Method for a hydraulic system, training method of a control model, and control method

Abstract

The embodiment of the present application provides a method for a hydraulic system, a training method of a control model and a control method, and belongs to the field of hydraulic control. The method for the hydraulic system comprises the following steps: obtaining 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 hydraulic oil flow of a plurality of actuators according to the first control signal; determining an instruction error correction amount according to the control instruction by using an error model; correcting the first control signal according to the instruction error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, and obtaining a second control signal output to the main control valve. Through the above method, the error existing in the feedforward model itself can be corrected by using the error model in the use process of the hydraulic system, and the control precision of the hydraulic system and the reliability of the engineering machinery are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hydraulic control, in particular to a method for a hydraulic system, a training method of a control model and a control method. BACKGROUND

[0002] The existing whole machine control system for controlling the hydraulic system of the engineering machinery is generally a control system based on a feedforward control method. For example, in a excavator, the operator issues an instruction through a handle, and the instruction is processed by a feedforward model in the whole machine control system and is converted into a control instruction indicating the corresponding flow distribution to control the opening degree of the spool of the main control valve, thereby controlling the action of the actuator. It can be seen that the control accuracy of the control system in the prior art depends on the accuracy of the feedforward model built in the control system, and the error caused by the feedforward model cannot be corrected. That is, the prior art naturally inherits the steady invariability of the feedforward control, and the error caused by the feedforward model will always exist and cannot be automatically optimized during use, so that the instruction input by the operator often does not match the movement result of the actuator. SUMMARY

[0003] The purpose of the embodiments of the present application is to overcome the problem that the error cannot be corrected when the feedforward model is used to control the hydraulic system of the engineering machinery in the prior art, and to provide a method for a hydraulic system, a training method of a control model and a control method.

[0004] The first aspect of the present application provides a method for a hydraulic system, the hydraulic system comprising an instruction generating unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used to control the hydraulic oil flow of the plurality of actuators according to an obtained control signal to control the movement of the plurality of actuators, and the method comprises:

[0005] obtaining a control instruction generated by the instruction generating unit according to user operation, wherein each control instruction corresponds to a target movement of an actuator;

[0006] determining a first control signal according to the control instruction by using a feedforward control model;

[0007] determining an instruction error correction amount according to the control instruction by using an error model;

[0008] correcting the first control signal according to the instruction error correction amount to reduce the error between the movement control result of the first control signal and the corresponding target movement, to obtain a second control signal output to the main control valve.

[0009] In an embodiment of the present application, the hydraulic system further comprises a displacement sensor, and the method further comprises:

[0010] obtaining displacement information of the plurality of actuators collected by the displacement sensor;

[0011] According to the error between the displacement information and the corresponding control instruction, the error model is corrected.

[0012] In an embodiment of the present application, the hydraulic system further comprises a displacement sensor, and the method further comprises:

[0013] Obtaining displacement information of the plurality of actuators collected by the displacement sensor;

[0014] According to the third control signal obtained by PID adjustment according to the error between the displacement information and the corresponding control instruction;

[0015] Inputting the third control signal and the second control signal into the main control valve.

[0016] In an embodiment of the present application, the hydraulic system further comprises a displacement sensor, and the process of establishing the error model comprises:

[0017] Obtaining displacement information of the plurality of actuators collected by the displacement sensor;

[0018] Taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data.

[0019] In an embodiment of the present application, taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data, comprises:

[0020] Confirming the error between the displacement information and the corresponding control instruction in the analysis data, and performing statistical error verification on the error, so as to screen out data with error not meeting the preset condition in the analysis data, and obtain model construction data;

[0021] Establishing the error model according to the model construction data.

[0022] The second aspect of the present application provides a training method of a control model for a hydraulic system, the hydraulic system comprising an instruction generating unit, a main control valve, and a plurality of actuators connected with the main control valve, wherein the main control valve is used to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal, so as to control the movement of the plurality of actuators, and the method comprises:

[0023] Obtaining hydraulic oil flow data and displacement data of the actuators 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 provided in the first aspect of the present application;

[0024] Inputting the data set into a to-be-trained model for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.

[0025] The third aspect of the present application provides a control method for a hydraulic system, the hydraulic system comprising 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 the hydraulic oil flow of the plurality of actuators according to an obtained control signal to control the movement of the plurality of actuators, and the method comprises:

[0026] inputting the control instruction into a control model to determine the 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 provided in the second aspect of the present application;

[0027] sending the plurality of hydraulic oil flows to the main control valve as the control signal.

[0028] The fourth aspect of the present application provides a device for a hydraulic system, the hydraulic system comprising 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 the hydraulic oil flow of the plurality of actuators according to an obtained control signal to control the movement of the plurality of actuators, and the device comprises:

[0029] an instruction obtaining unit configured to obtain a control instruction generated by the instruction generating unit according to a user operation, wherein each control instruction corresponds to a target movement of an actuator;

[0030] a first control signal generating unit configured to determine a first control signal according to the control instruction by using a feedforward model;

[0031] a first control signal correcting unit configured to determine an instruction error correction amount according to the control instruction by using an error model;

[0032] correcting the first control signal according to the instruction error correction amount to reduce the error between the movement control result of the first control signal and the corresponding target movement, to obtain a second control signal output to the main control valve.

[0033] The fifth aspect of the present application provides a training device for a control model of a hydraulic system, the hydraulic system comprising 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 the hydraulic oil flow of the plurality of actuators according to an obtained control signal to control the movement of the plurality of actuators, and the device comprises:

[0034] a data obtaining unit configured to obtain the hydraulic oil flow data and displacement data of the actuators in the movement process, and the 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 the method for the hydraulic system provided in the first aspect of the present application;

[0035] The model training unit is configured to input 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.

[0036] The sixth aspect of the present application provides a control device for a hydraulic system, the hydraulic system comprising 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 the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the device comprises:

[0037] The flow determination unit is configured to input the control instruction into the control model to determine the corresponding hydraulic oil flow of each actuator, wherein the control model is obtained by the training method for the control model of the hydraulic system provided in the second aspect of the present application.

[0038] The signal sending unit is configured to send the plurality of hydraulic oil flows as control signals to the main control valve.

[0039] The seventh aspect of the present application provides an electronic device comprising a processor and a memory, wherein the memory stores machine executable instructions capable of being executed by the processor, and the processor executes the machine executable instructions to implement the method for the hydraulic system provided in the first aspect of the present application, or the training method for the control model of the hydraulic system provided in the second aspect of the present application, or the control method for the hydraulic system provided in the third aspect of the present application.

[0040] The eighth aspect of the present application provides a machine readable storage medium, wherein the machine readable storage medium stores instructions, and the instructions are executed by a processor to make the processor implement the method for the hydraulic system provided in the first aspect of the present application, or the training method for the control model of the hydraulic system provided in the second aspect of the present application, or the control method for the hydraulic system provided in the third aspect of the present application.

[0041] Through the above technical solution, after the processor obtains the control instruction sent by the instruction generating unit, the error model is used to determine the instruction error correction amount according to the control instruction, so as to correct the first control signal output by the feedforward model, so that the error between the movement control result of the first control signal and the corresponding target movement is reduced. That is, the processor corrects the error existing in the feedforward model itself through the error model during the use of the hydraulic system, thereby improving the control accuracy of the hydraulic system and the reliability of the engineering machinery.

[0042] Other features and advantages of the embodiments of the present application will be described in detail in the following specific implementation part. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate embodiments and together with the description serve to explain the embodiments. In the drawings:

[0044] Figure 1 A flow chart of a method for a hydraulic system according to an embodiment of the present application is schematically shown;

[0045] Figure 2 A schematic diagram of steps of a method for a hydraulic system according to an embodiment of the present application is schematically shown;

[0046] Figure 3 A flow chart of a training method of a control model for a hydraulic system according to an embodiment of the present application is schematically shown;

[0047] Figure 4 A flow chart of a control method for a hydraulic system according to an embodiment of the present application is schematically shown. DETAILED DESCRIPTION

[0048] The specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory and are not intended to limit the present application.

[0049] It should be noted that if the present application has directionality indication (such as up, down, left, right, front, back, etc.), the directionality indication is only used to explain the relative position relationship, change direction, etc. between components in a certain posture (as shown in the drawings), if the specific posture changes, the directionality indication also changes accordingly.

[0050] In addition, if the present application has descriptions of "first", "second", etc., the "first", "second", etc. are only for description purposes, and cannot be understood as indicating or implying the relative importance of the technical features indicated, or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of a person skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0051] Figure 1 A flow chart of a method for a hydraulic system according to an embodiment of the present application is schematically shown, as Figure 1As shown, in one embodiment of the present application, a method for a hydraulic system is provided, the hydraulic system comprising a command 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 the flow of hydraulic oil of the plurality of actuators according to the control signals obtained to control the movement of the plurality of actuators, the method can comprise steps S100-S400.

[0052] The hydraulic system contained in the engineering machinery is usually controlled by a control method based on a feedforward model, which can convert the received control instructions into signals for controlling the actuators. The control logic of the feedforward model is open-loop, i.e. the control accuracy of the feedforward model depends on the accuracy of the feedforward model itself.

[0053] Step S100: obtaining control instructions generated by the command generating unit according to user operations, wherein each control instruction corresponds to a target movement of an actuator.

[0054] For example, the command generating unit includes a hydraulic control handle integrated on the engineering machinery, and the operator operates the handle, and the command generating unit generates corresponding control instructions according to the opening degree of the handle, each control instruction corresponds to a target movement of an actuator, for example, the operator sends a "movement speed of 5 m / s" through the opening degree of the control handle, i.e. instructs a certain actuator to move at a speed of 5 m / s. The command generating unit sends the control instructions based on the opening degree of the handle to the processor, so that the processor controls the corresponding movement according to the control instructions.

[0055] In one embodiment of the present application, after the command generating unit obtains the opening degree of the handle, it is first converted into an opening degree curve and buffered to form a control instruction in the form of an electrical signal, which is used for subsequent determination of the first control signal and determination of the instruction error correction amount.

[0056] Step S200: determining a first control signal according to the control instruction by using a feedforward control model.

[0057] Figure 2 The steps of a method for a hydraulic system according to an embodiment of the present application are schematically shown in the hydraulic system, please refer to Figure 1 and Figure 2 .

[0058] For example, the hardware facilities of the hydraulic system can also include an oil tank for storing hydraulic oil, and a hydraulic auxiliary mechanism, the hydraulic oil in the oil tank is pumped into the main control valve by a load-sensitive main pump, and the main control valve controls the flow of hydraulic oil of different valve blocks to the corresponding actuators according to the control signals received from the processor to control the actuators to perform different types of movements.

[0059] The processor outputs a first control signal corresponding to the control instruction according to the feedforward model, the first control signal being a feedforward signal without correction, and the control precision depending on the precision of the model itself. If the first control signal is directly output to the main control valve, the main control valve will control the hydraulic oil flow of the plurality of actuators according to the first control signal, and the error existing in the feedforward model itself cannot be corrected. The method for the hydraulic system provided in the embodiment is to correct the error.

[0060] Step S300: determining an instruction error correction amount according to the control instruction by using the error model.

[0061] The error model can output an instruction error correction amount corresponding to the control model according to the control instruction, and the establishment of the error model requires a certain amount of data basis.

[0062] In an embodiment of the present application, the hydraulic system further comprises a displacement sensor, and the establishment process of the error model comprises:

[0063] acquiring displacement information of the plurality of actuators collected by the displacement sensor;

[0064] taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data.

[0065] The error model outputs different instruction error correction amounts according to different control instructions. In the initial stage of the control of the hydraulic system by the processor, the displacement information collected by the displacement sensor is not enough to establish the error model, that is, the processor does not correct the feedforward model in this initial stage.

[0066] After the processor controls the hydraulic system a certain number of times, the displacement information collected by the displacement sensor is enough to establish the error model. Taking the displacement information and the control instruction for generating the corresponding displacement information of the actuator as analysis data, the processor can establish the error model according to the error between the target motion corresponding to the control instruction and the real motion control result (i.e. the displacement information) generated by the control instruction, so that the error model can directly output the corresponding instruction error correction amount according to the control instruction.

[0067] In an embodiment of the present application, taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data comprises:

[0068] confirming the error between the displacement information and the corresponding control instruction in the analysis data, and performing statistical error verification on the error to screen out data with error not meeting a preset condition in the analysis data, and obtaining model construction data;

[0069] establishing the error model according to the model construction data.

[0070] When establishing an error model based on the analysis data, the processor also uses a statistical distribution model to perform error verification after confirming the error between the displacement information and the corresponding control instruction, and confirms whether the error is reasonable based on preset conditions. The displacement information and control instructions corresponding to larger and unreasonable errors will be screened out to obtain model construction data for establishing the error model.

[0071] In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

[0072] Acquiring displacement information of multiple actuators collected by displacement sensors;

[0073] The error model is corrected according to the error between the displacement information and the corresponding control instruction.

[0074] In the method for a hydraulic system provided in an embodiment of the present application, the processor can also perform real-time correction on the error model based on the error between the displacement information of the actuator and the corresponding control instruction, that is, the error model can be continuously calibrated during the control process of the hydraulic system, and the output instruction error correction amount becomes more and more accurate.

[0075] In one embodiment of the present application, before the error model is corrected, the error between the collected displacement information and the corresponding control instruction is verified based on statistics to filter out unreasonable errors.

[0076] Step S400: 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, thereby obtaining a second control signal output to the main control valve.

[0077] After obtaining the command error correction amount output by the error model, the first control signal is corrected, and the second control signal obtained after correction can be output to the main control valve, that is, the feedforward signal output in the feedforward control is corrected accordingly.

[0078] In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

[0079] Acquiring displacement information of multiple actuators collected by displacement sensors;

[0080] a third control signal obtained by performing PID adjustment according to an error between the displacement information and a corresponding control instruction;

[0081] The third control signal and the second control signal are input to the main control valve.

[0082] The method for the hydraulic system provided in the embodiments of the present application also combines PID (proportional-integral-derivative) closed-loop control, which is widely used in industrial process control and has the advantages of relatively simple algorithm, high stability and good robustness. However, PID closed-loop control has the problem of hysteresis because it adjusts the instruction of the next control according to the error of the last control. PID closed-loop control calculates the error amount by using the determined proportional coefficient, integral coefficient and differential coefficient to obtain the adjustment amount.

[0083] After the processor obtains the displacement information of the actuator, the error between the displacement information and the corresponding control instruction is determined, that is, the error between the real motion control result and the target motion is determined, and the third control signal is obtained by PID adjustment calculation according to the error, that is, the instruction correction amount based on the PID closed-loop control. The third control signal and the second control signal obtained by error model correction are input into the main control valve together to control the hydraulic oil flow of the actuator, that is, to control the motion of the actuator together.

[0084] It can be seen that the method for the hydraulic system provided in the embodiments of the present application combines open-loop control based on the feedforward model and PID closed-loop control, and realizes more rapid, stable and accurate motion control of the actuator.

[0085] Through the above technical solution, after the processor obtains the control instruction sent by the instruction generating unit, the instruction error correction amount is determined by the error model according to the control instruction to correct the first control signal output by the feedforward model, so that the error between the motion control result of the first control signal and the corresponding target motion is reduced. That is, the processor corrects the error of the feedforward model itself in the use process of the hydraulic system through the error model, which improves the control accuracy of the hydraulic system and the reliability of the engineering machinery.

[0086] Figure 3 A flowchart of a training method of a control model for a hydraulic system according to an embodiment of the present application is schematically shown as Figure 3 As shown in FIG. 1, in one embodiment of the present application, a training method of a control model for a hydraulic system is provided, the hydraulic system includes an instruction generating unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the motion of the plurality of actuators, and the method includes:

[0087] Step S500: Obtain the hydraulic oil flow data and displacement data of the actuator in the movement process, and the 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 in the above-embodiment;

[0088] Step S600: Input the data set into the to-be-trained model for iterative training until the preset iterative training convergence condition is met, to obtain the control model.

[0089] When the processor executes the method for the hydraulic system in the above-embodiment, the displacement data, the hydraulic oil flow data of the actuator, and the corresponding control instruction data can all be used as an effective training set of a control model for assisting control or automatic control, and a control model that can directly obtain the hydraulic oil flow of each actuator from the control instruction is trained. Therefore, the hydraulic oil flow data and the displacement data of the actuator in the movement process, and the control instruction data output by the instruction generating unit are used as a data set, the data set is input into the to-be-trained model for iterative training, the to-be-trained model can be selected according to the design requirements and movement characteristics of the engineering machinery, until the preset iterative training convergence condition is met, to obtain the control model, which can realize the on-demand distribution of the hydraulic oil flow in the whole action and the whole period, and provide support for unmanned driving and automatic control, and can also be used as an auxiliary guide when manually driving.

[0090] Figure 4 A flowchart of a control method for a hydraulic system according to an embodiment of the present application is schematically shown, as shown in Figure 4 In one embodiment of the present application, a control method for a hydraulic system is provided, the hydraulic system comprising 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 used to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal, to control the movement of the plurality of actuators, and the method comprises:

[0091] Step S700: Input the control instruction into the control model to determine the corresponding hydraulic oil flow of each actuator, wherein the control model is obtained by the training method of the control model for the hydraulic system in the above-embodiment;

[0092] Step S800: Send the plurality of hydraulic oil flows as control signals to the main control valve.

[0093] As described above, the control model can directly obtain the hydraulic oil flow of each actuator according to the control instruction. When the control model is used to control the hydraulic system, the control instruction is input into the control model, the hydraulic oil flow corresponding to each actuator is obtained, the hydraulic oil flows of the plurality of actuators are collected as the control signal, and the control signal is sent to the main control valve. The main control valve can distribute different hydraulic oil flows to each actuator according to the control signal, so as to realize the on-demand distribution of the hydraulic oil flow in the full action and full period.

[0094] In an embodiment of the present application, a device for a hydraulic system is provided, the hydraulic system comprising an instruction generating unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the instruction generating unit is configured to output control instructions, each control instruction corresponding to a target motion of an actuator, and the main control valve is configured to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the motion of the plurality of actuators. The device comprises:

[0095] an instruction obtaining unit configured to obtain the control instructions generated by the instruction generating unit according to user operations, wherein each control instruction corresponds to a target motion of an actuator;

[0096] a first control signal generating unit configured to determine a first control signal according to the control instruction by using a feedforward model;

[0097] a first control signal correcting unit configured to determine an instruction error correction amount according to the control instruction by using an error model;

[0098] correct the first control signal according to the instruction error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, and obtain a second control signal output to the main control valve.

[0099] The device for a hydraulic system provided in the embodiments of the present application can realize the processes of steps S100-S400 in the method embodiments and achieve the same technical effects. To avoid repetition, details are not described here.

[0100] In an embodiment of the present application, a device for training a control model of a hydraulic system is provided, the hydraulic system comprising 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 the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the motion of the plurality of actuators. The device comprises:

[0101] The data acquisition unit is configured to acquire, as a data set, hydraulic oil flow data and displacement data of the actuators in a movement process and control instruction data output by the instruction generation unit, 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 above-mentioned embodiments.

[0102] The model training unit is configured to input the data set into a to-be-trained model for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.

[0103] The training device for the control model of the hydraulic system provided in the embodiments of the present application can implement each process of steps S500-S600 in the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0104] In an embodiment of the present application, a control device for a hydraulic system is provided, the hydraulic system comprising 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 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, and the device comprises:

[0105] The flow determination unit is configured to input the control instruction into the control model to determine the 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 in the above-mentioned embodiments.

[0106] The signal sending unit is configured to send the plurality of hydraulic oil flows as control signals to the main control valve.

[0107] The control device for the hydraulic system provided in the embodiments of the present application can implement each process of steps S700-S800 in the method embodiments and achieve the same technical effects. To avoid repetition, details are not described herein.

[0108] In an embodiment of the present application, an electronic device is provided, comprising a processor and a memory, the memory storing machine executable instructions capable of being executed by the processor, and the processor is capable of executing the machine executable instructions to implement the method for the hydraulic system in the above-mentioned embodiments, or the training method for the control model of the hydraulic system in the above-mentioned embodiments, or the control method for the hydraulic system in the above-mentioned embodiments.

[0109] In an embodiment of the present application, a machine readable storage medium is provided, the machine readable storage medium storing instructions, and the instructions are executed by a processor to cause the processor to implement the method for the hydraulic system provided in the first aspect of the present application, or the training method for the control model of the hydraulic system provided in the second aspect of the present application, or the control method for the hydraulic system provided in the third aspect of the present application.

[0110] Those skilled in the art will appreciate that embodiments of the present application can be readily used as software, hardware, or a combination of software and hardware. In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0111] The present application is described in reference to the flowchart illustrations and / or block diagrams according to embodiments of the application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing system, 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 Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks. Figure 1 one or more functions specified in the flowchart block or blocks.

[0112] In one typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0113] The memory can include non-persistent memory and / or volatile memory, such as a random access memory (RAM) including a cache area for the temporary storage of data. The memory can also include non-volatile memory, such as a read only memory (ROM), EPROM, EEPROM, flash memory, or other non-volatile memory storage. The memory can be another type of computer-readable media, such as a database, a disc, tape, or other storage.

[0114] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can implement information storage by any method or technology. The information can be computer-readable instructions, data structures, program modules 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 technologies, compact disc read-only memory (CD ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0115] It should also be noted that the terms "comprising", "containing", or any other variant 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 only include those elements, but can also include other elements not expressly listed or inherent to such process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0116] The above is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A method for a hydraulic system, characterized in that, The hydraulic system comprises an instruction generating unit, a displacement sensor, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is used to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the method comprises: obtaining control instructions generated by the instruction generating unit according to user operations, wherein each control instruction corresponds to a target movement of an actuator; determining a first control signal according to the control instruction by using a feedforward model; determining an instruction error correction amount according to the control instruction by using an error model; correcting the first control signal according to the instruction error correction amount to reduce the error between the movement control result of the first control signal and the corresponding target movement, to obtain a second control signal output to the main control valve; the establishment process of the error model comprises: obtaining displacement information of the plurality of actuators collected by the displacement sensor; using the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data; the error model is established according to the analysis data, comprising: confirming the error between the displacement information and the corresponding control instruction in the analysis data, and performing statistical error verification on the error to exclude data in the analysis data that does not meet the preset condition to obtain model construction data; establishing the error model according to the model construction data.

2. The method of claim 1, wherein, The hydraulic system further comprises a displacement sensor, and the method further comprises: obtaining displacement information of the plurality of actuators collected by the displacement sensor; correcting the error model according to the error between the displacement information and the corresponding control instruction.

3. The method of claim 1, wherein, The hydraulic system further comprises a displacement sensor, and the method further comprises: obtaining displacement information of the plurality of actuators collected by the displacement sensor; obtaining a third control signal by PID adjustment according to the error between the displacement information and the corresponding control instruction; inputting the third control signal and the second control signal into the main control valve.

4. A training method of a control model for a hydraulic system, characterized by, The hydraulic system comprises 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 used to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the method comprises: obtaining hydraulic oil flow data and displacement data of the actuators during movement, 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 1-3; inputting the data set into a to-be-trained model for iterative training until a preset iterative training convergence condition is met to obtain the control model.

5. A control method for a hydraulic system, characterized in that: The hydraulic system comprises 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 the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the method comprises: inputting the control instruction into the control model to determine the 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 4; sending a plurality of hydraulic oil flows to the main control valve as the control signal.

6. An apparatus for a hydraulic system, characterized by The hydraulic system comprises an instruction generating unit, a displacement sensor, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the device comprises: an instruction obtaining unit configured to obtain control instructions generated by the instruction generating unit according to user operations, wherein each control instruction corresponds to a target movement of an actuator; a first control signal generating unit configured to determine a first control signal according to the control instruction by using a feedforward model; a first control signal correction unit configured to determine an instruction error correction amount according to the control instruction by using an error model; correcting the first control signal according to the instruction error correction amount to reduce the error between the movement control result of the first control signal and the corresponding target movement, and obtaining a second control signal output to the main control valve; The first control signal correction unit is further configured to: obtain displacement information of the plurality of actuators collected by the displacement sensor; establish the error model according to the analysis data; The first control signal correction unit is further configured to: confirm the error between the displacement information and the corresponding control instruction in the analysis data, and perform statistical error verification on the error to exclude data in the analysis data that does not meet the preset condition to obtain model construction data; establish the error model according to the model construction data.

7. A training device for a control model of a hydraulic system, characterized in that The hydraulic system comprises 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 the hydraulic oil flow of the plurality of actuators according to the obtained control signal to control the movement of the plurality of actuators, and the device comprises: a data obtaining unit configured to obtain hydraulic oil flow data and displacement data of the actuators during movement, 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 1-3; a model training unit configured to input the data set into a to-be-trained model for iterative training until a preset iterative training convergence condition is met to obtain the control model.

8. A control device for a hydraulic system, characterized in that, The hydraulic system includes a command generating unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is used to control the hydraulic oil flow of the plurality of actuators according to the acquired control signal to control the movement of the plurality of actuators. The device includes: a flow determination unit, configured to input a control instruction into a control model to determine a hydraulic oil flow corresponding to each of the actuators, wherein the control model is obtained by the training method for a control model for a hydraulic system according to claim 4; A signal sending unit is used to send the multiple hydraulic oil flows as the control signal to the main control valve.

9. An electronic device, comprising: It includes a processor and a memory, the memory storing machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the method for a hydraulic system described in any one of claims 1 to 3, or the training method for a control model for a hydraulic system described in claim 4, or the control method for a hydraulic system described in claim 5.

10. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions, which, when executed by a processor, enable the processor to implement the method for a hydraulic system according to any one of claims 1 to 3, or the training method for a control model for a hydraulic system according to claim 4, or the control method for a hydraulic system according to claim 5.

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