A method for constructing a hydraulic cylinder model based on flow valve control and related products

Abstract

The present application discloses a method for constructing a hydraulic cylinder model based on flow valve control and related products. The method is applied to the GCControl software, and specifically includes: constructing a controller model, a flow valve model and a hydraulic cylinder model respectively; in the flow valve model, using a flow number equivalent to the Reynolds number to calculate the flow coefficient of the flow valve model; through the controller model, establishing a closed-loop relationship between the flow valve model and the hydraulic cylinder model, and obtaining a hydraulic cylinder model based on flow valve control. In this way, a new simulation angle can be provided, that is, based on the GCControl software, the controller model, the flow valve model and the hydraulic cylinder model are constructed respectively, and then the flow valve model and the hydraulic cylinder model are closed-loop connected through the controller model, so as to use the GCControl software to realize the simulation of the hydraulic cylinder based on flow valve control, which is helpful to complete various tests of this hydraulic cylinder model in the future.

Description

Technical Field

[0001] The present application relates to the technical field of simulation modeling, and in particular to a method for constructing a hydraulic cylinder model based on flow valve control and related products. Background Art

[0002] Hydraulic transmission refers to a transmission method that uses liquid as the working medium for energy transmission and control. In the hydraulic transmission system, the hydraulic cylinder based on flow valve control is a common and important hydraulic power element. It controls the displacement of the flow valve core through external input signals to change the inlet and outlet flow and / or pressure state of the flow valve, thereby controlling the pressure change of the working chamber of the hydraulic cylinder to control the movement speed and displacement of the hydraulic cylinder piston.

[0003] In view of the importance of this hydraulic cylinder based on flow valve control in the industrial field, it is necessary to consider simulating this hydraulic cylinder. However, in the relevant technology, the simulation angle is not comprehensive, and there is no solution to use GCKontrol software (a system design and simulation software) to build a model of this hydraulic cylinder. Summary of the invention

[0004] The embodiments of the present application provide a method for constructing a hydraulic cylinder model based on flow valve control and related products, aiming to use GCKontrol software (a system design and simulation software) to construct a hydraulic cylinder model based on flow valve control.

[0005] In a first aspect, an embodiment of the present application provides a method for constructing a hydraulic cylinder model based on flow valve control, which is applied to GCKontrol software; the method comprises:

[0006] A controller model, a flow valve model and a hydraulic cylinder model are constructed respectively; in the flow valve model, a flow number equivalent to the Reynolds number is used to calculate the flow coefficient of the flow valve model;

[0007] Through the controller model, a closed-loop relationship between the flow valve model and the hydraulic cylinder model is established to obtain a hydraulic cylinder model based on flow valve control.

[0008] Optionally, establishing a closed-loop relationship between the flow valve model and the hydraulic cylinder model through the controller model to obtain a hydraulic cylinder model based on flow valve control includes:

[0009] The controller model is used to connect the signal flow between the flow valve model and the hydraulic cylinder model to construct a closed-loop control model; the closed-loop control model is used to represent the closed-loop relationship between the flow valve model and the hydraulic cylinder model;

[0010] The signal flow is iterated in a loop in the closed-loop control model to obtain the hydraulic cylinder model based on flow valve control.

[0011] Optionally, the controller model is used to connect the signal flow between the flow valve model and the hydraulic cylinder model to construct a closed-loop control model, including:

[0012] The expected displacement of the piston and the actual displacement of the piston of the hydraulic cylinder model are respectively input into the controller model, and the valve core relative stroke signal of the flow valve model is obtained through the controller model;

[0013] The valve core relative stroke signal, the pressure of the rodless chamber of the hydraulic cylinder model, the pressure of the rod chamber of the hydraulic cylinder model, the oil supply pressure and the oil return pressure are respectively input into the flow valve model, and the flow of the rodless chamber connected to the first working port of the flow valve model and the flow of the rod chamber connected to the second working port of the flow valve model are obtained through the flow valve model;

[0014] The flow of the rodless chamber, the flow of the rod chamber, and the load force of the hydraulic cylinder model are respectively input into the hydraulic cylinder model. Through the hydraulic cylinder model, the pressure of the rodless chamber and the pressure of the rod chamber are obtained and input into the flow valve model, and the actual displacement of the piston is obtained and input into the controller model, so as to construct the closed-loop control model.

[0015] Optionally, the flow valve model is constructed by the following steps:

[0016] Based on the GCKontrol software and according to the flow equation, a three-position four-way flow valve model is constructed as the flow valve model.

[0017] Optionally, the three-position four-way flow valve model is constructed based on the GCKontrol software and according to the flow equation as the flow valve model, including:

[0018] The working side of the three-position four-way flow valve model is equivalent to a throttle hole, and the flow rate flowing out of the throttle hole is calculated according to the flow equation;

[0019] Using the second-order transfer function module in the GCKontrol software and according to the dynamic characteristics of the flow valve spool, a correlation relationship between the relative stroke signal and the relative opening of the spool of the flow valve model is established;

[0020] Based on the GCKontrol software, the three-position four-way flow valve model is constructed according to the flow rate outflowing from the throttle hole and the association relationship.

[0021] Optionally, the hydraulic cylinder model is constructed by the following steps:

[0022] Based on the GCKontrol software, and according to the hydraulic flow continuity equation, and the force balance equation of the hydraulic cylinder and the load, an asymmetric hydraulic cylinder model is constructed as the hydraulic cylinder model.

[0023] Optionally, the controller model is constructed by the following steps:

[0024] The differential module and the addition and subtraction module in the GCKontrol software are used to construct a proportional differential controller model as the controller model.

[0025] In a second aspect, an embodiment of the present application provides a device for constructing a hydraulic cylinder model based on flow valve control, which is applied to GCKontrol software; the device comprises:

[0026] A model building module, used to respectively build a controller model, a flow valve model and a hydraulic cylinder model; in the flow valve model, a flow number equivalent to the Reynolds number is used to calculate the flow coefficient of the flow valve model;

[0027] The closed-loop establishment module is used to establish a closed-loop relationship between the flow valve model and the hydraulic cylinder model through the controller model to obtain a hydraulic cylinder model based on flow valve control.

[0028] In a third aspect, an embodiment of the present application provides a device for constructing a hydraulic cylinder model based on flow valve control, the device comprising: a processor, a memory, and a system bus;

[0029] The processor and the memory are connected via the system bus;

[0030] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes any one of the implementation methods of the above-mentioned method for constructing a hydraulic cylinder model based on flow valve control.

[0031] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes any one of the implementation methods of the above-mentioned method for constructing a hydraulic cylinder model based on flow valve control.

[0032] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0033] The embodiment of the present application can be specifically applied to the GCKontrol software. First, the controller model, flow valve model and hydraulic cylinder model are constructed separately. In the flow valve model, the Reynolds number can be equivalent to the flow number to calculate the flow coefficient of the flow valve model. Then, a closed-loop relationship between the flow valve model and the hydraulic cylinder model is established through the controller model to obtain a hydraulic cylinder model based on flow valve control. In this way, a new simulation angle can be provided, that is, based on the GCKontrol software, the controller model, flow valve model and hydraulic cylinder model are constructed separately, and then the flow valve model and the hydraulic cylinder model are closed-loop connected through the controller model, so that the simulation of the hydraulic cylinder based on flow valve control is realized by using the GCKontrol software, which is helpful for completing various tests of this hydraulic cylinder model in the future. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A flow chart of a hydraulic cylinder model based on flow valve control provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of the structure of a closed-loop control model provided in an embodiment of the present application;

[0036] Figure 3 A schematic structural diagram of a hydraulic cylinder model device based on flow valve control provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] As mentioned above, in the hydraulic transmission system, the hydraulic cylinder based on flow valve control is a relatively common and important hydraulic power element, which controls the displacement of the flow valve spool through an external input signal to change the inlet and outlet flow and / or pressure state of the flow valve, thereby controlling the pressure change of the working chamber of the hydraulic cylinder to achieve the control of the movement speed and displacement of the hydraulic cylinder piston. In view of the importance of this hydraulic cylinder based on flow valve control in the industrial field, it is currently necessary to consider simulating this hydraulic cylinder. In the related art, the simulation angle is not comprehensive, and there is no solution to use GCKontrol software (a system design and simulation software) to build a model of this hydraulic cylinder.

[0038] In order to solve the above problems, an embodiment of the present application provides a method for constructing a hydraulic cylinder model based on flow valve control, which can be applied to GCKontrol software, and specifically includes: first, constructing a controller model, a flow valve model and a hydraulic cylinder model respectively, and in the flow valve model, the Reynolds number can be equivalent to the flow number, which is used to calculate the flow coefficient of the flow valve model, and then a closed-loop relationship between the flow valve model and the hydraulic cylinder model is established through the controller model, so that the hydraulic cylinder model based on flow valve control can be obtained.

[0039] In this way, a new simulation angle can be provided, that is, based on the GCKontrol software, the controller model, flow valve model and hydraulic cylinder model are respectively constructed, and then the flow valve model and the hydraulic cylinder model are closed-loop connected through the controller model, so as to use the GCKontrol software to realize the simulation of the hydraulic cylinder based on the flow valve control, which is helpful to complete various tests of this hydraulic cylinder model in the future.

[0040] It should be noted that the embodiment of the present application does not limit the execution subject of the method for constructing a hydraulic cylinder model based on flow valve control. For example, the method for constructing a hydraulic cylinder model based on flow valve control in the embodiment of the present application can be applied to data processing devices such as terminal devices or servers. Among them, the terminal device can be a smart phone, a computer, a personal digital assistant (PDA) or a tablet computer. The server can be an independent server, a cluster server or a cloud server.

[0041] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] Figure 1 A flow chart of a method for constructing a hydraulic cylinder model based on flow valve control provided in an embodiment of the present application. Figure 1 As shown, the method for constructing a hydraulic cylinder model based on flow valve control provided in the embodiment of the present application can be applied to GCKontrol software. The method may specifically include:

[0043] S101: construct a controller model, a flow valve model and a hydraulic cylinder model respectively.

[0044] Here, the above three models can be constructed based on GCKontrol software respectively.

[0045] For the controller model, it can be a proportional differential controller model. Generally speaking, the control law of the proportional differential controller can be reflected as follows: when the controlled variable deviates, the output signal increment of the controller is proportional to the change rate of the deviation. Correspondingly, in an embodiment of the present application, the above-mentioned controller model can be specifically constructed by the following steps: using the differential module and the addition and subtraction module in the GCKontrol software, a proportional differential controller model is constructed as the controller model.

[0046] For the hydraulic cylinder model, it can be an asymmetric hydraulic cylinder model. Accordingly, in the embodiment of the present application, the hydraulic cylinder model can be specifically constructed by the following steps: based on the GCKontrol software, and according to the hydraulic flow continuity equation, and the force balance equation of the hydraulic cylinder and the load, an asymmetric hydraulic cylinder model is constructed as the hydraulic cylinder model. For the representation form of the hydraulic flow connection equation and the force balance equation of the hydraulic cylinder and the load, the embodiment of the present application does not specifically limit it, and any existing or future representation form can be used for implementation.

[0047] For example, the hydraulic flow continuity equation can be expressed by the following formula (1):

[0048] A1v1=A2v2=…=A n v n (1)

[0049] Among them, A1 is the cross-sectional area of ​​flow section 1, v1 is the flow velocity of the fluid on flow section 1, A2 is the cross-sectional area of ​​flow section 2, v2 is the flow velocity of the fluid on flow section 2, A n is the cross-sectional area of ​​the flow section n, v n is the flow velocity of the fluid in the flow section n.

[0050] The force balance equation between the hydraulic cylinder and the load can be expressed by the following formula (2):

[0051] p1a1=p2a2+F (2)

[0052] Among them, p1 is the pressure of the hydraulic cylinder rodless chamber, a1 is the cross-sectional area of ​​the hydraulic cylinder rodless chamber, p2 is the pressure of the hydraulic cylinder rod chamber, a2 is the cross-sectional area of ​​the hydraulic cylinder rod chamber, and F is the load force.

[0053] For the flow valve model, it can be a three-position four-way flow valve model. Accordingly, in the embodiment of the present application, the flow valve model can be specifically constructed by the following steps: based on the GCControl software, and according to the flow equation, a three-position four-way flow valve model is constructed as the flow valve model. Specifically, the process of constructing a three-position four-way flow valve model can include: equivalent the working side of the three-position four-way flow valve model to a throttle hole, and calculating the flow rate out of the throttle hole according to the flow equation; using the second-order transfer function module in the GCControl software, and according to the dynamic characteristics of the flow valve spool, establishing the correlation between the relative stroke signal and the relative opening of the valve spool of the flow valve model; based on the GCControl software, and according to the flow rate out of the throttle hole and the correlation relationship, construct a three-position four-way flow valve model. For the flow equation, the embodiment of the present application is not specifically limited, and it can be implemented in any existing or future representation form.

[0054] For example, the flow equation can be expressed by the following formula (3):

[0055]

[0056] Among them, Q is the flow rate, A is the area of ​​the throttle hole, x is the flow valve input signal (-1≤x≤1), α(Re) is the flow coefficient, ΔP is the pressure difference at both ends of the flow valve, and ρ is the hydraulic oil density.

[0057] In addition, before building the flow valve model, the GCKontrol software can be used to perform numerical processing in advance, and the Reynolds number can be equivalent to the flow number, and then the flow coefficient of the flow valve model can be calculated using the flow number. Generally speaking, there is a certain correlation between the flow coefficient and the Reynolds number. Therefore, equating the Reynolds number to the flow number can provide a new concept of flow coefficient, obtain a new calculation logic, and improve the intelligence of the simulation process.

[0058] In practical applications, the flow coefficient constant under laminar flow conditions is, therefore, based on the above flow equation, and by equating the Reynolds number to the flow number, the flow number can be obtained. The specific calculation process can be shown in the following formulas (4-1) and (4-2):

[0059]

[0060]

[0061] Among them, λ is the flow rate, v is the flow velocity of the fluid flowing through the throttle hole, and D is the diameter of the throttle hole.

[0062] Based on this, the flow rate is used to calculate the flow coefficient as shown in the following formula (4-3):

[0063]

[0064] Among them, α is the flow coefficient calculated using the flow number, α c is the flow coefficient under laminar flow (a constant), tanh is the hyperbolic tangent function, λ crit is the critical flow number.

[0065] Based on the above S101 related content, it can be known that by using GCKontrol software to construct the controller model, flow valve model and hydraulic cylinder model, it is possible to first construct a sub-model of the hydraulic cylinder model based on flow valve control through system simulation modeling, that is, the above-mentioned controller model, flow valve model and hydraulic cylinder model, thereby providing a new simulation angle, which is helpful for further using GCKontrol software to realize the simulation of the hydraulic cylinder based on flow valve control and complete various tests of this hydraulic cylinder model.

[0066] S102: Establishing a closed-loop relationship between the flow valve model and the hydraulic cylinder model through the controller model, and obtaining a hydraulic cylinder model based on flow valve control.

[0067] The process of acquiring the hydraulic cylinder model based on flow valve control, that is, S102, is not specifically limited in this application and is described below in conjunction with a possible implementation.

[0068] In a possible implementation, S102 may specifically include: connecting the signal flow between the flow valve model and the hydraulic cylinder model through a controller model to construct a closed-loop control model; the closed-loop control model is used to represent the closed-loop relationship between the flow valve model and the hydraulic cylinder model; and the signal flow is iterated in a loop in the closed-loop control model to obtain a hydraulic cylinder model based on flow valve control. Further, the construction process of the closed-loop control model may specifically include: inputting the expected piston displacement and the actual piston displacement of the hydraulic cylinder model into the controller model respectively, and obtaining the valve core relative stroke signal of the flow valve model through the controller model; inputting the valve core relative stroke signal, the pressure of the rodless chamber of the hydraulic cylinder model, the pressure of the rod chamber of the hydraulic cylinder model, the oil supply pressure and the oil return pressure into the flow valve model respectively, and obtaining the flow of the rodless chamber connected to the first working port of the flow valve model and the flow of the rod chamber connected to the second working port of the flow valve model through the flow valve model; inputting the flow of the rodless chamber, the flow of the rod chamber, and the load force of the hydraulic cylinder model into the hydraulic cylinder model respectively, and obtaining the pressure of the rodless chamber and the pressure of the rod chamber through the hydraulic cylinder model, and inputting them into the flow valve model, and obtaining the actual piston displacement and inputting it into the controller model, thereby constructing a closed-loop control model.

[0069] To facilitate understanding, the embodiments of the present application may provide a closed-loop control model for exemplary explanation. Figure 2 A schematic diagram of a closed-loop control model provided in an embodiment of the present application. Figure 2 As shown, the structure of the closed-loop control model 20 may include: a controller model 21 , a flow valve model 22 and a hydraulic cylinder model 23 .

[0070] Among them, the controller model 21 can specifically include a first signal input terminal 211, a second signal input terminal 212, and a signal output terminal 213; the first signal input terminal 211 is used to input the expected displacement of the piston of the hydraulic cylinder model 23; the second signal input terminal 212 is connected to the first signal output terminal 231 of the hydraulic cylinder model 23, and the second signal input terminal 212 is used to receive the actual displacement of the piston output by the hydraulic cylinder model 23; the signal output terminal 213 is connected to the first signal input terminal 221 of the flow valve model 22, and the signal output terminal 213 is used to input the valve core relative stroke signal of the flow valve model 22 to the flow valve model 22.

[0071] As mentioned above, the flow valve model 22 can be a three-position four-way flow valve model, and therefore, the flow valve model 22 can include four channels, namely, an oil inlet P, an oil return port T, a first working port A connected to the rodless chamber of the hydraulic cylinder model 23, and a second working port B connected to the rod chamber of the hydraulic cylinder model 23. Accordingly, the signal end corresponding to the oil inlet P can be used as the second signal input end of the flow valve model 22 for inputting the oil supply pressure; the signal end corresponding to the oil return port T can be used as the third signal input end of the flow valve model 22 for inputting the return oil pressure; the signal end corresponding to the working port A can be used as the fourth signal input end of the flow valve model 22, connected to the second signal output end 232 of the hydraulic cylinder model 23, and the fourth signal input end 224 is used to receive the pressure of the rodless chamber output by the hydraulic cylinder model 23; the signal end corresponding to the working port B can be used as the fifth signal input end of the flow valve model 22, connected to the third signal output end 233 of the hydraulic cylinder model 23, and the fifth signal input end 224 is used to receive the pressure of the rod chamber output by the hydraulic cylinder model 23. In addition, the flow valve model 22 can also include a first signal output terminal 222 and a second signal output terminal 223; the first signal output terminal 222 is connected to the first signal input terminal 234 of the hydraulic cylinder model 23, and the first signal output terminal 222 is used to input the flow of the rodless chamber to the first signal input terminal 234 of the hydraulic cylinder model 23; the second signal output terminal 223 is connected to the second signal input terminal 235 of the hydraulic cylinder model 23, and the second signal output terminal 223 is used to input the flow of the rod chamber to the second signal input terminal 235 of the hydraulic cylinder model 23.

[0072] In addition, the hydraulic cylinder model 23 may further include a third signal input terminal 236 ; the third signal input terminal 236 is used to input the load force of the hydraulic cylinder model 23 .

[0073] In this way, in the GCKontrol software, by constructing a closed-loop control model that represents the closed-loop relationship between the flow valve model and the hydraulic cylinder model, and iteratively calculating the values ​​corresponding to each signal flow in the closed-loop control model, the GCKontrol software simulation results can be obtained, that is, the hydraulic cylinder model based on flow valve control.

[0074] Based on the relevant contents of S101-S102 above, it can be known that the embodiment of the present application can be specifically applied to the GCKontrol software. First, the controller model, flow valve model and hydraulic cylinder model are respectively constructed, and in the flow valve model, the Reynolds number can be equivalent to the flow number to calculate the flow coefficient of the flow valve model, and then the closed-loop control model of the flow valve model and the hydraulic cylinder model is constructed through the controller model to obtain the hydraulic cylinder model based on the flow valve control. In this way, a new simulation angle can be provided, that is, based on the GCKontrol software, the controller model, flow valve model and hydraulic cylinder model are respectively constructed, and then the flow valve model and the hydraulic cylinder model are closed-loop connected through the controller model, so as to realize the simulation of the hydraulic cylinder based on the flow valve control by the GCKontrol software.

[0075] Based on the method for constructing a hydraulic cylinder model based on flow valve control provided in the above embodiment, the embodiment of the present application can also provide a device for constructing a hydraulic cylinder model based on flow valve control. The device for constructing a hydraulic cylinder model based on flow valve control is described below in combination with the embodiments and drawings.

[0076] Figure 3 A schematic diagram of a structure of a hydraulic cylinder model construction device based on flow valve control provided in an embodiment of the present application. Figure 3 As shown, the construction device 300 of the hydraulic cylinder model based on flow valve control provided in the embodiment of the present application can be applied to GCKontrol software. The device can specifically include:

[0077] The model building module 301 is used to respectively build a controller model, a flow valve model and a hydraulic cylinder model; in the flow valve model, a flow number equivalent to the Reynolds number is used to calculate the flow coefficient of the flow valve model;

[0078] The closed-loop establishing module 302 is used to establish a closed-loop relationship between the flow valve model and the hydraulic cylinder model through the controller model, so as to obtain a hydraulic cylinder model based on flow valve control.

[0079] In a possible implementation, the closed-loop establishing module 302 may specifically include:

[0080] A closed-loop control model building module is used to connect the signal flow between the flow valve model and the hydraulic cylinder model through the controller model to build a closed-loop control model; the closed-loop control model is used to represent the closed-loop relationship between the flow valve model and the hydraulic cylinder model;

[0081] The signal flow iteration module is used to make the signal flow iterate in a closed-loop control model to obtain a hydraulic cylinder model based on flow valve control.

[0082] In a possible implementation, the closed-loop control model building module may specifically include:

[0083] The first building module is used to input the expected displacement of the piston and the actual displacement of the piston of the hydraulic cylinder model into the controller model respectively, and obtain the valve core relative stroke signal of the flow valve model through the controller model;

[0084] The second construction module is used to input the valve core relative stroke signal, the pressure of the rodless chamber of the hydraulic cylinder model, the pressure of the rod chamber of the hydraulic cylinder model, the oil supply pressure and the oil return pressure into the flow valve model respectively, and obtain the flow of the rodless chamber connected to the first working port of the flow valve model and the flow of the rod chamber connected to the second working port of the flow valve model through the flow valve model;

[0085] The third construction module is used to input the flow of the rodless chamber, the flow of the rod chamber, and the load force of the hydraulic cylinder model into the hydraulic cylinder model respectively. Through the hydraulic cylinder model, the pressure of the rodless chamber and the pressure of the rod chamber are obtained and input into the flow valve model, and the actual displacement of the piston is obtained and input into the controller model, so as to construct a closed-loop control model.

[0086] In a possible implementation, the model building module 301 may specifically include:

[0087] The flow valve model building module is used to build a three-position four-way flow valve model as a flow valve model based on GCKontrol software and according to the flow equation.

[0088] In a possible implementation, the flow valve model building module may specifically include:

[0089] A flow calculation module is used to convert the working side of the three-position four-way flow valve model into a throttle hole, and calculate the flow rate flowing out of the throttle hole according to the flow equation;

[0090] The flow valve correlation module is used to establish the correlation between the valve core relative stroke signal and the relative opening of the flow valve model by using the second-order transfer function module in the GCKontrol software and according to the dynamic characteristics of the valve core of the flow valve;

[0091] The flow valve model building submodule is used to build a three-position four-way flow valve model based on the GCKontrol software and according to the flow rate outflowing from the throttle hole and the correlation relationship.

[0092] In a possible implementation, the model building module 301 may specifically include:

[0093] The hydraulic cylinder model building module is used to build an asymmetric hydraulic cylinder model as a hydraulic cylinder model based on GCKontrol software and according to the hydraulic flow continuity equation and the force balance equation of the hydraulic cylinder and the load.

[0094] In a possible implementation, the model building module 301 may specifically include:

[0095] The controller model building module is used to build a proportional differential controller model as a controller model using the differential module and the addition and subtraction module in the GCKontrol software.

[0096] Furthermore, the embodiment of the present application also provides a device for constructing a hydraulic cylinder model based on flow valve control, comprising: a processor, a memory, and a system bus;

[0097] The processor and the memory are connected via the system bus;

[0098] The memory is used to store one or more programs, and the one or more programs include instructions. When the instructions are executed by the processor, the processor executes any one of the implementation methods of the above-mentioned method for constructing a hydraulic cylinder model based on flow valve control.

[0099] Furthermore, an embodiment of the present application also provides a computer-readable storage medium, which stores instructions. When the instructions are executed on a terminal device, the terminal device executes any one of the implementation methods of the above-mentioned method for constructing a hydraulic cylinder model based on flow valve control.

[0100] It can be known from the description of the above implementation mode that those skilled in the art can clearly understand that all or part of the steps in the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product can be stored in a storage medium such as ROM / RAM, a disk, an optical disk, etc., including several instructions for enabling a computer device (which can be a personal computer, a server, or a network communication device such as a media gateway, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0101] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0102] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0103] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for constructing a hydraulic cylinder model based on flow valve control, characterized in that: Applied to GCKontrol software; the method comprises: A controller model, a flow valve model and a hydraulic cylinder model are constructed respectively; in the flow valve model, a flow coefficient of the flow valve model is calculated using a flow number equivalent to a Reynolds number; By means of the controller model, a closed-loop relationship between the flow valve model and the hydraulic cylinder model is established to obtain a hydraulic cylinder model based on flow valve control; Wherein, the closed-loop relationship between the flow valve model and the hydraulic cylinder model is established through the controller model to obtain the hydraulic cylinder model based on flow valve control, including: The controller model is used to connect the signal flow between the flow valve model and the hydraulic cylinder model to construct a closed-loop control model; the closed-loop control model is used to represent the closed-loop relationship between the flow valve model and the hydraulic cylinder model; Allowing the signal flow to iterate in the closed-loop control model to obtain the hydraulic cylinder model based on flow valve control; The controller model is used to connect the signal flow between the flow valve model and the hydraulic cylinder model to construct a closed-loop control model, including: The expected displacement of the piston and the actual displacement of the piston of the hydraulic cylinder model are respectively input into the controller model, and the valve core relative stroke signal of the flow valve model is obtained through the controller model; The valve core relative stroke signal, the pressure of the rodless chamber of the hydraulic cylinder model, the pressure of the rod chamber of the hydraulic cylinder model, the oil supply pressure and the oil return pressure are respectively input into the flow valve model, and the flow of the rodless chamber connected to the first working port of the flow valve model and the flow of the rod chamber connected to the second working port of the flow valve model are obtained through the flow valve model; The flow of the rodless chamber, the flow of the rod chamber, and the load force of the hydraulic cylinder model are respectively input into the hydraulic cylinder model. Through the hydraulic cylinder model, the pressure of the rodless chamber and the pressure of the rod chamber are obtained and input into the flow valve model, and the actual displacement of the piston is obtained and input into the controller model, so as to construct the closed-loop control model.

2. The method according to claim 1, characterized in that: The flow valve model is constructed by the following steps: Based on the GCKontrol software and according to the flow equation, a three-position four-way flow valve model is constructed as the flow valve model.

3. The method according to claim 2, characterized in that The three-position four-way flow valve model is constructed based on the GCKontrol software and according to the flow equation as the flow valve model, including: The working side of the three-position four-way flow valve model is equivalent to a throttle hole, and the flow rate flowing out of the throttle hole is calculated according to the flow equation; Using the second-order transfer function module in the GCKontrol software and according to the dynamic characteristics of the flow valve spool, a correlation relationship between the relative stroke signal and the relative opening of the spool of the flow valve model is established; Based on the GCKontrol software, the three-position four-way flow valve model is constructed according to the flow rate outflowing from the throttle hole and the association relationship.

4. The method according to claim 1, characterized in that: The hydraulic cylinder model is constructed by the following steps: Based on the GCKontrol software, and according to the hydraulic flow continuity equation, and the force balance equation of the hydraulic cylinder and the load, an asymmetric hydraulic cylinder model is constructed as the hydraulic cylinder model.

5. The method according to claim 1, characterized in that: The controller model is constructed by the following steps: The differential module and the addition and subtraction module in the GCKontrol software are used to construct a proportional differential controller model as the controller model.

6. A device for constructing a hydraulic cylinder model based on flow valve control, characterized in that: Applied to GCKontrol software; the device comprises: A model building module, used to respectively build a controller model, a flow valve model and a hydraulic cylinder model; in the flow valve model, a flow number equivalent to the Reynolds number is used to calculate the flow coefficient of the flow valve model; A closed-loop establishment module, used to establish a closed-loop relationship between the flow valve model and the hydraulic cylinder model through the controller model, so as to obtain a hydraulic cylinder model based on flow valve control; Wherein, the closed-loop establishment module includes: A closed-loop control model construction module, used to connect the signal flow between the flow valve model and the hydraulic cylinder model through the controller model to construct a closed-loop control model; the closed-loop control model is used to represent the closed-loop relationship between the flow valve model and the hydraulic cylinder model; A signal flow iteration module, used for looping and iterating the signal flow in a closed-loop control model to obtain the hydraulic cylinder model based on flow valve control; The closed-loop control model building blocks include: A first construction module is used to input the expected displacement of the piston and the actual displacement of the piston of the hydraulic cylinder model into the controller model respectively, and obtain the valve core relative stroke signal of the flow valve model through the controller model; A second construction module is used to input the valve core relative stroke signal, the pressure of the rodless chamber of the hydraulic cylinder model, the pressure of the rod chamber of the hydraulic cylinder model, the oil supply pressure and the oil return pressure into the flow valve model respectively, and obtain the flow of the rodless chamber connected to the first working port of the flow valve model and the flow of the rod chamber connected to the second working port of the flow valve model through the flow valve model; The third construction module is used to input the flow of the rodless chamber, the flow of the rod chamber, and the load force of the hydraulic cylinder model into the hydraulic cylinder model respectively, and obtain the pressure of the rodless chamber and the pressure of the rod chamber through the hydraulic cylinder model and input them into the flow valve model, and obtain the actual displacement of the piston and input it into the controller model, so as to construct the closed-loop control model.

7. A device for constructing a hydraulic cylinder model based on flow valve control, characterized in that: The device includes: a processor, a memory, and a system bus; The processor and the memory are connected via the system bus; The memory is used to store one or more programs, and the one or more programs include instructions, which, when executed by the processor, enable the processor to execute the method for constructing a hydraulic cylinder model based on flow valve control as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the method for constructing a hydraulic cylinder model based on flow valve control as described in any one of claims 1 to 5.

Images