A servo valve controlled hydraulic cylinder control optimization method, device and system

Abstract

The present invention proposes a servo valve-controlled hydraulic cylinder control optimization method, comprising: adopting a servo valve-controlled double-rod hydraulic cylinder form, establishing a space state equation of an electronically controlled hydraulic power steering system, and defining an error vector; defining a projection mapping and an adaptive update algorithm according to the space state equation of the electronically controlled hydraulic power steering system, and determining that the adaptation rate of an adaptation function in the projection mapping satisfies a condition based on the hydraulic system; integrating an event triggering strategy into an electronic control unit ECU; establishing a disturbance observer, and the disturbance observer is used to compensate for errors caused by uncertainty modeling; based on the disturbance observer, the event triggering strategy, and the adaptive update algorithm, an optimal control input is obtained, and an actuator is controlled based on the optimal control input. The present invention also proposes a servo valve-controlled hydraulic cylinder control optimization device and system, which effectively improves the adaptability and reliability of the servo valve-controlled hydraulic control.

Description

Technical Field

[0001] The present invention relates to the field of automobile electronic control hydraulic pressure, and in particular to a servo valve controlled hydraulic cylinder control optimization method, device and system. Background Art

[0002] The electronically controlled hydraulic power steering system is an electronic power steering system that relies on an electric motor to drive a hydraulic pump to provide steering assistance. By controlling the oil pump to pump oil into the steering system, a certain pressure difference is generated on both sides of the hydraulic cylinder of the electronically controlled hydraulic part. The oil exerts working pressure to control the reciprocating motion of the piston rod to assist the steering of the wheels. Traditional mechanical all-wheel steering systems and hydraulic all-wheel steering systems usually cannot meet the requirements of flexibility and stability of multi-axle vehicles at the same time, while the new electronically controlled electric steering system has a low power density and cannot meet the requirements of heavy vehicles with large loads. The electronically controlled hydraulic power steering system can reduce the steering force during steering, and can provide appropriate steering assistance according to the speed of the vehicle and the changes in driving conditions. It has the advantages of smooth operation during driving, rapid dynamic response, and driving economy.

[0003] In the hydraulic drive system, the valve control system has higher dynamic response characteristics and stability. Valve-controlled hydraulic cylinders have the characteristics of fast response speed, high load rigidity and high performance-price ratio, but in the actual working process, there are often problems of inaccurate modeling due to their manufacturing reasons and time-varying working conditions. The traditional valve-controlled cylinder uses PID control, which is difficult to coordinate the contradiction between rapidity and stability, has poor anti-interference ability, and is difficult to achieve good control effects. Conventional PID controllers are not easy to adjust online in real time after parameter setting. The parameters of the controller cannot adapt to changes in actual working conditions, resulting in poor adaptability of the entire hydraulic drive system control. An important indicator for measuring the performance of a hydraulic system is the control steady-state accuracy. Therefore, it is not conducive to improving the adaptability and reliability of servo valve-controlled hydraulic control. Summary of the invention

[0004] In order to solve the problems existing in the prior art, the present invention innovatively proposes a servo valve-controlled hydraulic cylinder control optimization method, device and system, which effectively solves the problems of low adaptability and reliability of servo valve-controlled hydraulic control caused by the prior art, and effectively improves the adaptability and reliability of servo valve-controlled hydraulic control.

[0005] A first aspect of the present invention provides a servo valve controlled hydraulic cylinder control optimization method, which is applied to an electronic control unit ECU in an electronically controlled hydraulic power steering system, and is used to control a rear wheel reverse phase steering mode in a steering mode, comprising:

[0006] The servo valve controlled double-rod hydraulic cylinder is adopted to establish the space state equation of the electronically controlled hydraulic power steering system and define the error vector.

[0007] According to the spatial state equation of the electronically controlled hydraulic power steering system, the projection mapping and the adaptive update algorithm are defined, and the adaptation rate of the adaptation function in the projection mapping is determined to meet the conditions based on the hydraulic system;

[0008] Integrate event-triggered strategies into the electronic control unit ECU;

[0009] Establishing a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling;

[0010] Based on the disturbance observer, event triggering strategy and adaptive update algorithm, the optimal control input is obtained, and the actuator is controlled based on the optimal control input.

[0011] Optionally, the servo valve-controlled double-rod hydraulic cylinder is used to establish the space state equation of the electronically controlled hydraulic power steering system, and the error vector is defined specifically including:

[0012] Establish the motion equation of inertial load and the pressure dynamics equation of hydraulic cylinder respectively;

[0013] Based on the motion equation of inertial load and the pressure dynamics equation of hydraulic cylinder, the spatial state equation of electronically controlled hydraulic power steering system is established;

[0014] The error vector is defined according to the spatial state equation of the electronically controlled hydraulic power steering system.

[0015] Specifically, the motion equation expression of the inertial load is established as:

[0016]

[0017] Where, J in formula (1) is the moment of inertia; P L is the hydraulic system load pressure; X m B is the working displacement of the hydraulic cylinder; p is the viscous damping coefficient of the piston rod; f b is the nonlinear force caused by external disturbance; θ is the radian angular displacement of the piston rod; are other uncertain disturbance terms;

[0018] The pressure dynamics equation of the hydraulic cylinder is established as follows:

[0019]

[0020] Among them, P in formula (2) 1 is the pressure in the front chamber of the hydraulic cylinder, P 2 is the pressure in the front chamber of the hydraulic cylinder, U m is the volume of the front chamber of the hydraulic cylinder, U n is the volume of the rear chamber of the hydraulic cylinder, β e is the modulus of equivalent volume elasticity, C mis the leakage coefficient, Q a is the flow rate into the front chamber, P a Q is the pressure generated when the oil enters the front chamber; b is the flow rate out of the posterior cavity; P b The pressure generated when the oil flows out of the rear chamber; q a is the dynamic variable P a Modeling error; q b is the dynamic variable P b Modeling error;

[0021] According to the continuous flow equation, based on the flow Q a and Q b The servo valve slide displacement x u , x u =k i ×v, the kinetic expression is established as:

[0022]

[0023] Among them, P in formula (3) s is the hydraulic oil supply pressure, P r is the hydraulic oil supply tank pressure, k t is the total flow gain, C d is the flow coefficient, v is the input voltage value; the expression of the s(v) function is defined as:

[0024]

[0025] Among them, k i is a positive constant;

[0026] Define the state variable x, let Then x 1 Defined as the angular displacement θ in radians, x 2 Defined as angular acceleration in radians x 3 Defined as

[0027] The space state equation of the electronically controlled hydraulic power steering system is established as:

[0028]

[0029] Among them, q(t) is the modeling error that changes with time t, v(t k ) is the bounded control input, t k Indicates the actual control moment, M 1 , M 2 are intermediate variables;

[0030] The space state equation of the electronically controlled hydraulic power steering system is transformed through derivation, and there is a relationship:

[0031]

[0032] Among them, M 1 >0,M 2 >0.

[0033] In the presence of various modeling uncertainties, the control objective of the controller is to synthesize a bounded control input v(t k ), in order to ensure that the inertial load motion is close to the given bounded smooth motion trajectory θ 1d , define the error vector as Considering the influence of parameter perturbation, the unknown parameter set is defined:

[0034] The space state equation of the electronically controlled hydraulic power steering system is expressed as a vector error:

[0035]

[0036] Among them, the definition is about the variable θ, t displacement function, where Δ = q(t) - q n is the error, q n is the estimated value of q(t);

[0037] When the parameter uncertainty satisfies Given: Non-matching uncertainty and the matching uncertainty Δ are bounded, expressed as follows:

[0038]

[0039] Among them, in formula (8), δ 1 , δ 2 is a known constant.

[0040] Furthermore, the projection mapping and the adaptive update algorithm are defined according to the space state equation of the electronically controlled hydraulic power steering system, and the adaptation rate of the adaptation function in the projection mapping is determined based on the hydraulic system to meet the conditions including:

[0041] According to the space state equation of the electronically controlled hydraulic power steering system, the projection mapping is defined as:

[0042]

[0043] Where i = 1, 2, 3, 4, 5, ξ is a vector with i directions,i represents the i-th component of the vector ξ;

[0044] According to the space state equation of the electronically controlled hydraulic power steering system, the adaptive update algorithm is defined as:

[0045]

[0046] Where, let ∧>0, ∧ is an adaptive diagonal matrix; τ is a network time-varying parameter; is the unknown parameter at the initial moment; considering the hydraulic system, let For any adaptation function ξ, the adaptation rate in formula (9) must satisfy the following condition:

[0047]

[0048] Optionally, the method for establishing the event triggering strategy is specifically:

[0049] When the actuator moves, the sensor samples at a fixed sampling period T, and its sampling time series is expressed as S = {T, 2T, 3T, ... nT, n∈N +}; Event triggering time t n Determined by the event trigger, the sampling state X(t) updates the output voltage u(t) of the electronic control unit ECU, u(t n ) is the release voltage of the event trigger;

[0050] Considering the event-triggered scheme, the error vector is defined as:

[0051] e v (t) = v(t n )-v(t)t∈[t n ,t n+1 ) (12)

[0052] Among them, v(t n ) indicates t n The input voltage at time t, v(t) represents the input voltage at time t under the control law.

[0053] Define event trigger conditions:

[0054] |e v (t)|=|v(t n )-v(t)|≤λ 1 |v(t)|+λ 2 (13)

[0055] Among them, λ 1 ,λ 2 All are fixed coefficients, 0≤λ 1 <1 and λ 2≥0, then the event generator is:

[0056] t n+1 =min{t≥t n :|e v (t)|<λ 1 |v(t)|+λ 2} (14)

[0057] The continuous judgment conditions for event triggering are:

[0058]

[0059] Optionally, the method for establishing the disturbance observer is:

[0060] Based on the compensation uncertainty modeling mismatch term disturbance of formula (5) By establishing a disturbance observer to estimate The spatial state equation of the electronically controlled hydraulic power steering system expressed by vector error is:

[0061]

[0062] The dynamic equation of the disturbance observer is established as:

[0063]

[0064] Will s 0 ,s 1 Defined as:

[0065]

[0066]

[0067]

[0068] Among them, ψ 1 , ψ 2 , γ 1 , γ 2 , k 1 , k 2 , ζ is a positive constant, s 0 ,s 1 All are time functions that represent tracking displacement; is the disturbance function about time t; within the set time, will converge to

[0069] Optionally, obtaining an optimal control input based on a disturbance observer, an event triggering strategy, and an adaptive update algorithm, and controlling the actuator based on the optimal control input specifically includes:

[0070] The time derivative of the disturbance observer is:

[0071]

[0072] Substitute the space state equation of the electronically controlled hydraulic power steering system represented by the vector error into the time derivative of the disturbance observer. According to the actual control torque acting on the actuator, the event triggering condition in the event triggering strategy is met. The time derivative of the disturbance observer is:

[0073]

[0074] in, Simplified to X, formula (22) is rewritten as:

[0075]

[0076] In the formula, c 1 , c 2 is an unknown positive constant;

[0077] Choose a non-negative Lyapunov function as V 1 is a component function for determining whether the system is stable, then the time derivative of the disturbance observer is:

[0078]

[0079] The update control law of the adaptive parameter set is:

[0080] μ=χ 1 |s(t) T |+χ 2 s(t) T (25),

[0081] Let t∈[t n ,t n+1 ),x 1 =[c 2 f 1 |e 2 |,0,f 3 |x 2 |,f 4 |x 3 |,f 5 ] T ,x 2 =[0,|f 2 |v(t),0,0,0] T ;

[0082] Among them, μ is the control law function after the adaptive parameter set is updated, χ 1 , χ 2Intermediate vectors set to simplify the function;

[0083] The optimal control law v(t) is obtained as:

[0084]

[0085] Where L(·) is the auxiliary error function;

[0086]

[0087] Among them, δ 2 Represents the robust control term and is a known constant.

[0088] Furthermore, the actuator is an electric motor.

[0089] A second aspect of the present invention provides a servo valve controlled hydraulic cylinder control optimization device, which is applied to an electronic control unit ECU in an electronically controlled hydraulic power steering system, and is used to control a rear wheel reverse phase steering mode in a steering mode, comprising:

[0090] The first module is to establish the space state equation of the electronically controlled hydraulic power steering system using a servo valve-controlled double-rod hydraulic cylinder and define the error vector;

[0091] A definition module is provided to define projection mapping and an adaptive update algorithm according to the spatial state equation of the electronically controlled hydraulic power steering system, and to determine whether the adaptation rate of the adaptation function in the projection mapping satisfies the condition based on the hydraulic system;

[0092] Integration module, integrating event triggering strategy into the electronic control unit ECU;

[0093] A second establishment module is used to establish a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling;

[0094] The module is obtained, and the optimal control input is obtained based on the disturbance observer, the event triggering strategy, and the adaptive update algorithm, and the actuator is controlled based on the optimal control input.

[0095] The third aspect of the present invention provides a servo valve-controlled hydraulic cylinder control optimization system, including an electronic control unit ECU and an electric motor, wherein the electronic control unit ECU is used to run a servo valve-controlled hydraulic cylinder control optimization method described in the first aspect of the present invention to determine the optimal control input; the electric motor is communicatively connected to the electronic control unit ECU, and is used to control the rear wheel reverse phase steering mode in the steering mode according to the optimal control input determined by the electronic control unit ECU.

[0096] The technical solution adopted by the present invention includes the following technical effects:

[0097] 1. The present invention is based on an electronic control unit ECU based on a disturbance observer, an event triggering strategy, and an adaptive update algorithm to obtain an optimal control input, and controls the actuator based on the optimal control input, effectively solving the problem of low adaptability and reliability of servo valve-controlled hydraulic control caused by the prior art, and effectively improving the adaptability and reliability of servo valve-controlled hydraulic control.

[0098] 2. The servo valve-controlled cylinder optimization method designed based on the rear wheel reverse phase steering mode among the four steering modes in the technical solution of the present invention uses an event triggering strategy to reduce the communication bandwidth limitation and uses a disturbance observer to estimate the non-matching modeling uncertainty in order to obtain stable asymptotic tracking performance, thereby ensuring accurate control of the hydraulic cylinder's operating displacement; compared with traditional control strategies, the electronic control unit ECU using this control method can quickly stabilize the error to zero, and therefore has a faster convergence speed and higher tracking accuracy.

[0099] 3. The technical solution of the present invention controls the actuator based on the optimal control input, which greatly reduces the amount of data transmission from the controller to the actuator and saves network bandwidth resources. The present invention coordinates the design of the control method based on the event trigger strategy and the finite time disturbance observer, reduces parameter uncertainty, enhances the system's vibration resistance and response performance, meets engineering requirements, and has excellent practicality.

[0100] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0101] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0102] Figure 1 This is a schematic diagram of a process of a method in Example 1 of the present invention;

[0103] Figure 2 Schematic diagram of the process of step S1 in the method of embodiment 1 of the present invention;

[0104] Figure 3 This is a schematic diagram of the structure of the device in Example 2 of the present invention;

[0105] Figure 4 This is a schematic diagram of the structure of the mechanical components and the electronically controlled hydraulic part of the electronically controlled hydraulic power steering system in the third embodiment of the present invention;

[0106] Figure 5This is a schematic diagram of the structure of the sensor element of the electronically controlled hydraulic power steering system in the third embodiment of the present invention;

[0107] Figure 6 This is a schematic diagram of the control overview of the steering mode control logic in the electronically controlled hydraulic power steering system in Example 3 of the solution of the present invention. DETAILED DESCRIPTION

[0108] In order to clearly illustrate the technical features of the present solution, the present invention is described in detail below through specific implementation methods and in conjunction with the accompanying drawings. The disclosure below provides many different embodiments or examples for realizing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. In addition, the present invention may repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the accompanying drawings are not necessarily drawn to scale. The present invention omits the description of known components and processing techniques and processes to avoid unnecessary limitations on the present invention.

[0109] Embodiment 1

[0110] like Figure 1 As shown, the present invention provides a servo valve controlled hydraulic cylinder control optimization method, which is applied to an electronic control unit ECU in an electronically controlled hydraulic power steering system, and is used to control a rear wheel reverse phase steering mode in a steering mode, comprising:

[0111] S1, using servo valve controlled double-rod hydraulic cylinder, establish the space state equation of the electronically controlled hydraulic power steering system and define the error vector;

[0112] S2, defining projection mapping and adaptive updating algorithm according to the space state equation of the electronically controlled hydraulic power steering system, and determining whether the adaptation rate of the adaptation function in the projection mapping satisfies the condition based on the hydraulic system;

[0113] S3, integrating the event triggering strategy into the electronic control unit ECU;

[0114] S4, establishing a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling;

[0115] S5, based on the disturbance observer, event triggering strategy and adaptive update algorithm, obtains the optimal control input, and controls the actuator based on the optimal control input.

[0116] Among them, Figure 2 As shown, in step S1, a servo valve-controlled double-rod hydraulic cylinder is used to establish the space state equation of the electronically controlled hydraulic power steering system, and the error vector is defined specifically including:

[0117] S11, establishing the motion equation of the inertial load and the pressure dynamics equation of the hydraulic cylinder respectively;

[0118] S12, establishing the spatial state equation of the electronically controlled hydraulic power steering system based on the motion equation of the inertial load and the pressure dynamics equation of the hydraulic cylinder;

[0119] S13, defining an error vector according to a spatial state equation of the electronically controlled hydraulic power steering system.

[0120] In step S11, the motion equation of the inertial load is established as follows:

[0121]

[0122] Where, J in formula (1) is the moment of inertia; P L is the hydraulic system load pressure, P L =P a -P b , P a P is the pressure generated when the oil enters the front chamber. b The pressure generated when the oil flows out of the rear chamber; X m B is the working displacement of the hydraulic cylinder; p is the viscous damping coefficient of the piston rod; f b is the nonlinear force caused by external disturbance; θ is the radian angular displacement of the piston rod; is other uncertainties, such as external disturbances, unmodeled friction resistance, etc.;

[0123] The pressure dynamics equation of the hydraulic cylinder is established as follows:

[0124]

[0125] Among them, P in formula (2) 1 is the pressure in the front chamber of the hydraulic cylinder, P 2 is the pressure in the front chamber of the hydraulic cylinder, U m is the volume of the front chamber (oil inlet chamber) of the hydraulic cylinder, U n is the volume of the rear chamber (oil return chamber) of the hydraulic cylinder, β e is the modulus of equivalent volume elasticity, C m is the leakage coefficient, Q a is the flow rate into the front chamber, P a Q is the pressure generated when the oil enters the front chamber; b is the flow rate out of the posterior cavity; P b The pressure generated when the oil flows out of the rear chamber; q a is the dynamic variable P a Modeling error; q b is the dynamic variable P b Modeling error;

[0126] According to the continuous flow equation, based on the flow Q a and Q b The servo valve slide displacement x u , due to x u =k i *v, the dynamic expression can be rewritten as:

[0127]

[0128] Among them, P in formula (3) s is the hydraulic oil supply pressure, P r is the hydraulic oil supply tank pressure, k t is the total flow gain, k t =k q k i , k i is a positive constant; k q is a positive constant; ρ is the oil density; ω is the slide valve area gradient; C d is the flow coefficient, v is the input voltage value; the expression of the s(v) function is defined as:

[0129]

[0130] Among them, k i is a positive constant;

[0131] In step S12, define the state variable x, let Then x 1 is the angular displacement θ in radians. Similarly, x 2 is the angular acceleration in radians

[0132] The space state equation of the electronically controlled hydraulic power steering system is established as:

[0133]

[0134] Among them, q(t) is the modeling error that changes with time t, v(t k ) is the bounded control input, i.e., the input voltage value, t k Indicates the actual control moment, M 1 , M 2 is an intermediate variable.

[0135] Formula (5) can be transformed by deduction to obtain the following relationship:

[0136]

[0137] It can be concluded that M 1 >0,M2 >0.

[0138] It can be proved that the expected position trajectory is bounded. Under actual working conditions, the two chambers of the hydraulic cylinder satisfy: 0<P r <P a <P s , 0<P r <P b <P s .

[0139] In step S13, the control target of the controller is to synthesize the bounded control input v(t k ), in order to ensure that the inertial load motion is as close as possible to the given bounded smooth motion trajectory θ 1d , define the error vector as Considering the influence of parameter perturbation, the unknown parameter set is defined:

[0140] The space state equation of the electronically controlled hydraulic power steering system is expressed as a vector error:

[0141]

[0142] Among them, the definition is about the variable θ, t displacement function, where Δ = q(t) - q n is the error, q n is the estimated value of q(t);

[0143] When the parameter uncertainty satisfies Given: Non-matching uncertainty and the matching uncertainty Δ are bounded, expressed as follows:

[0144]

[0145] Among them, in formula (8), δ 1 , δ 2 is a known constant.

[0146] In step S2, projection mapping and adaptive updating algorithm are defined according to the space state equation of the electronically controlled hydraulic power steering system, and the adaptation rate of the adaptation function in the projection mapping is determined based on the hydraulic system to meet the following conditions:

[0147] According to the space state equation of the electronically controlled hydraulic power steering system, the projection mapping is defined as:

[0148]

[0149] Where i = 1, 2, 3, 4, 5, ξ is a vector with i directions, i represents the i-th component of the vector ξ;

[0150] According to the space state equation of the electronically controlled hydraulic power steering system, the adaptive update algorithm is defined as:

[0151]

[0152] Where, let ∧>0, ∧ is an adaptive diagonal matrix; τ is a network time-varying parameter; is the unknown parameter at the initial moment; considering the hydraulic system, let For any adaptation function ξ, the adaptation rate in formula (9) must satisfy the following condition:

[0153]

[0154] The method for establishing the event triggering strategy in step S3 is specifically as follows:

[0155] When the actuator moves, the sensor samples at a fixed sampling period T, and its sampling time series is expressed as S = {T, 2T, 3T, ... nT, n∈N +}; Event triggering time t n Mainly determined by event triggering, the sampling state X(t) updates the output voltage u(t) of the controller, u(t n ) is the release voltage of the event trigger;

[0156] For time-triggered sensors, t (n+1) -t n =h 0 ,h 0 is a positive constant, and the event trigger is a time-varying system, t (n+1) -t n =h 1 ,h 1 It is not a fixed positive constant;

[0157] Considering the event-triggered scheme, the error vector is defined as:

[0158] e v (t) = v(t n )-v(t)t∈[t n ,t n+1 )(12)

[0159] Among them, v(t n ) indicates t n The input voltage at time t, v(t) represents the input voltage at time t under the control law, that is, the optimal control input or the optimal control law.

[0160] Define event trigger conditions:

[0161] |e v (t)|=|v(t n )-v(t)|≤λ 1 |v(t)|+λ 2 (13)

[0162] Among them, λ 1 ,λ 2 All are fixed coefficients, 0≤λ 1 <1 and λ 2 ≥0, then the event generator is:

[0163] t n+1 =min{t≥t n :|e v (t)|<λ 1 |v(t)|+λ 2}(14)

[0164] The continuous judgment conditions for event triggering are:

[0165]

[0166] The method for establishing the disturbance observer in step S4 is as follows:

[0167] Based on the compensation uncertainty modeling mismatch term disturbance of formula (5) By establishing a disturbance observer to estimate Considering the subsystem in equation (7), the spatial state equation of the electronically controlled hydraulic power steering system expressed by vector error is:

[0168]

[0169] The dynamic equation of the disturbance observer is established as:

[0170]

[0171] Will s 0 ,s 1 Defined as:

[0172]

[0173]

[0174]

[0175] Among them, ψ 1 , ψ 2 , γ 1 , γ 2 , k1 , k 2 , is a normal number, s 0 ,s 1 It is possible to express the time function of tracking displacement; is the disturbance function about time t; within the set time, will converge to

[0176] In step S5, based on the disturbance observer, the event triggering strategy, and the adaptive update algorithm, an optimal control input is obtained, and controlling the actuator based on the optimal control input specifically includes:

[0177] Combined with the sliding mode, the approach rate is designed considering the communication constraint, and the accessibility of the sliding surface is considered. The time derivative of the disturbance observer is:

[0178]

[0179] Substitute the third formula in the space state equation of the electronically controlled hydraulic power steering system expressed by vector error into the time derivative of the disturbance observer, and consider the event-triggered communication constraints from the controller to the actuator. According to the actual control torque acting on the actuator, the event triggering conditions in the event triggering strategy are met. The time derivative of the disturbance observer is:

[0180]

[0181] in, Simplified to X, formula (22) is rewritten as:

[0182]

[0183] In the formula, c 1 , c 2 is an unknown positive constant.

[0184] To prove that the designed control input can make the electronically controlled hydraulic power steering system stable, the function must converge, and the non-negative Lyapunov function is selected as V 1 It is a component function for determining whether the electronically controlled hydraulic power steering system is stable, and the time derivative of the disturbance observer is:

[0185]

[0186] The update control law of the adaptive parameter set is:

[0187] μ=χ 1 |s(t)| T +χ 2 s(t)T (25)

[0188] make

[0189] t∈[t n ,t n+1 ),x 1 =[c 2 f 1 |e 2 |,0,f 3 |x 2 |,f 4 |x 3 |,f 5 ] T ,x 2 =[0,|f 2 |v(t),0,0,0] T ;

[0190] Among them, μ is the control law function after the adaptive parameter set is updated, χ 1 , χ 2 Intermediate vectors set to simplify the function;

[0191] The optimal control law v(t) (v(t) represents the input voltage at time t under the control law, that is, the optimal control input or the optimal control law) is obtained as:

[0192]

[0193] Where L(·) is the auxiliary error function;

[0194]

[0195] Among them, δ 2 represents a robust control term and is a known constant. The actuator is a motor.

[0196] On this basis, another Lyapunov function is selected as V 2 It is a component function for determining whether the system is stable. Γ is the gamma function. The equation expression is as follows:

[0197]

[0198] To prove The system converges. Split the above equation (29) into the following three component functions Prove respectively:

[0199]

[0200] And get the following expression:

[0201]

[0202]

[0203]

[0204] Using equations (26) and (27), equation (31) can be derived as follows:

[0205]

[0206] According to the adaptive update algorithm, we can know The above formula satisfies

[0207] Formula (32) can be derived as follows:

[0208]

[0209] The designed integral sliding mode observer is Formula (35) can be rewritten as:

[0210]

[0211] verify Substituting equation (26) and the optimal control law v(t) (v(t) represents the input voltage at time t under the control law, that is, the optimal control input or the optimal control law) into (36), we can obtain:

[0212]

[0213] In summary, formula (30) can be rewritten as:

[0214]

[0215] From the above formula we can see This verifies that the design of the servo valve-controlled hydraulic cylinder control is stable and bounded. According to the obtained optimal control input v(t), the electronic control unit ECU4 achieves optimal control of the entire steering system by controlling the electric motor in the rear-wheel reverse phase steering mode.

[0216] The present invention is based on an electronic control unit ECU based on a disturbance observer, an event triggering strategy, and an adaptive updating algorithm to obtain an optimal control input, and controls an actuator based on the optimal control input, thereby effectively solving the problem of low adaptability and reliability of servo valve-controlled hydraulic control caused by the prior art, and effectively improving the adaptability and reliability of servo valve-controlled hydraulic control.

[0217] The servo valve controlled cylinder optimization method designed based on the rear wheel reverse phase steering mode among the four steering modes in the technical solution of the present invention utilizes an event triggering strategy to reduce the communication bandwidth limitation and utilizes a disturbance observer to estimate the non-matching modeling uncertainty in order to obtain stable asymptotic tracking performance, thereby ensuring accurate control of the hydraulic cylinder's operating displacement. Compared with traditional control strategies, the electronic control unit ECU adopting this control method can quickly stabilize the error to zero, and therefore has a faster convergence speed and higher tracking accuracy.

[0218] The technical solution of the present invention controls the actuator based on the optimal control input, which greatly reduces the data transmission volume from the controller to the actuator and saves network bandwidth resources. The present invention coordinates the design of the control method based on the event trigger strategy and the finite time disturbance observer, reduces parameter uncertainty, enhances the system's vibration resistance and response performance, meets engineering requirements, and has excellent practicality.

[0219] Embodiment 2

[0220] like Figure 3 As shown, the technical solution of the present invention also provides a servo valve controlled hydraulic cylinder control optimization device, which is applied to the electronic control unit ECU in the electronically controlled hydraulic power steering system, and is used to control the rear wheel reverse phase steering mode in the steering mode, including:

[0221] The first building module 101 uses a servo valve controlled double-rod hydraulic cylinder to build a space state equation of an electronically controlled hydraulic power steering system and define an error vector;

[0222] A definition module 102 defines a projection mapping and an adaptive update algorithm according to a spatial state equation of an electronically controlled hydraulic power steering system, and determines whether an adaptation rate of an adaptation function in the projection mapping satisfies a condition based on the hydraulic system;

[0223] An integration module 103 integrates the event triggering strategy into the electronic control unit ECU;

[0224] A second establishing module 104 is used to establish a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling;

[0225] The module 105 is obtained, and based on the disturbance observer, the event triggering strategy, and the adaptive updating algorithm, the optimal control input is obtained, and the actuator is controlled based on the optimal control input.

[0226] The present invention is based on an electronic control unit ECU based on a disturbance observer, an event triggering strategy, and an adaptive updating algorithm to obtain an optimal control input, and controls an actuator based on the optimal control input, thereby effectively solving the problem of low adaptability and reliability of servo valve-controlled hydraulic control caused by the prior art, and effectively improving the adaptability and reliability of servo valve-controlled hydraulic control.

[0227] The servo valve controlled cylinder optimization method designed based on the rear wheel reverse phase steering mode among the four steering modes in the technical solution of the present invention utilizes an event triggering strategy to reduce the communication bandwidth limitation and utilizes a disturbance observer to estimate the non-matching modeling uncertainty in order to obtain stable asymptotic tracking performance, thereby ensuring accurate control of the hydraulic cylinder's operating displacement. Compared with traditional control strategies, the electronic control unit ECU adopting this control method can quickly stabilize the error to zero, and therefore has a faster convergence speed and higher tracking accuracy.

[0228] The technical solution of the present invention controls the actuator based on the optimal control input, which greatly reduces the data transmission volume from the controller to the actuator and saves network bandwidth resources. The present invention coordinates the design of the control method based on the event trigger strategy and the finite time disturbance observer, reduces parameter uncertainty, enhances the system's vibration resistance and response performance, meets engineering requirements, and has excellent practicality.

[0229] Embodiment 3

[0230] like Figure 4-Figure 5 As shown, the technical solution of the present invention also provides a servo valve-controlled hydraulic cylinder control optimization system, including an electronic control unit ECU4 and an electric motor 201. The electronic control unit ECU4 is used to run a servo valve-controlled hydraulic cylinder control optimization method in Example 1 to determine the optimal control input; the electric motor 201 is communicated with the electronic control unit ECU4 and is used to control the rear wheel reverse phase steering mode in the steering mode according to the optimal control input determined by the electronic control unit ECU4.

[0231] Furthermore, in addition to the electronic control unit ECU4 and the motor 201, the electronic control hydraulic power steering system also includes a mechanical component 1, an electronic control hydraulic part 2, a sensor element 3 and the electronic control unit ECU4. The output end of the sensor element 3 is communicatively connected with the input end of the electronic control unit ECU4, and the control output end of the electronic control unit ECU4 operates the mechanical component 1 through the electronic control hydraulic part 2 to achieve the steering mode adjustment of the electronic control hydraulic power steering system.

[0232] The mechanical component 1 is structurally divided into a steering wheel 101, a steering shaft 102, a gear rack mechanism 103, a transverse tie rod 104, and a hydraulic cylinder 105. The electronically controlled hydraulic part 2 is structurally composed of a gear pump 202, a proportional servo valve 203, a connecting pipeline 204, a relief valve 205, a check valve 206, and an oil tank 207 in addition to the motor 201. In order to prevent sudden overload or other failures, a relief valve 205 is added to the circuit. If the pressure reaches a given value, the relief valve 205 opens to allow the hydraulic oil to flow back to the oil tank 207.

[0233] The sensor element 3 includes a dynamic torque sensor 301 , a vehicle speed sensor 302 , a pressure sensor 303 , a displacement sensor 304 and a laser radar sensor 305 .

[0234] It should be noted that the electronically controlled hydraulic power steering system in the technical solution of the present invention is an existing electronically controlled hydraulic power steering system, and the improvement is only reflected in the control method of the electronic control unit ECU4 over the electric motor 201.

[0235] Since the driver issues a steering command, the input parameters of the torque sensor 301, the vehicle speed sensor 302 and other components will be transmitted to the electronic control unit ECU4 through the CAN bus. The electronic control unit ECU4 picks up and analyzes the above analog quantities to determine the steering mode. According to the steering mode that meets the working conditions, the steering system executes different control methods. According to its control method, the electronic control unit ECU4 sends a voltage signal to the motor 201 to control the rotation direction and torque of the motor 201, and completes the real-time control of the motor 201; the motor 201 then controls the gear pump 202 to work, and the pumped oil flows to the piston cavity of the hydraulic cylinder 105 through the proportional servo valve 203, driving the piston rod to move and forming pressure; the proportional servo valve 203 controls the hydraulic oil through the connecting pipe 204 to make the piston rod in the hydraulic cylinder 105 reciprocate. At the same time, the control unit ECU4 receives the actual displacement signal of the hydraulic cylinder 105, and then makes a difference with the target value, sends a control amount to the motor 201, so that the displacement error quickly stabilizes to zero, and the obtained motion response of the hydraulic cylinder 105 is basically consistent with the ideal input target curve.

[0236] like Figure 6 As shown, the steering modes of the electronically controlled hydraulic power steering system include front-wheel steering mode, rear-wheel counter-phase steering mode, rear-wheel same-phase steering mode and emergency steering mode; the front-wheel steering mode is applicable to a vehicle speed range of 0 to 80 km / h, the rear-wheel counter-phase steering mode is applicable to a vehicle speed range of 0 to 25 km / h, and the rear-wheel same-phase steering mode is applicable to a vehicle speed range of 0 to 20 km / h. The mode can be switched only when the vehicle speed meets the range requirements; the emergency steering mode is only used for emergency conditions identified by the laser radar sensor 305.

[0237] The present invention is based on an electronic control unit ECU based on a disturbance observer, an event triggering strategy, and an adaptive updating algorithm to obtain an optimal control input, and controls an actuator based on the optimal control input, thereby effectively solving the problem of low adaptability and reliability of servo valve-controlled hydraulic control caused by the prior art, and effectively improving the adaptability and reliability of servo valve-controlled hydraulic control.

[0238] The servo valve controlled cylinder optimization method designed based on the rear wheel reverse phase steering mode among the four steering modes in the technical solution of the present invention utilizes an event triggering strategy to reduce the communication bandwidth limitation and utilizes a disturbance observer to estimate the non-matching modeling uncertainty in order to obtain stable asymptotic tracking performance, thereby ensuring accurate control of the hydraulic cylinder's operating displacement. Compared with traditional control strategies, the electronic control unit ECU adopting this control method can quickly stabilize the error to zero, and therefore has a faster convergence speed and higher tracking accuracy.

[0239] The technical solution of the present invention controls the actuator based on the optimal control input, which greatly reduces the data transmission volume from the controller to the actuator and saves network bandwidth resources. The present invention coordinates the design of the control method based on the event trigger strategy and the finite time disturbance observer, reduces parameter uncertainty, enhances the system's vibration resistance and response performance, meets engineering requirements, and has excellent practicality.

[0240] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. A servo valve controlled hydraulic cylinder control optimization method, Its characteristics are: Applied to the electronic control unit ECU in the electronically controlled hydraulic power steering system to control the rear wheel reverse phase steering mode in the steering mode, including: The servo valve controlled double-rod hydraulic cylinder is adopted to establish the space state equation of the electronically controlled hydraulic power steering system and define the error vector; the servo valve controlled double-rod hydraulic cylinder is adopted to establish the space state equation of the electronically controlled hydraulic power steering system and define the error vector, which specifically includes: The motion equation of the inertial load and the pressure dynamics equation of the hydraulic cylinder are established respectively; the established motion equation of the inertial load is expressed as: Where, J in formula (1) is the moment of inertia; P L is the hydraulic system load pressure; X m B is the working displacement of the hydraulic cylinder; p is the viscous damping coefficient of the piston rod; f b is the nonlinear force caused by external disturbance; θ is the radian angular displacement of the piston rod; are other uncertain disturbance terms; The pressure dynamics equation of the hydraulic cylinder is established as follows: Among them, P in formula (2) 1 is the pressure in the front chamber of the hydraulic cylinder, P 2 is the pressure in the front chamber of the hydraulic cylinder, U m is the volume of the front chamber of the hydraulic cylinder, U n is the volume of the rear chamber of the hydraulic cylinder, β e is the modulus of equivalent volume elasticity, C m is the leakage coefficient, Q a is the flow rate into the front chamber, P a Q is the pressure generated when the oil enters the front chamber; b is the flow rate out of the posterior cavity; P b The pressure generated when the oil flows out of the rear chamber; q a is the dynamic variable P a Modeling error; q b is the dynamic variable P b Modeling error; According to the continuous flow equation, based on the flow Q a and Q b The servo valve slide displacement x u , x u =k i ×v, the kinetic expression is established as: Among them, P in formula (3) s is the hydraulic oil supply pressure, P r is the hydraulic oil supply tank pressure, k t is the total flow gain, v is the input voltage value; the expression of the s(v) function is defined as: Among them, k i is a positive constant; Define the state variable x, let Then x 1 Defined as the angular displacement θ in radians, x 2 Defined as angular acceleration in radians x 3 Defined as The space state equation of the electronically controlled hydraulic power steering system is established as: Where q(t) is the modeling error that changes with time t, v(t k ) is the bounded control input, t k Indicates the actual control moment, M 1 , M 2 All are intermediate variables; The space state equation of the electronically controlled hydraulic power steering system is transformed through derivation, and there is a relationship: Among them, M 1 >0,M 2 >0; In the presence of various modeling uncertainties, the control objective of the controller is to synthesize a bounded control input v(t k ), in order to ensure that the inertial load motion is close to the given bounded smooth motion trajectory θ 1d , define the error vector as Considering the influence of parameter perturbation, the unknown parameter set is defined: The space state equation of the electronically controlled hydraulic power steering system is expressed as a vector error: In which, define f 1 =1, f 5 =1, is about the variable θ, t displacement function, where Δ = q(t) - q n is the error, q n is the estimated value of q(t); When the parameter uncertainty satisfies Given: Non-matching uncertainty and the matching uncertainty Δ are bounded, expressed as follows: Among them, in formula (8), δ 1 ,δ 2 is a known constant; Based on the motion equation of inertial load and the pressure dynamics equation of hydraulic cylinder, the spatial state equation of electronically controlled hydraulic power steering system is established; The error vector is defined according to the space state equation of the electronically controlled hydraulic power steering system; According to the spatial state equation of the electronically controlled hydraulic power steering system, the projection mapping and the adaptive update algorithm are defined, and the adaptation rate of the adaptation function in the projection mapping is determined to meet the conditions based on the hydraulic system; The event trigger strategy is integrated into the electronic control unit ECU; the method for establishing the event trigger strategy is specifically as follows: When the actuator moves, the sensor samples at a fixed sampling period T, and its sampling time series is expressed as S = {T, 2T, 3T, ... nT, n∈N + }; Event triggering time t n Determined by the event trigger, the sampling state X(t) updates the output voltage u(t) of the electronic control unit ECU, u(t n ) is the release voltage of the event trigger; Considering the event-triggered scheme, the error vector is defined as: e v (t)=v(t n )-v(t) t∈[t n ,t n+1 ) (12) Among them, v(t n ) indicates t n The input voltage at time t, v(t) represents the input voltage at time t under the control law; Define event trigger conditions: |e v (t)|=|v(t n )-v(t)|≤λ 1 |v(t)|+λ 2 (13) Among them, λ 1 ,λ 2 All are fixed coefficients, 0≤λ 1 <1 and λ 2 ≥0, then the event generator is: t n+1 =min{t≥t n :|e v (t)|<λ 1 |v(t)|+λ 2 } (14) The continuous judgment conditions for event triggering are: Establishing a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling; Based on the disturbance observer, event triggering strategy and adaptive update algorithm, the optimal control input is obtained, and the actuator is controlled based on the optimal control input.

2. A servo valve controlled hydraulic cylinder control optimization method according to claim 1, Its characteristics are: The projection mapping and the adaptive update algorithm are defined according to the space state equation of the electronically controlled hydraulic power steering system, and the adaptation rate of the adaptive function in the projection mapping is determined based on the hydraulic system to meet the following conditions: According to the space state equation of the electronically controlled hydraulic power steering system, the projection mapping is defined as: Where i = 1, 2, 3, 4, 5, ξ is a vector with i directions, i represents the i-th component of the vector ξ; According to the space state equation of the electronically controlled hydraulic power steering system, the adaptive update algorithm is defined as: Where, let ∧>0, ∧ is an adaptive diagonal matrix; τ is a network time-varying parameter; is the unknown parameter at the initial moment; considering the hydraulic system, let For any adaptation function ξ, the adaptation rate in formula (9) must satisfy the following condition:

3. A servo valve controlled hydraulic cylinder control optimization method according to claim 1, Its characteristics are: The method for establishing the disturbance observer is: Based on the compensation uncertainty modeling mismatch term disturbance of formula (5) By establishing a disturbance observer to estimate The spatial state equation of the electronically controlled hydraulic power steering system expressed by vector error is: The dynamic equation of the disturbance observer is established as: Will s 0 ,s 1 Defined as: Among them, ψ 1 , ψ 2 , γ 1 , γ 2 , k 1 , k 2 , is a normal number, γ 2 =γ 1 / (1+γ 1 ), 0<γ 1 <1;s 0 ,s 1 All are time functions that represent tracking displacement; is the disturbance function about time t; within the set time, will converge to 4. A servo valve controlled hydraulic cylinder control optimization method according to claim 1, Its characteristics are: The method of obtaining the optimal control input based on the disturbance observer, the event triggering strategy, and the adaptive updating algorithm, and controlling the actuator based on the optimal control input specifically includes: The time derivative of the disturbance observer is: Substitute the space state equation of the electronically controlled hydraulic power steering system represented by the vector error into the time derivative of the disturbance observer. According to the actual control torque acting on the actuator, the event triggering condition in the event triggering strategy is met. The time derivative of the disturbance observer is: in, Simplified to X, rewrite formula (22) as: In the formula, c 1 , c 2 is an unknown positive constant; Choose a non-negative Lyapunov function as V 1 is a component function for determining whether the electronically controlled hydraulic power steering system is stable, then the time derivative of the disturbance observer is: The update control law of the adaptive parameter set is: μ=x 1 |s(t) T |+x 2 s(t) T (25), make t∈[t n ,t n+1 ),χ 1 =[c 2 f 1 |e 2 |,0,f 3 |x 2 |,f 4 |x 3 |,f 5 ] T ,χ 2 =[0,|f 2 |v(t),0,0,0] T ; Among them, μ is the control law function after the adaptive parameter set is updated, χ 1 , χ 2 Intermediate vectors set to simplify the function; The optimal control law v(t) is obtained as: Where L(·) is the auxiliary error function; Among them, δ 2 Represents the robust control term and is a known constant.

5. A servo valve controlled hydraulic cylinder control optimization method according to claim 4, Its characteristics are: The actuator is an electric motor.

6. A servo valve controlled hydraulic cylinder control optimization device, Its characteristics are: Applied to the electronic control unit ECU in the electronically controlled hydraulic power steering system to control the rear wheel reverse phase steering mode in the steering mode, including: The first establishment module uses a servo valve controlled double-rod hydraulic cylinder to establish a space state equation of the electronically controlled hydraulic power steering system and define an error vector; the use of a servo valve controlled double-rod hydraulic cylinder to establish a space state equation of the electronically controlled hydraulic power steering system and define an error vector specifically includes: The motion equation of the inertial load and the pressure dynamics equation of the hydraulic cylinder are established respectively; the established motion equation of the inertial load is expressed as: Where, J in formula (1) is the moment of inertia; P L is the hydraulic system load pressure; X m B is the working displacement of the hydraulic cylinder; p is the viscous damping coefficient of the piston rod; f b is the nonlinear force caused by external disturbance; θ is the radian angular displacement of the piston rod; are other uncertain disturbance terms; The pressure dynamics equation of the hydraulic cylinder is established as follows: Among them, P in formula (2) 1 is the pressure in the front chamber of the hydraulic cylinder, P 2 is the pressure in the front chamber of the hydraulic cylinder, U m is the volume of the front chamber of the hydraulic cylinder, U n is the volume of the rear chamber of the hydraulic cylinder, β e is the modulus of equivalent volume elasticity, C m is the leakage coefficient, Q a is the flow rate into the front chamber, P a Q is the pressure generated when the oil enters the front chamber; b is the flow rate out of the posterior cavity; P b The pressure generated when the oil flows out of the rear chamber; q a is the dynamic variable P a Modeling error; q b is the dynamic variable P b Modeling error; According to the continuous flow equation, based on the flow Q a and Q b The servo valve slide displacement x u , x u =k i ×v, the kinetic expression is established as: Among them, P in formula (3) s is the hydraulic oil supply pressure, P r is the hydraulic oil supply tank pressure, k t is the total flow gain, v is the input voltage value; the expression of the s(v) function is defined as: Among them, k i is a positive constant; Define the state variable x, let Then x 1 Defined as the angular displacement θ in radians, x 2 Defined as angular acceleration in radians x 3 Defined as The space state equation of the electronically controlled hydraulic power steering system is established as: Where q(t) is the modeling error that changes with time t, v(t k ) is the bounded control input, t k Indicates the actual control moment, M 1 , M 2 All are intermediate variables; The space state equation of the electronically controlled hydraulic power steering system is transformed through derivation, and there is a relationship: Among them, M 1 >0,M 2 >0; In the presence of various modeling uncertainties, the control objective of the controller is to synthesize a bounded control input v(t k ), in order to ensure that the inertial load motion is close to the given bounded smooth motion trajectory θ 1d , define the error vector as Considering the influence of parameter perturbation, the unknown parameter set is defined: The space state equation of the electronically controlled hydraulic power steering system is expressed as a vector error: In which, define f 1 =1, f 5 =1, is about the variable θ, t displacement function, where Δ = q(t) - q n is the error, q n is the estimated value of q(t); When the parameter uncertainty satisfies Given: Non-matching uncertainty and the matching uncertainty Δ are bounded, expressed as follows: Among them, in formula (8), δ 1 ,δ 2 is a known constant; Based on the motion equation of inertial load and the pressure dynamics equation of hydraulic cylinder, the spatial state equation of electronically controlled hydraulic power steering system is established; The error vector is defined according to the space state equation of the electronically controlled hydraulic power steering system; A definition module is provided to define projection mapping and an adaptive update algorithm according to the spatial state equation of the electronically controlled hydraulic power steering system, and to determine whether the adaptation rate of the adaptation function in the projection mapping satisfies the condition based on the hydraulic system; The integration module integrates the event trigger strategy into the electronic control unit ECU; the method for establishing the event trigger strategy is specifically as follows: When the actuator moves, the sensor samples at a fixed sampling period T, and its sampling time series is expressed as S = {T, 2T, 3T, ... nT, n∈N + }; Event triggering time t n Determined by the event trigger, the sampling state X(t) updates the output voltage u(t) of the electronic control unit ECU, u(t n ) is the release voltage of the event trigger; Considering the event-triggered scheme, the error vector is defined as: e v (t)=v(t n )-v(t) t∈[t n ,t n+1 ) (12) Among them, v(t n ) indicates t n The input voltage at time t, v(t) represents the input voltage at time t under the control law; Define event trigger conditions: |e v (t)|=|v(t n )-v(t)|≤λ 1 |v(t)|+λ 2 (13) Among them, λ 1 ,λ 2 All are fixed coefficients, 0≤λ 1 <1 and λ 2 ≥0, then the event generator is: t n+1 =min{t≥t n :|e v (t)|<λ 1 |v(t)|+λ 2 } (14) The continuous judgment conditions for event triggering are: A second establishment module is used to establish a disturbance observer, wherein the disturbance observer is used to compensate for errors caused by uncertainty modeling; The module is obtained, and the optimal control input is obtained based on the disturbance observer, the event triggering strategy, and the adaptive update algorithm, and the actuator is controlled based on the optimal control input.

7. A servo valve controlled hydraulic cylinder control optimization system, Its characteristics are: It comprises an electronic control unit ECU and an electric motor, wherein the electronic control unit ECU is used to run a servo valve-controlled hydraulic cylinder control optimization method as described in any one of claims 1 to 5 to determine an optimal control input; the electric motor is communicatively connected with the electronic control unit ECU and is used to control a rear wheel reverse phase steering mode in the steering mode according to the optimal control input determined by the electronic control unit ECU.

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