Adaptive Control Method, Device and Equipment

Abstract

The present invention relates to the field of electrical control technology, and an embodiment thereof provides an adaptive control method, device and equipment. An adaptive control method is applied to a hydraulic system including a hydraulic control element using PID closed-loop regulation. The method includes: obtaining detection values of at least one hydraulic factor, where the detection values are used to determine the PID parameters of the hydraulic control element or serve as a feedback signal when the PID parameters of the hydraulic control element are fixed; and the hydraulic control element performs the PID closed-loop regulation under the PID parameters and the feedback signal. The method provided in the embodiment of the present invention has high control precision and is convenient for large-scale application.

Description

Technical Field

[0001] This invention relates to the field of electromechanical-hydraulic intelligent control technology, specifically to an adaptive control method, an adaptive control device, an adaptive control equipment, and a computer-readable storage medium. Background Technology

[0002] Traditional PID closed-loop control, fuzzy adaptive PID control, and expert PID control, regardless of whether they use fuzzy control rules or expert algorithms, all involve tuning the PID parameters (i.e., based on changes in the controlled object's load or the influence of disturbance factors). Essentially, they are all single-input, single-output control systems, and each has its own shortcomings.

[0003] Traditional PID closed-loop control is a black box control. Its control principle is simple and easy to implement. However, since it is a time-varying nonlinear system, different parameters need to be set for different operating conditions (such as load changes, oil temperature changes, attitude changes, etc.) in practical applications. Different PID parameters need to be selected, and parameter tuning is extremely troublesome. The workload of parameter tuning under all operating conditions is large, making it difficult to achieve full-condition application of the host machine.

[0004] Fuzzy adaptive PID control is a variation of PID closed-loop control. The fuzzy controller mainly consists of three modules: fuzzification, fuzzy inference, and defuzzification, and its fuzzy process is quite complex. Due to the complex operating conditions and numerous compound actions of construction machinery, consistency between different mainframes is difficult to guarantee, making it difficult to widely promote and apply fuzzy adaptive PID control in construction machinery.

[0005] Expert PID control mimics how experts solve problems by reasoning based on their extensive knowledge and experience. It contains a large amount of expert-level knowledge and experience, and it would be difficult for hydraulic engineers or electrical engineers without rich experience to build an expert knowledge base. Summary of the Invention

[0006] The purpose of this invention is to provide an adaptive control method, apparatus, and device to solve some of the problems in the prior art.

[0007] To achieve the above objectives, a first aspect of the present invention provides an adaptive control method, the method comprising: acquiring a detection value of a hydraulic factor; generating a control signal for a hydraulic control element based on the detection value; and controlling the hydraulic control element based on the control signal and a command signal for the hydraulic control element.

[0008] Preferably, the hydraulic factors include at least one of the following: pressure drop, flow rate, oil temperature, system pressure, and oil viscosity.

[0009] Preferably, the hydraulic control element includes: a multi-way valve, a directional valve, or a motor.

[0010] Preferably, generating a control signal for the hydraulic control element based on the detected value includes:

[0011] The correlation between the changing trend of the detected value and the trend control signal is obtained, wherein the correlation between the changing trend of the detected value and the control signal is included; based on the changing trend of the detected value and the correlation between the trend control signal, a control signal for controlling the output of the hydraulic control element is generated.

[0012] Preferably, the hydraulic factor is the main valve core pressure drop; the hydraulic control element is an engine, and the output of the hydraulic control element is the engine speed; generating a control signal for the hydraulic control element based on the detected value includes: obtaining the changing trend of the main valve core pressure drop based on the real-time detected main valve core pressure drop; when the main valve core pressure drop is detected to decrease, generating an engine speed increase command, the engine speed increase command being used to increase the engine speed; when the main valve core pressure drop is detected to increase to the upper limit of the allowable range, maintaining the engine speed unchanged.

[0013] Preferably, controlling the hydraulic control element according to the control signal and the command signal for the hydraulic control element includes: inputting the feedback error signal and the command signal to the PID controller; and controlling the hydraulic control element according to the output of the PID controller and the control signal.

[0014] Preferably, the method further includes: determining the PID parameters in the PID controller based on the detected values ​​of the hydraulic factors.

[0015] Preferably, determining the PID parameters in the PID controller based on the detected value of the hydraulic factor includes: determining the PID parameters corresponding to the detected value through a relationship table or a fitting curve, wherein the relationship table or the fitting curve at least contains the PID parameters corresponding to the detected value.

[0016] In a second aspect of the invention, an adaptive control device is also provided, comprising: a parameter feedback module for acquiring detected values ​​of hydraulic factors, the detected values ​​being used to determine PID parameters of the hydraulic control element or as a feedback signal when the hydraulic control element has fixed PID parameters; and an adjustment execution module for the hydraulic control element to perform the PID closed-loop adjustment under the PID parameters and the feedback signal.

[0017] In a third aspect of the invention, an adaptive control device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the aforementioned adaptive control method.

[0018] In a fourth aspect of the invention, a computer-readable storage medium is also provided, the storage medium storing instructions that, when executed on a computer, cause the computer to perform the steps of the aforementioned adaptive control method.

[0019] A fifth aspect of the present invention provides a computer program product, including a computer program that, when executed by a processor, implements the aforementioned adaptive control method.

[0020] The above technical solution has at least the following beneficial effects:

[0021] (1) The embodiment of the present invention uses hydraulic factors as feedback to construct a closed loop with hydraulic control elements. Compared with the original closed loop of external factors such as machinery, the closed loop link is shortened and the accuracy of closed loop control is improved.

[0022] (2) Hydraulic factors are obtained directly from the hydraulic system, requiring minimal modification to the original system and no large amount of hardware equipment, thus resulting in lower costs and facilitating large-scale application.

[0023] (3) The hydraulic factor closed loop in the embodiment of the present invention can be integrated with the original PID closed loop of the system to form a typical two-input one-output nonlinear control system. There is no need to readjust the PID parameters, and the control accuracy of the original PID closed loop is improved.

[0024] (4) Easy to expand; other functions can be achieved by writing vehicle control strategies, such as reducing boom sway during the lowering process.

[0025] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0026] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0027] Figure 1 The schematic diagram illustrates the steps of an adaptive control method according to an embodiment of the present invention;

[0028] Figure 2 A schematic diagram of the control structure of a two-input one-output control system according to an embodiment of the present invention is shown.

[0029] Figure 3 A schematic diagram illustrating an improved feedback quantity selection according to an embodiment of the present invention is shown.

[0030] Figure 4 A schematic diagram illustrating the dynamic balance process of valve core pressure drop and engine speed according to an embodiment of the present invention is shown.

[0031] Figure 5 A schematic diagram of the control structure of the closed-loop control structure according to an embodiment of the present invention is shown.

[0032] Figure 6 A schematic diagram illustrating the adaptive process of hydraulic pump speed according to an embodiment of the present invention is shown.

[0033] Figure 7 The diagram illustrates an improved implementation of closed-loop control in a hydraulic system according to an embodiment of the present invention.

[0034] Figure 8 The illustration schematically shows an improved diagram of implementing closed-loop control in another hydraulic system according to an embodiment of the present invention;

[0035] Figure 9 A schematic diagram of the structure of an adaptive control device according to an embodiment of the present invention is shown. Detailed Implementation

[0036] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0037] Figure 1 The schematic diagram illustrates the steps of an adaptive control method according to an embodiment of the present invention. Figure 1 As shown, an adaptive control method includes:

[0038] S01. Obtain the detection value of hydraulic factors; determine at least one factor from the hydraulic factors of the hydraulic system as a feedback quantity; in the prior art, external factors such as mechanical factors output by the hydraulic system are often used as feedback quantities. In this embodiment, hydraulic factors are used as feedback quantities, which is not only easy to obtain from the hydraulic system, but also avoids the problem of long feedback delay in the prior art when mechanical or external factors are used as feedback quantities.

[0039] S02. Generate a control signal for the hydraulic control element based on the detected value. Here, the hydraulic control element refers to a component that controls the aforementioned hydraulic factors. By changing the state of the hydraulic control element through the control signal, the hydraulic factors are affected, thereby influencing their subsequent detected values. Therefore, a control system based on the detected hydraulic factor value is constructed. The mapping relationship between the detected value and the control signal is determined according to the actual scenario and parameters; to a certain extent, this can be considered a closed-loop control at the physical structure level.

[0040] S03. Control the hydraulic control element according to the control signal and the command signal for the hydraulic control element. Figure 2 A schematic diagram of the control structure of a two-input, one-output control system according to an embodiment of the present invention is shown. Figure 2 As shown, taking engine speed control as an example, this system is a two-input, one-output control system. The commanded speed and engine speed are both inputs, and the actual output speed of the actuator is the output. Specifically, the output of the hydraulic system drives the actuator, and the inputs of the hydraulic system include: the adjustment amount generated based on the feedback signal, and the command amount generated based on PID closed-loop regulation. The engine speed and the hydraulic system form a bidirectional regulation, as shown by the bold bidirectional arrows in the figure. There is no direct relationship between the engine speed and the PID controller and parameter tuner; that is, the engine speed does not participate in the PID controller and parameter tuning functions, thus avoiding logic improvements to the parameter tuner. The above is merely an example. In other embodiments, oil temperature, viscosity, etc., can be used as inputs or variables to create a multi-input, multi-output system.

[0041] The above implementation avoids many problems caused by constructing a closed loop based on the output of the hydraulic system, such as overlap with the original PID closed loop, retuning of PID parameters, and excessively long closed loop links.

[0042] In some embodiments provided by this invention, the hydraulic factors include, but are not limited to, at least one of the following: pressure drop, flow rate, oil temperature, system pressure, and oil viscosity. Specifically, the operating parameters of the hydraulic oil include the flow rate, flow velocity, and state of the hydraulic oil, including temperature and viscosity. The operating parameters of the hydraulic pump include the pump speed. The factor selected in step S01 is a specific factor among the hydraulic factors, such as the pump speed or the hydraulic oil temperature, or a combination of both. Figure 3 A schematic diagram illustrating an improved feedback quantity selection according to an embodiment of the present invention is shown. Figure 3As shown, traditional control, fuzzy control, and expert PID control do not require a precise model of the controlled object; the control disturbance is a mechanical or external factor (such as attitude, load, power limit, wind speed, etc.), which is a black-box control. The adaptive control method based on the closed-loop control structure provided by this invention essentially transforms mechanical or external factors into hydraulic factors (such as pressure drop, flow rate, oil temperature, hydraulic pump speed, system pressure, etc.). These hydraulic factors are all readily obtainable parameters (these hydraulic parameters are generally integrated into the controller and are relatively easy to acquire), making it a semi-empirical, semi-black-box control. For hydraulic factors that cannot be collected due to the lack of corresponding sensors, appropriate sensors need to be installed at the corresponding locations.

[0043] The aforementioned hydraulic control components include: multi-way valves, directional valves, or engines. The hydraulic control component in the aforementioned physical closed-loop structure can be a multi-way valve, a directional valve, or an engine. Taking an engine as an example, a physical closed-loop structure can be constructed between hydraulic factors and engine speed. Engine speed can be adjusted using internal parameters of the hydraulic system, thereby achieving faster speed control and avoiding the control lag problem caused by excessively long loops in the original PID closed-loop system.

[0044] In some embodiments, generating a control signal for the hydraulic control element based on the detected value includes: acquiring the correlation between the changing trend of the detected value and the trend control signal, wherein the trend control signal correlation includes the correspondence between the changing trend of the detected value and the control signal; this correspondence can be qualitatively described as positive or negative correlation; positive correlation means that when the trend control signal changes towards an increasing trend, the detected value also changes towards an increasing direction, and negative correlation is the opposite. Based on the changing trend of the detected value and the correlation of the trend control signal, a control signal is generated to control the output of the hydraulic control element. For example, when the changing trend of the detected value is decreasing, in order to maintain a constant detected value, the control signal should cause the output of the hydraulic control element to change towards an increasing trend. In some scenarios, the output of the hydraulic control element has a preset direction of change; for example, the output of the hydraulic control element can be set to change only in an increasing direction. Under this preset direction of change, when the changing trend of the detected value is increasing, the output of the hydraulic control element does not change towards a decreasing direction, but remains unchanged. In other scenarios, the output of the hydraulic control element has a preset range of change; for example, an upper limit value is set. Within this preset range of variation, when the detected value changes in a decreasing direction, causing the output of the hydraulic control element to change in an increasing direction, when the output of the hydraulic control element reaches the upper limit of the range of variation, such as the upper limit of the rotational speed, it will no longer continue to increase, but will maintain the current upper limit of the rotational speed unchanged.

[0045] Figure 4A schematic diagram illustrating the valve core pressure drop-engine speed dynamic balance process according to an embodiment of the present invention is shown. Figure 4 As shown, engine speed is used as the input quantity, and a smaller value is generally taken to consider fuel economy, such as an idle speed of 750 rpm. During the entire control process, the main valve core pressure drop ΔP is detected in real time. When the main valve core pressure drop ΔP is detected to decrease (i.e., process (1)), the engine speed is automatically increased through the control algorithm (process (2)). When the command speed remains unchanged and the engine speed increases, the pressure drop of the main valve core automatically increases (process (3)). The main valve core pressure drop ΔP and the engine speed are in a bidirectional dynamic balance adjustment process, as shown by the bidirectional arrows in the figure. Conversely, when the main valve core pressure drop ΔP is detected to increase to a certain value (process (4)), the engine speed no longer increases and remains unchanged, such as the engine speed maintaining an output of 1400 rpm. The main valve core pressure drop ΔP and the engine speed are in a bidirectional dynamic balance adjustment process. The dynamic balance bidirectional adjustment process between engine speed and main valve core pressure drop realized in this embodiment is essentially a physical structure closed loop.

[0046] In some embodiments of the present invention, controlling the hydraulic control element according to the control signal and the command signal for the hydraulic control element includes: inputting a feedback error signal and the command signal to a PID controller; and controlling the hydraulic control element according to the output of the PID controller and the control signal. Figure 5 A schematic diagram of a closed-loop control structure according to an embodiment of the present invention is shown. Figure 5 As shown, the electrical closed loop in this embodiment is a fusion of a conventional PID closed loop and a physical structure closed loop. The engine speed control module operates between the hydraulic valve and the actual output speed, and the process of bidirectional dynamic balancing adjustment between the engine speed control module and the hydraulic valve is as follows: the engine speed control module affects the actual output speed. v Actual speed v As a feedback quantity, the difference between the pressure difference and the commanded speed is input to the PID controller, which then controls the hydraulic valve to achieve a standard PID closed loop. The pressure difference of the hydraulic valve and the engine speed control module form a physical closed loop.

[0047] In some embodiments provided by this invention, the PID parameters in the PID controller are determined based on the detected values ​​of the hydraulic factors. The PID parameters of the controlled variable of the engine are determined based on the feedback quantity. PID parameter adaptation uses the hydraulic factors of the hydraulic system or the combination of multiple hydraulic factors as preferred quantities, automatically matching PID parameters for each set of preferred quantities, establishing the relationship between the actuators of the hydraulic transmission system and the PID parameters, and completing adaptive adjustment. The controlled variable here is selected within the engine's operating conditions, such as speed, displacement, and flow rate. The above process can also be called PID parameter adaptation.

[0048] In some optional embodiments, determining the PID parameters in the PID controller based on the detected values ​​of the hydraulic factors includes: determining the PID parameters corresponding to the detected values ​​through a relationship table or a fitted curve, wherein the relationship table or the fitted curve at least contains the PID parameters corresponding to the detected values. Specifically, the preferred hydraulic factor + PID parameter tuning adaptive process essentially uses the single or multiple combinations of hydraulic factors as preferred quantities to automatically match the PID parameters, such as the adaptive adjustment of main valve core pressure drop + hydraulic pump speed, the adaptive adjustment of oil temperature + hydraulic pump speed, and the adaptive adjustment of main valve core pressure drop and oil temperature + hydraulic pump speed, etc. Table 1 below is an example of the preferred hydraulic factor + PID parameter tuning adaptive adjustment. As long as the combination of single or multiple hydraulic factors is used as preferred quantities, the method of giving the corresponding PID parameters falls within the scope of this embodiment. An example of preferred PID parameters + hydraulic system adaptive adjustment is to fix a certain set of optimal PID parameters. These PID parameters can achieve good speed tracking performance under certain working conditions, but when factors such as changes in working conditions or compound actions affect the overall speed tracking performance, it leads to poor speed tracking performance under all working conditions.

[0049] Table 1. Optimal Hydraulic Factors + Adaptive Relationship of PID Parameter Tuning

[0050]

[0051] In the case of the PID or fixed PID determined in the aforementioned implementation method, a control relationship is established between the PID parameters and the actuators of the hydraulic transmission system to complete the adaptive adjustment process. The control command of the controlled variable here changes according to the selection of the controlled variable. For example, the control command can be a flow command, signal command, displacement command, or speed command. The target value of the controlled variable included in the control command is referred to as the commanded flow rate, commanded signal, commanded displacement, or commanded speed. Figure 6 A schematic diagram illustrating the adaptive process of hydraulic pump speed according to an embodiment of the present invention is shown. Figure 6As shown, with the upper and lower limits of the main valve core pressure drop as constraints, when the main valve core pressure drop ΔP ≤ the lower limit, the engine speed increase is positive, and the actual engine speed is obtained by adding the idle speed of 750 rpm to the speed increase. During this process, the actual engine output speed is in the increasing range. When the main valve core pressure drop ΔP ≥ the upper limit, the engine speed increase is 0, and the actual engine output speed no longer increases. The PID parameters remain unchanged during this process; only the hydraulic system itself adapts, i.e., the hydraulic pump speed is adaptively adjusted. This method is highly practical and can be widely used on construction machinery under all working conditions. No other operating condition parameters need to be adjusted during full-condition use. The mapping relationship here can use proportional mapping, setpoint function mapping, or stage function mapping, etc.

[0052] Of the various hydraulic factors mentioned above, most can be directly obtained from the controller. These hydraulic factors or parameters are generally integrated into the controller, and for hydraulic or electrical engineers, these are readily available parameters, representing a semi-empirical, semi-black-box control approach. However, some hydraulic factors or parameters do not have corresponding sensors for acquisition, requiring simple modifications to the hydraulic system, such as the main valve spool pressure drop. The main valve spool pressure drop is calculated based on the values ​​collected by differential pressure sensors or pressure sensors installed before and after the main valve spool. Taking the pressure drop before and after the main valve spool as an example, in this case, only differential pressure sensors or pressure sensors need to be installed before and after the main valve spool, without requiring extensive modifications to the hydraulic system. Figure 7 A schematic diagram illustrating an improved implementation of closed-loop control in a hydraulic system according to an embodiment of the present invention is shown. Figure 7 As shown, it mainly consists of a hydraulic pump 1-1, pressure sensors 2-1a to 2-1d, a throttle valve 3-1, an actuator 4-1, a controller 5-1, an oil tank 6-1, and accessories. The throttle valve 3-1 can be a simple damping orifice, a directional flow control valve, a pre-valve compensated load-sensitive valve, or a post-valve compensated load-sensitive valve. Pressure sensors 2-1a to 2-1d can be replaced with differential pressure sensors. The hydraulic pump 1-1 is not limited to a variable displacement pump and can be replaced with a fixed displacement pump. Through these structural improvements and the addition of the control algorithm of this embodiment to the controller, the corresponding speed control curve can be achieved, which is simple and convenient. This hydraulic embodiment is applicable to simple hydraulic resistance control systems, load-sensitive control systems (including pre-valve compensation and post-valve compensation), positive flow, negative flow, and constant power systems, and has a wide range of applications.

[0053] In some alternative implementations, an electro-proportional throttle valve 7b is used instead of the electro-hydraulic proportional directional flow control valve 3-1, while other circuits remain unchanged. A simplified structural diagram of the replaced hydraulic system is shown below. Figure 8 As shown. Figure 8 The diagram illustrates an improved implementation of closed-loop control in another hydraulic system according to an embodiment of the present invention.

[0054] Based on the same inventive concept, the present invention also provides an adaptive control device. Figure 9 A schematic diagram illustrating the structure of an adaptive control device according to an embodiment of the present invention is shown. Figure 9 As shown, an adaptive control device includes: a parameter feedback module for acquiring detected values ​​of hydraulic factors; a signal generation module for generating control signals for hydraulic control elements based on the detected values; and an adjustment execution module for controlling the hydraulic control elements based on the control signals and command signals for the hydraulic control elements.

[0055] In some alternative implementations, the hydraulic factors include at least one of the following: pressure drop, flow rate, oil temperature, system pressure, and oil viscosity.

[0056] In some alternative implementations, the hydraulic control element includes a multi-way valve, a directional valve, or a motor.

[0057] In some optional embodiments, generating a control signal for the hydraulic control element based on the detected value includes: acquiring the changing trend of the detected value and the correlation between the trend and the control signal, wherein the correlation between the trend and the control signal includes the correspondence between the changing trend of the detected value and the control signal; and generating a control signal for controlling the output of the hydraulic control element based on the changing trend of the detected value and the correlation between the trend and the control signal.

[0058] In some optional embodiments, the hydraulic factor is the main valve core pressure drop; the hydraulic control element is an engine, and the output of the hydraulic control element is the engine speed; generating a control signal for the hydraulic control element based on the detected value includes: obtaining the changing trend of the main valve core pressure drop based on the real-time detected main valve core pressure drop; when the main valve core pressure drop is detected to decrease, generating an engine speed increase command, the engine speed increase command being used to increase the engine speed; when the main valve core pressure drop is detected to increase to the upper limit of the allowable range, maintaining the engine speed unchanged.

[0059] In some alternative embodiments, controlling the hydraulic control element according to the control signal and the command signal for the hydraulic control element includes: inputting a feedback error signal and the command signal to a PID controller; and controlling the hydraulic control element according to the output of the PID controller and the control signal.

[0060] In some alternative implementations, the method further includes determining PID parameters in the PID controller based on the detected values ​​of the hydraulic factors.

[0061] In some alternative implementations, determining the PID parameters in the PID controller based on the detected values ​​of the hydraulic factors includes: determining the PID parameters corresponding to the detected values ​​through a relationship table or a fitted curve, wherein the relationship table or the fitted curve at least contains the PID parameters corresponding to the detected values.

[0062] The specific limitations of each functional module in the aforementioned adaptive control device can be found in the limitations of the adaptive control method described above, and will not be repeated here. Each module in the aforementioned device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0063] In some embodiments of the present invention, an adaptive control device is also provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the aforementioned adaptive control method. The processor here has numerical calculation and logical operation capabilities, and at least includes a central processing unit (CPU) with data processing capabilities, random access memory (RAM), read-only memory (ROM), various I / O ports, and an interrupt system. The processor contains a kernel that retrieves corresponding program units from the memory. One or more kernels can be configured, and the aforementioned method is implemented by adjusting kernel parameters. The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0064] In one embodiment of the present invention, a computer-readable storage medium is also provided, wherein the storage medium stores instructions that, when executed on a computer, cause the processor to be configured to perform the adaptive control method described above.

[0065] In one embodiment of the present invention, a computer program product is provided, including a computer program that implements the above-described adaptive control method when executed by a processor.

[0066] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0068] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0071] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0074] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method of adaptive control, characterized by, The method includes: Obtain the measured values ​​of hydraulic factors, including the pressure drop of the main valve core. Based on the detected values, control signals are generated for the hydraulic control components; The hydraulic control element is controlled according to the control signal and the command signal for the hydraulic control element; The hydraulic control element includes a hydraulic valve, an engine, and an actuator. The control signal for the hydraulic control element includes a control signal for the engine speed. Generating the control signal for the hydraulic control element based on the detected value includes: The trend of the main valve core pressure drop is obtained based on the real-time detected pressure drop. When a decrease in the pressure drop of the main valve core is detected, an engine speed increase command is generated, which is used to increase the engine speed. When the pressure drop of the main valve core is detected to increase to the upper limit of the allowable range, the engine speed is maintained constant; Wherein, the command signal of the hydraulic control element includes the command speed of the actuator, and controlling the hydraulic control element according to the control signal and the command signal for the hydraulic control element includes: The engine is controlled according to the engine speed control signal; The commanded speed and the actual speed of the actuator are input to the PID controller, and the hydraulic valve is controlled according to the output of the PID controller.

2. The method of claim 1, wherein, The hydraulic factors also include at least one of the following: flow rate, oil temperature, system pressure, and oil viscosity.

3. The method of claim 1, wherein, The method further includes: determining the PID parameters in the PID controller based on the detected values ​​of the hydraulic factors.

4. The method of claim 3, wherein, The PID parameters in the PID controller are determined based on the detected values ​​of the hydraulic factors, including: The PID parameter corresponding to the detection value is determined by a relationship table or a fitted curve, wherein the relationship table or the fitted curve has at least the PID parameter corresponding to the detection value.

5. An adaptive control device, characterized by, The device includes: The parameter feedback module is used to acquire the detected values ​​of hydraulic factors, including the pressure drop of the main valve core. A signal generation module is used to generate control signals for the hydraulic control elements based on the detected values; and The regulating execution module is used to control the hydraulic control element according to the control signal and the command signal for the hydraulic control element; The hydraulic control element includes a hydraulic valve, an engine, and an actuator. The control signal for the hydraulic control element includes a control signal for the engine speed. Generating the control signal for the hydraulic control element based on the detected value includes: The trend of the main valve core pressure drop is obtained based on the real-time detected pressure drop. When a decrease in the pressure drop of the main valve core is detected, an engine speed increase command is generated, which is used to increase the engine speed. When the pressure drop of the main valve core is detected to increase to the upper limit of the allowable range, the engine speed is maintained constant; Wherein, the command signal of the hydraulic control element includes the command speed of the actuator, and controlling the hydraulic control element according to the control signal and the command signal for the hydraulic control element includes: The engine is controlled according to the engine speed control signal; The commanded speed and the actual speed of the actuator are input to the PID controller, and the hydraulic valve is controlled according to the output of the PID controller.

6. An adaptive control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the adaptive control method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the steps of the adaptive control method according to any one of claims 1 to 4.

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