limited to the components included in the hydraulic control system and the control parameters in the control system.

[0038] The disclosed embodiment controls the deformation of the model of the target structural part based on the joint simulation model, and optimizes the hydraulic control system model according to the deformation process of the model of the target structural part, thereby determining the design scheme of the hydraulic control system without building an actual hydraulic control system. In addition, the joint simulation model can effectively take into account multiple professional fields such as dynamics, hydraulic systems, and control systems, realize multi-disciplinary joint simulation, avoid the limitations and over-simplification of single-disciplinary simulation, and can quickly evaluate and verify the feasibility and accuracy of the hydraulic control system design scheme, shorten the hydraulic control system scheme design cycle, the later control system parameter debugging cycle, and reduce the design and debugging costs of mechanical equipment.

[0039] Figure 2 Flow chart of another method for designing a hydraulic control system provided by an embodiment of the present disclosure. Figure 2 As shown, the design method includes:

[0040] 201: Generate the flexible body file of the target structural part.

[0041] The relevant contents of the target structural part and the flexible body file refer to the aforementioned step 101, and the detailed description is omitted here.

[0042] Exemplarily, step 101 includes: generating a finite element model of the target structural component; performing modal calculation (or modal analysis) based on the finite element model to obtain a flexible body file.

[0043] In the disclosed embodiments, a mode is a natural vibration characteristic of a structural member, and each mode has a specific natural frequency and modal vibration shape. An object has many natural vibration frequencies (hereinafter referred to as frequencies), and the first one is called the first-order frequency in order from small to large, and so on. The order of a mode is the order of the corresponding frequency. For example, the mode corresponding to the first-order frequency is the first-order mode.

[0044] In the embodiment of the present disclosure, the modal order contained in the modal information needs to satisfy the following two aspects: on the one hand, it depends on the modal participation coefficient in each direction after the modal calculation is completed, and the modal order with a modal participation coefficient greater than 95% is taken; on the other hand, it depends on the excitation frequency of the system, and the frequency corresponding to the last-order mode of the modal calculation of the target structural part is greater than 1.5 times the excitation frequency.

[0045] Among them, the modal participation coefficient determines the contribution of the mode to the deformation of the target structural part. According to the empirical value, the modal order with a modal participation coefficient greater than 95% can cover most of the modes that contribute greatly to the deformation of the target structural part. The excitation frequency is the frequency of the load on the structural part, which can be obtained through experiments or other calculation methods. The frequency corresponding to the last mode is greater than 1.5 times the excitation frequency, which can make the modal information include the modal order corresponding to the frequency near the excitation frequency, reducing the influence of the frequency near the excitation frequency on the response results of the target structure.

[0046] 202: Based on the flexible body file, a mechanism dynamics model is established.

[0047] In the disclosed embodiment, the mechanism dynamics model can be referred to as a rigid-flexible coupling dynamics model. The mechanism dynamics model includes a target structure and an actuator (such as a cylinder, a hydraulic motor, etc.) connected to the target structure. Among them, the target structure is a flexible body and the actuator is a rigid body. The actuator will apply a load to the force point of the target structure, where the force point is the interface node where the actuator and the target structure establish a hinge.

[0048] The mechanism dynamics model is generated based on the flexible body file. For example, a rigid body model of the mechanism where the target structure is located is established, and then the target structure in the rigid body model is replaced with a flexible body based on the flexible body file. For another example, a rigid body is connected to the finite element model of the target structure corresponding to the flexible body file to obtain the mechanism dynamics model.

[0049] The number of the actuators corresponds to the actual structure of the mechanism where the target structure is located, and can be one or more. The connection mode and relative motion relationship between the target structure and the actuators also correspond to the actual structure of the mechanism.

[0050] Figure 3 A schematic diagram of a kinematic model of a mechanism provided in an embodiment of the present disclosure. Figure 3 As shown, the target structural member is a steel plate, and the actuator is an oil cylinder. The finite element model 31 of the steel plate includes a plurality of grids. The finite element model 31 has an interface node 31 a connected to the oil cylinder 32 for establishing a hinge connection with the oil cylinder 32 . Figure 3 In the kinematic model of the mechanism, four cylinders 32 are located Figure 3 The two cylinders on the left are a group and move in unison. Figure 3 The two cylinders on the right are a group and move in unison. The two groups of cylinders apply different excitations to the steel plate, and the different strokes of the two groups of cylinders cause the steel plate to deform.

[0051] In step 202, the modal calculation result is consistent with the mode in the mechanism dynamics model.

[0052] After the mechanism dynamics model is established, it is necessary to define the data interface in the mechanism dynamics model, including the mechanism dynamics model excitation load input variable interface and the displacement and velocity variable interface of the actuator. Since the calculation of the mechanism dynamics model is in sequence with the calculation of the hydraulic control system model, it is also necessary to set the data transmission time interval in the mechanism dynamics model.

[0053] 203: Based on the hydraulic component samples, establish the component-level model of the hydraulic component.

[0054] Optionally, the hydraulic components for which component-level models need to be established may be some hydraulic components in the hydraulic system, for example, hydraulic components with high requirements for dynamic response characteristics, including but not limited to servo valves and pressure reducing valves.

[0055] The following takes the servo valve as an example to illustrate the establishment of a component-level model of a hydraulic component.

[0056] Servo valve refers to an electro-hydraulic servo valve, which outputs modulated flow and pressure accordingly after receiving an electrical analog signal. It is both an electro-hydraulic conversion element and a power amplifier element, which can convert a weak electrical input signal of low power into a high-power hydraulic energy (flow and pressure) output.

[0057] See also Figure 4 The component-level model of the servo valve includes a second-order link model 41 and a valve core throttling groove model 42. The second-order link model 41 is used to simulate the dynamic response characteristics of the servo valve, and the output of the second-order link model 41 is the ratio of the displacement of the servo valve core to the servo valve input current. The valve core throttling groove model 42 is used to define the relationship between the pressure difference before and after the servo valve and the valve core opening, or to define the relationship between the pressure difference before and after the servo valve and the output flow. The servo valve core opening is controlled by the displacement variable of the valve core.

[0058] The second-order link model can be expressed by formula (1):

[0059]

[0060] In formula (1), k represents the servo valve gain, ω represents the servo valve natural frequency, ζ represents the damping ratio, and s represents the Laplace operator.

[0061] The parameters of the second-order link model, namely the natural frequency ω and the damping ratio ζ, can be determined based on the dynamic response curve (ie, the Bode plot) of the servo valve sample.

[0062] Bode plots are often used to describe frequency response characteristics, and are plotted as the relationship between amplitude ratio (in decibels) and frequency, and phase lag (in degrees) and frequency. Amplitude ratio is the ratio of the output flow amplitude to the input current at a specific frequency, divided by the ratio of the output flow to the same input current amplitude at a specified frequency (such as the input current reference frequency, usually 5 cycles / second or 10 cycles / second). Phase lag is the phase difference between the measured input current and the corresponding output flow change at a specified frequency.

[0063] The frequency when the amplitude ratio of the servo valve is -3dB is defined as the amplitude bandwidth, and the frequency when the phase lag reaches -90° is defined as the phase bandwidth. The amplitude bandwidth and phase bandwidth can be directly found from the frequency characteristics of the valve, and the smaller one is taken as the bandwidth value of the valve. The bandwidth is a measure of the dynamic response speed of the servo valve. If the bandwidth is too low, it will affect the response speed of the system, and if it is too high, the high frequency will be transmitted to the load.

[0064] When the input signal or oil supply pressure of the servo valve is different, the dynamic response curve of the servo valve is also different. Therefore, the dynamic response is based on certain working conditions. The servo valve product catalog usually provides two sets of input signal test curves of ±10% and ±100%, and the oil supply pressure is generally 7MPa. For example, Figure 5 In the figure, 1 represents the curve corresponding to ±100%, and 2 represents the curve corresponding to ±10%.

[0065] Continue to see Figure 4 When the valve core moves to the left, oil enters the P port, and the B port supplies oil to the actuator, driving the actuator to move, and the actuator returns oil through the A port and the T port. Conversely, when the valve core moves to the right, oil enters the P port, and the A port supplies oil to the actuator, driving the actuator to move, and the actuator returns oil through the B port and the T port.

[0066] Therefore, establishing the component-level model of the servo valve includes: establishing a second-order link model and a valve core throttling groove model, wherein the output of the second-order link model is the output of the valve core throttling groove model. Among them, establishing the second-order link model includes: identifying the valve core dynamic response characteristic parameters according to the Bode diagram of the servo valve sample, and the dynamic response characteristic parameters include the natural frequency ω and the damping ratio ζ; based on the dynamic response characteristic parameters, establishing the second-order link model. Establishing the valve core throttling groove model includes: according to the pressure flow curve and the opening flow curve of the servo valve sample, using the curve fitting method to establish the relationship function between pressure and opening to simulate the throttling characteristics of the throttling groove. Based on the relationship function, the valve core is modeled to obtain the valve core throttling groove model.

[0067] This step 203 may also include: after determining the parameters of the second-order link model, performing a verification calculation so that the difference between the dynamic response curve corresponding to the second-order link model and the dynamic response curve of the servo valve sample is within a set range. Control the opening of the servo valve sample, calculate the dynamic response curve of the servo valve through the second-order link model, and compare the obtained dynamic response curve with the dynamic response curve of the servo valve sample, and adjust the natural frequency ω and the damping ratio ζ to make the verified dynamic response curve and the dynamic response curve of the servo valve sample basically the same. The verification of the parameters of the second-order link model is to ensure the control accuracy of the servo valve in the hydraulic system to the actuator drive, accurately and truly reflect the response characteristics of the servo valve, and improve the simulation efficiency.

[0068] Figure 5 It is a dynamic response curve-Bode diagram of a servo valve sample provided by the embodiment of the present disclosure. The second-order link parameters are verified and calculated to obtain the dynamic response curve-Bode diagram of the second-order link model, that is, Figure 6 .like Figure 6 As shown, the dynamic response curve of the servo valve model is substantially the same as the dynamic response curve of the corresponding servo valve sample.

[0069] In the embodiment of the present disclosure, the pressure-flow curve, the opening-flow curve and the Bode diagram of the servo valve can be obtained from the product information of the servo valve sample.

[0070] 204: Establish a hydraulic system sub-model based on the hydraulic system schematic diagram and the component-level model of the hydraulic components.

[0071] Here, a hydraulic system sub-model can be established based on the hydraulic system schematic diagram and the component-level model of the hydraulic components and the hydraulic simulation component library of the simulation software.

[0072] The hydraulic system includes an oil source, a power element, a control element and an actuator. The power element is, for example, a hydraulic pump, the control element includes, but is not limited to, a servo valve, a relief valve, a one-way valve, etc., and the actuator includes, but is not limited to, a hydraulic cylinder or a hydraulic motor.

[0073] The hydraulic system relies on power elements to convert mechanical energy into hydraulic oil pressure energy. Under the transmission effect of the internal pipelines and control elements of the system, the actuator is used to complete the conversion of hydraulic oil pressure energy into mechanical energy, driving the actuator to rotate or reciprocate linear motion. In the process of converting hydraulic oil pressure energy into mechanical energy, the throttle groove opening and throttle area of ​​the servo valve affect the size of the mechanical energy. Therefore, the displacement of the actuator can be controlled by controlling the opening and throttle area of ​​the servo valve. The displacement of the actuator corresponds to the stroke of the cylinder or the angle of rotation of the motor.

[0074] 205: Establish control system sub-model.

[0075] A control system submodel is established according to the control scheme. In this embodiment, the control system submodel includes a PID (Proportional Integral Derivative) controller. The initial value of each parameter of the control system submodel is a set value. The initial value can be set based on experience, and the embodiment of the present disclosure does not limit this.

[0076] In the disclosed embodiment, a data interface is defined in the control system submodel. The input of the control system submodel is the displacement and velocity of the actuator from the mechanism dynamics model, and the output of the control system submodel is the load of the actuator, that is, the mechanical force. When the actuator is a cylinder, the output of the control system submodel is the cylinder force.

[0077] It should be noted that the mechanism dynamics model can be obtained through steps 201 to 202, the hydraulic system sub-model can be obtained through steps 203 to 204, and the control system sub-model can be obtained through step 205. There is no order of precedence for establishing the mechanism dynamics model, the hydraulic system sub-model and the control system sub-model, and they can be established at the same time.

[0078] 206: Connect the control system sub-model with the hydraulic system sub-model to obtain a hydraulic control system model.

[0079] In some examples, the control system sub-model and the hydraulic system sub-model are built using the same simulation software and can be directly connected. In other examples, the control system sub-model and the hydraulic system sub-model also need to be connected through a data interface.

[0080] 207: Connect the mechanism kinematics model and the hydraulic control system model through a data interface to obtain a joint simulation model.

[0081] This step 207 includes: using the load of the actuator in the hydraulic control system model as the excitation of the mechanism dynamics model; using the displacement and speed of the actuator in the mechanism dynamics model as the load of the hydraulic control system model. In this way, the kinematic model and the hydraulic control system model are connected through the data interface to form a joint simulation control system model.

[0082] In the joint simulation control system model, the load and flow of the hydraulic pump and the target deformation of the target structural part (stroke of the cylinder) are input. The load and flow of the hydraulic pump determine the pressure and speed of the hydraulic oil. The pressure of the hydraulic oil is converted into a mechanical force that drives the actuator to move through a servo valve. The flow of the hydraulic pump is converted into the movement speed of the actuator through a servo valve, and the actuator stimulates the target structural part to deform.

[0083] 208: According to the theoretical deformation curve of the target structural component, the control parameters of the control system sub-model are adjusted.

[0084] Theoretically, by adjusting the parameters of the control system sub-model, the deviation between the actual deformation of the target structural part and the theoretical deformation should be within the accuracy requirement range.

[0085] The input and output of the control system sub-model are regarded as second-order linear links. The theoretical deformation of the target structural part is specified in the control system sub-model and submitted for calculation. The theoretical deformation curve is a step curve. The control system sub-model is parameterized according to the calculation results, that is, the PID parameters are adjusted.

[0086] PID parameter tuning is divided into three links, namely the proportional link, the integral link and the differential link. The parameters that need to be tuned correspond to the proportion, integral time and differential time. In terms of control mechanism, the role of the proportional link is to proportionally reflect and control the deviation. The larger the proportion, the slower the adjustment speed, and vice versa, the more sensitive it is. The larger the deviation, the stronger the adjustment effect. However, when the deviation is very small, it is difficult to eliminate the steady-state deviation through proportional adjustment, so it is necessary to eliminate it through the integral link. The strength of the integral effect depends on the integral time parameter. The smaller the integral time parameter, the more sensitive it tends to be, and vice versa. The longer the deviation exists, the greater the integral adjustment effect. The differential link reflects the changing trend of the deviation and can introduce an effective early correction signal into the system before the deviation becomes too large, thereby speeding up the system's action speed and reducing the adjustment time. The larger the differential time, the stronger the differential effect, and vice versa.

[0087] The tuning method includes but is not limited to the Zeigler-Nichols tuning method, the critical proportionality method or the attenuation curve method, etc. The disclosed embodiment does not limit the type of tuning method, as long as the proportional, integral time and differential time parameters can be tuned so that the deviation between the actual output and the target output of the control system submodel meets the established requirements.

[0088] In actual working conditions, the deformation of the target structural parts changes continuously. In this step, the theoretical deformation is represented by a step curve, mainly to simplify the parameter setting process and improve the efficiency of parameter setting of the control system submodel.

[0089] 209: Adjust the control parameters of the control system submodel according to the target deformation curve of the target structural component.

[0090] Apply boundary conditions to the dynamic mechanism model according to the actual working conditions and perform joint simulation. Here, boundary conditions include but are not limited to pump pressure, flow, mechanical structure load, constraints, etc. Slightly adjust the control parameters according to the simulation results, and repeat the calculation to meet the accuracy requirements of the deformation of the target structural parts. The deformation of the target structural parts is defined as the target deformation curve, and the joint simulation model is submitted for calculation.

[0091] The calculation of actual working conditions and the adjustment of the parameters of the control system sub-model require repeated calculation and parameter adjustment process iterations. The DOE (Design of Experiments) optimization design method can be adopted to calculate and optimize the control parameters as variables and the deviation of the deformation as the object to find effective control parameters. After the control parameters are determined, the optimization of the joint simulation model is completed. The actual hydraulic control system can be built based on the joint simulation model.

[0092] In some examples, if the set number of iterations is reached and the control parameters cannot be determined to make the deformation deviation meet the requirements, it means that the response characteristics of the servo valve cannot meet the requirements, and the servo valve sample needs to be replaced, and then the above steps 203 to 208 are repeated until effective control parameters are determined.

[0093] In other examples, the determined control parameters can make the deviation of the deformation amount meet the requirements, and then the hydraulic control system can be determined as the final design solution.

[0094] Assume that the left cylinder is required to deform the structure by 10 mm, and the right cylinder is required to deform the structure by 40 mm. The deviation between the actual deformation of the target structure and the target deformation is less than 0.1 mm. Figure 7 It is a joint simulation result of the hydraulic control system provided based on the embodiment of the present disclosure. Figure 7 In the figure, the horizontal axis represents time in seconds, and the vertical axis represents distance in millimeters. Figure 7 Part (a) of Figure 3 The displacement deviation of the cylinder on the left, Figure 7 Part (b) of Figure 3 The displacement deviation of the cylinder on the right in the figure. Figure 7In the whole deformation process, the maximum deviation of the left cylinder is about 0.05mm, and the maximum displacement deviation of the right cylinder is about -0.07mm, both of which are less than 0.1mm. It can be seen that the components and control parameters of the hydraulic control system can meet the accuracy requirements and can be used as the final design scheme.

[0095] The disclosed embodiment controls the deformation of the model of the target structural part based on the joint simulation model, and optimizes the hydraulic control system model according to the deformation process of the model of the target structural part, thereby determining the design scheme of the hydraulic control system without building an actual hydraulic control system. In addition, the joint simulation model can effectively take into account multiple professional fields such as dynamics, hydraulic systems, and control systems, realize multi-disciplinary joint simulation, avoid the limitations and over-simplification of single-disciplinary simulation, and can quickly evaluate and verify the feasibility and accuracy of the hydraulic control system design scheme, shorten the hydraulic control system scheme design cycle, the later control system parameter debugging cycle, and reduce the design and debugging costs of mechanical equipment.

[0096] In addition, hydraulic components affect the dynamic response of the hydraulic system, and the servo valve is a key component in the hydraulic system. On the one hand, the servo valve is a key component that drives the actuator, and the dynamic response of the servo valve plays a key role in the control of deformation. On the other hand, since the servo valve with better dynamic response has a higher cost, it is crucial to select a servo valve that can meet the requirements to reduce costs. By modeling the servo valve at the component level, the dynamic response characteristics of the servo valve can be simulated, which is helpful to determine whether the selection of the servo valve can meet the requirements of the hydraulic control system. There is no need to use a physical hydraulic valve for testing, which is helpful to reduce costs.

[0097] Figure 8 Schematic diagram of a design device for a hydraulic control system provided by an embodiment of the present disclosure. Figure 8 As shown, the device 800 includes: a generating module 801 , a establishing module 802 , a controlling module 803 and a determining module 804 .

[0098] Among them, the generation module 801 is used to generate a flexible body file of the target structural part, and the flexible body file is used to form a model of the target structural part. The establishment module 802 is used to establish a joint simulation model based on the flexible body file, and the joint simulation model includes a mechanism dynamics model and a hydraulic control system model. The hydraulic control system model includes a hydraulic system sub-model and a control system sub-model. The control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model so that the model of the target structural part is deformed. The control module 803 is used to control the deformation of the model of the target structural part based on the joint simulation model. The determination module 804 is used to optimize the hydraulic control system model according to the deformation process of the model of the target structural part to determine the design scheme of the hydraulic control system.

[0099] Optionally, the establishment module 802 includes: a first establishment submodule 8021, a second establishment submodule 8022 and a connection submodule 8023. The first establishment submodule 8021 is used to establish a mechanism dynamics model based on the flexible body file; the second establishment submodule 8022 is used to establish the hydraulic control system model; and the connection submodule 8023 is used to connect the mechanism dynamics model and the hydraulic control system model through a data interface to obtain the joint simulation model.

[0100] Optionally, the connection submodule 8023 is used to use the load of the actuator in the hydraulic control system model as the excitation of the mechanism dynamics model; and use the displacement and speed of the actuator in the mechanism dynamics model as the load of the hydraulic control system model.

[0101] Optionally, the second establishing submodule 8022 is used to establish a component-level model of the hydraulic components for at least part of the hydraulic components in the hydraulic control system; build a hydraulic system submodel based on the hydraulic system schematic and the component-level model; establish a control system submodel, and connect the control system submodel with the hydraulic system submodule.

[0102] Optionally, the determination module 804 is used to adjust the control parameters of the control system sub-model according to the theoretical deformation curve of the target structural component, and the theoretical deformation curve is a step curve.

[0103] Optionally, the determination module 804 is further configured to optimize the hydraulic control system model according to a deviation between an actual deformation curve of the target structural component and a target deformation curve.

[0104] It should be noted that: the design device of the hydraulic control system provided in the above embodiment only uses the division of the above functional modules as an example when designing the hydraulic control system. In actual applications, the above functional distribution can be completed by different functional modules as needed, that is, the internal structure of the equipment is divided into different functional modules to complete all or part of the functions described above. In addition, the design device of the hydraulic control system provided in the above embodiment and the design method embodiment of the hydraulic control system belong to the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0105] Fig. 9 is a structural block diagram of a computer device provided by an embodiment of the present disclosure. Fig. 9 As shown, the computer device 900 may be a vehicle-mounted computer, etc. The computer device 900 includes: a processor 901 and a memory 902 .

[0106] The processor 901 may include one or more processing cores, such as a 5-core processor, an 8-core processor, etc. The processor 901 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 901 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 901 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 901 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0107] The memory 902 may include one or more computer-readable media, which may be non-transitory. The memory 902 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In some embodiments, the non-transitory computer-readable medium in the memory 902 is used to store at least one instruction, which is used to be executed by the processor 901 to implement the design method provided in the embodiment of the present disclosure.

[0108] Those skilled in the art will understand that Figure 5 The structure shown in the figure does not constitute a limitation on the computer device 900, and the computer device 900 may include more or less components than those shown in the figure, or combine some components, or adopt a different arrangement of components.

[0109] The embodiment of the present invention also provides a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by the processor of the computer device 900, the computer device 900 can execute the design method provided in the embodiment of the present disclosure.

[0110] A computer program product includes a computer program / instruction. When the computer program / instruction is executed by a processor, the design method provided in the embodiment of the present disclosure is implemented.

[0111] The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A design method for a hydraulic control system, characterized in that: The design method comprises: Generate a flexible body file of a target structural part, wherein the flexible body file is used to form a model of the target structural part; Establishing a joint simulation model based on the flexible body file, the joint simulation model includes a mechanism dynamics model and a hydraulic control system model, the hydraulic control system model includes a hydraulic system sub-model and a control system sub-model, the control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model, so that the model of the target structural part is deformed; Controlling the model of the target structural component to deform based on the joint simulation model; According to the deformation process of the model of the target structural component, the hydraulic control system model is optimized to determine a design scheme of the hydraulic control system.

2. The design method according to claim 1, characterized in that: The establishing of the joint simulation model based on the flexible body file comprises: Establishing a mechanism dynamics model based on the flexible body file; Establishing the hydraulic control system model; The mechanism dynamics model and the hydraulic control system model are connected via a data interface to obtain the joint simulation model.

3. The design method according to claim 2, characterized in that: The step of connecting the mechanism dynamics model and the hydraulic control system model via a data interface includes: Using the load of the actuator in the hydraulic control system model as the excitation of the mechanism dynamics model; The displacement and velocity of the actuator in the mechanism dynamics model are used as the load of the hydraulic control system model.

4. The design method according to claim 2, characterized in that: The step of establishing the hydraulic control system model comprises: For at least part of the hydraulic components in the hydraulic control system, a component-level model of the hydraulic components is established; According to the hydraulic system schematic diagram and the component-level model, a hydraulic system sub-model is constructed; A control system sub-model is established, and the control system sub-model is connected with the hydraulic system sub-module.

5. The design method according to any one of claims 1 to 4, characterized in that: The step of optimizing the hydraulic control system model according to the deformation process of the target structural component model includes: The control parameters of the control system sub-model are adjusted according to the theoretical deformation curve of the target structural component, wherein the theoretical deformation curve is a step curve.

6. The design method according to claim 5, characterized in that: The step of optimizing the hydraulic control system model according to the deformation process of the target structural component model includes: The hydraulic control system model is optimized according to the deviation between the actual deformation curve of the target structural component and the target deformation curve.

7. A design device for a hydraulic control system, characterized in that: The design device comprises: A generating module, used for generating a flexible body file of a target structural part, wherein the flexible body file is used for forming a model of the target structural part; An establishing module is used to establish a joint simulation model based on the flexible body file, wherein the joint simulation model includes a mechanism dynamics model and a hydraulic control system model, wherein the hydraulic control system model includes a hydraulic system sub-model and a control system sub-model, wherein the control system sub-model is used to drive the mechanism dynamics model to move through the hydraulic system sub-model, so as to deform the model of the target structural component; A control module, used for controlling the model of the target structural component to deform based on the joint simulation model; The determination module is used to optimize the hydraulic control system model according to the deformation process of the model of the target structural component to determine the design scheme of the hydraulic control system.

8. A computer device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the executable instructions to implement the method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: When the instructions in the computer-readable storage medium are executed by a processor of a computer device, the computer device is enabled to perform the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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