Intelligent hydraulic actuation control system

Abstract

The application discloses an intelligent hydraulic actuation control system, which comprises a communication module, a system state control module, a system parameter module, an execution module and a controller module; the control chip communication module is used for transmitting and receiving information and communicating with the bottom hardware processing chip, the control chip and the storage chip respectively; the control chip system state control module is connected with the control chip communication module and is used for managing the system running state; the control chip system parameter module is used for managing the system parameters; the control chip execution module is used for analyzing and executing the instructions transmitted from the control console; and the control chip controller module is used for controlling the running of the algorithm. The control system can significantly improve the precision of the intelligent hydraulic actuation control system and ensure the low-speed stable operation of the intelligent hydraulic actuator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent hydraulic actuator control, in particular to an intelligent hydraulic actuator control system. BACKGROUND

[0002] The intelligent hydraulic actuator can provide powerful and reliable linear or rotary motion power. The intelligent hydraulic actuator integrates conventional hydraulic components: motor, bidirectional pump, specially designed valve group, oil tank and double-acting hydraulic cylinder or hydraulic motor. The intelligent hydraulic actuator has excellent power density, which distinguishes it from other actuators. The double-acting hydraulic cylinder has large output force and output speed. The bidirectional hydraulic motor can provide large torque and run smoothly at low speed.

[0003] At present, for the intelligent hydraulic actuator, the disturbance of the carrier is one of the main factors to be considered in the design. How to ensure that the stability accuracy in the inertial space is not less than 0.8 mrad under the condition that the amplitude of the carrier disturbance is ±4° (about 0.07 rad) and the frequency is 1.5 Hz longitudinal swing is a difficult point in the design of the intelligent hydraulic actuator control system. Because, for such a high-power system, the structural resonance frequency is about 5-9 Hz, and the system frequency range cannot be very wide. The main features of the intelligent hydraulic actuator control system are high precision, wide speed regulation range and high stiffness, and the system accuracy is mainly limited by the structural resonance frequency. In addition, the speed regulation ratio of the system is 1200, but the speed lower limit requirement is 0.03° / s smooth running. Therefore, solving the low-speed smoothness is a difficult point in the design of the intelligent hydraulic actuator control system. SUMMARY

[0004] In view of the above problems, the present application provides an intelligent hydraulic actuator control system which at least solves part of the above technical problems, can significantly improve the accuracy of the intelligent hydraulic actuator control system, and ensure the low-speed smooth operation of the intelligent hydraulic actuator.

[0005] The embodiment of the present application provides an intelligent hydraulic actuator control system, which comprises a communication module, a system state control module, a system parameter module, an execution module and a controller module.

[0006] The communication module is used for sending and receiving information, and respectively communicating with a bottom hardware processing chip, a control chip and a storage chip;

[0007] The system state control module is connected with the communication module and is used for managing the system running state;

[0008] The system parameter module is used for managing the system parameters;

[0009] The execution module is used for analyzing and executing the instructions sent from the console;

[0010] The controller module is used for controlling the running of an algorithm.

[0011] Further, the communication module comprises a console interface communication module, a hardware communication module and an inter-chip communication module.

[0012] The console interface communication module is used for sending system state information, receiving and extracting first instruction information; the first instruction information comprises a switching value.

[0013] The hardware communication module is used for communicating with a bottom hardware processing chip.

[0014] The inter-chip communication module is used for data communication with a control chip and a storage chip.

[0015] Further, the console interface communication module comprises a sending module and a receiving module.

[0016] The sending module is used for sending system state information to a console interface through a sending buffer according to a communication protocol specification.

[0017] The receiving module is used for taking out instruction information from a receiving buffer and extracting the instruction information according to a communication protocol specification and a preset identification code.

[0018] Further, the sending module encapsulates the system state information and puts the encapsulated system state information into a sending buffer, and the encapsulated system state information is sent to the console interface by a chip bottom program and a hardware module.

[0019] Further, the hardware communication module communicates with a bottom hardware processing chip through SPI or through GPIO.

[0020] Further, the inter-chip communication module adopts a bus communication form to communicate data with a control chip and a storage chip.

[0021] Further, the system state control module comprises a system state manager and an error processing module.

[0022] The system state manager is used for uniformly managing system states, comprising: acquiring a current working state of the system from the communication module; receiving second instruction information from a running logic manager and processing the second instruction information, and sending the second instruction information to the communication module and an execution module to execute the instruction.

[0023] The error processing module is used for receiving system software and hardware error information transmitted from the system state manager, and feeding back error processing results to the system state manager.

[0024] Further, the system state manager is further configured to send the system state information to the console interface communication module and the operation logic manager respectively; and receive second instruction information sent from the operation logic manager and analyze the second instruction information to determine a system target working state.

[0025] Further, the system state manager is further configured to parse the system target working state according to an instruction, and convert the system target working state into a switch value to send to the communication module.

[0026] Further, the system parameter module comprises a system parameter library and a system parameter manager.

[0027] The system parameter library stores parameter information of a hardware system and software running parameters in a structure; the software running parameters comprise a communication baud rate, a chip clock frequency and a control algorithm type.

[0028] The system parameter manager is configured to obtain an instruction for modifying system parameters and related data from the instruction parser module, modify corresponding members in the system parameter library according to the instruction for modifying system parameters and the related data, and send the system parameters to the console interface communication module to display on a console interface.

[0029] Further, the execution module comprises an instruction parsing module and an operation logic manager.

[0030] The instruction parsing module is configured to parse instructions sent by a console and send the instructions to related execution modules; the instructions sent by the console comprise control instructions and auxiliary instructions; the control instructions comprise system starting, system stopping and speed modification; the auxiliary instructions comprise modifying system parameters, obtaining system parameters and control algorithm selection; the related execution modules are a system parameter manager and an operation logic manager.

[0031] The operation logic manager is configured to parse instruction information transmitted from the instruction parsing module in detail, generate sub-instructions and send the sub-instructions to related modules for execution, and control operation logic of the whole system.

[0032] Further, the controller module comprises a control algorithm selector, a control algorithm library, a controller generation module, a controller running module, a controller algorithm automatic adjustment module and a controller destruction module.

[0033] The control algorithm selector is configured to automatically select a control algorithm to be used according to an instruction of the operation logic manager.

[0034] The control algorithm library is configured to store related algorithms and generation functions, execution functions, destruction functions and automatic adjustment functions of the algorithms.

[0035] The controller generation module is configured to read an algorithm generation function from the control algorithm library according to a selection result of the control algorithm selector, and generate a controller according to system parameters, and send the generated controller to the controller running module for execution.

[0036] The controller running module obtains an instruction working state from the system state manager, and obtains a hardware working state from the system state manager, and calculates a control output according to a control algorithm.

[0037] The controller algorithm automatic adjustment module determines new control algorithm parameters according to a current working state of the system, and transmits the new control algorithm parameters to the control algorithm execution module.

[0038] The controller destruction module is configured to destroy a current controller when the current controller is used up or needs to be switched to a different control algorithm.

[0039] The above technical solution provided by the embodiment of the application has at least the following beneficial effects:

[0040] The intelligent hydraulic actuation control system provided by the embodiment of the application comprises a communication module, a system state control module, a system parameter module, an execution module, and a controller module. The control chip communication module is configured to send and receive information, and communicate with a bottom hardware processing chip, a control chip, and a storage chip. The control chip system state control module is connected to the control chip communication module, and is configured to manage a system running state. The control chip system parameter module is configured to manage system parameters. The control chip execution module is configured to analyze and execute an instruction sent from a console. The control chip controller module is configured to control the running of a control algorithm. The control system can significantly improve the precision of the intelligent hydraulic actuation control system, and ensure the low-speed and stable operation of the intelligent hydraulic actuator.

[0041] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application can be achieved and obtained by means of the structure particularly pointed out in the written description, the claims, and the accompanying drawings.

[0042] The technical solution of the present application will be described in further detail below with reference to the accompanying drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0043] The accompanying drawings are included to provide a further understanding of the present application, and constitute a part of the specification, illustrate the present application, and are used to explain the present application, and do not constitute a limitation on the present application. In the drawings:

[0044] Figure 1The intelligent hydraulic actuation control system architecture diagram provided by the embodiment of the present application is shown in the figure.

[0045] Figure 2 The main CPLD software architecture block diagram provided by the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0046] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be accurately conveyed to those skilled in the art.

[0047] The embodiment of the present application provides an intelligent hydraulic actuation control system, comprising a communication module, a system state control module, a system parameter module, an execution module and a controller module.

[0048] The control chip communication module is used for sending and receiving information, and respectively communicating with the underlying hardware processing chip, the control chip and the storage chip;

[0049] The control chip system state control module is connected with the control chip communication module, and is used for managing the system running state;

[0050] The control chip system parameter module is used for managing the system parameters;

[0051] The control chip execution module is used for analyzing and executing the instructions sent from the console;

[0052] The control chip controller module is used for controlling the running of the algorithm.

[0053] The intelligent hydraulic actuation control system provided by the embodiment can significantly improve the precision of the intelligent hydraulic actuation control system and ensure the low-speed stable operation of the intelligent hydraulic actuator.

[0054] Specifically, the intelligent hydraulic actuation control system is a DSP software. Its architecture is shown in the figure. Figure 1 As shown in the figure, it mainly includes five parts, i.e. a communication module, a system state control module, a system parameter module, an execution module and a controller module, each part includes a sub-module, the modules are independent of each other and communicate with other modules through interfaces.

[0055] The communication module includes three sub-modules, i.e. a console interface communication module, a hardware communication module and an inter-chip communication module.

[0056] The console interface communication module: this module realizes the information interaction between the intelligent hydraulic actuating control system and the console interface through the CAN communication protocol. This module includes two parts, namely the sending module and the receiving module. The sending module encapsulates the system state information to be sent according to the communication protocol specification, and puts the encapsulated information into the sending buffer area. The encapsulated information is sent to the console interface by the chip bottom program and hardware module. The receiving module takes out the instruction information from the receiving buffer area, and extracts the instruction information according to the communication protocol specification and the agreed identification code. Specifically, the communication process is provided with a check mechanism and a fault-tolerant mechanism to ensure correct transmission of information.

[0057] The hardware communication module: this module is responsible for communication with the bottom hardware processing chip (such as ADC chip). Since the bottom hardware usually has no data processing capability and cannot handle complex communication protocols, the control chip and the bottom hardware usually communicate through SPI or directly through GPIO. For example, the ADC chip input is a pulse signal, and the DSP sends the pulse control information to the ADC through the SPI module to make it emit a specified analog signal; for LED lights and other switching devices, the control chip directly controls them through GPIO.

[0058] Inter-chip communication module: this module realizes the data communication between the chip and other control chips (CPLD) and storage chips (FRAM). Inter-chip communication mainly adopts bus communication form, and sets up corresponding error handling, check and other mechanisms. In addition, for the case where there are multiple peripheral chips, chip selection setting, address allocation, etc. are also required. These configuration data are obtained from the system parameter library by the system parameter manager.

[0059] Further, the system state control module mainly manages the system running state, mainly composed of system state manager and error handling module.

[0060] System state manager: This module manages the system state uniformly, which can be regarded as a buffer of system state information. This module has two responsibilities. On the one hand, it obtains the current working state of the hardware, such as speed, current, error, etc. from the hardware communication module, and transmits it to other modules to help other modules to process according to the current state of the system. On the other hand, it receives instruction information from the running logic manager, obtains the expected system running state, such as power-on / off signal, instruction speed, etc., and sends it to the execution module or the hardware communication module after processing to execute the instruction. The modules interacting with the system state manager include the console interface communication module, the running logic manager module, the controller running module, the controller algorithm automatic adjustment module, the hardware communication module and the error processing module. The system state manager has the following functions: sending system state information to the console interface communication module for display on the console interface; sending system state information to the running logic manager to assist it in making running decisions, while receiving control instructions from the running logic manager and analyzing them to determine the target working state of the system; obtaining the working state of the underlying hardware from the hardware communication module and storing it, while converting the target working state of the system after instruction analysis into on-off quantity and sending it to the hardware communication module to realize instruction control of the underlying hardware; transmitting error information to the error processing module and obtaining error processing results; transmitting position, speed, etc. to the controller running module to assist it in closed-loop control; transmitting position, speed, etc. to the controller algorithm automatic adjustment module to assist it in automatically adjusting the controller parameters.

[0061] Error processing module: The error processing module mainly processes system software and hardware errors, such as communication errors, inverter module errors, etc. This module obtains error information from the system state manager, processes it and feeds back the processing results to the system state manager.

[0062] Further, the system parameter module manages system parameters, including: system parameter library and system parameter manager.

[0063] System parameter library: The system parameter library stores the parameter information of the hardware system (such as motor characteristic parameters, etc.) and the parameters of the software running (such as communication baud rate, chip clock frequency, control algorithm type, etc.) in the form of a structure.

[0064] System parameter manager: manages the system parameter library, obtains the instructions and related data for modifying the system parameters from the instruction parser module, and modifies the corresponding members in the system parameter library according to the instruction information; obtains the default controller type and the default parameters from the system parameter library, and transmits them to the control algorithm selector and the controller generation module respectively to select and generate the default controller; transmits the system hardware and software parameters to the running logic manager to help it perform logical control; and transmits the system parameters to the console interface communication module to display them on the console interface.

[0065] Further, the execution module (instruction parsing and execution related module) is responsible for instruction parsing and execution, including the instruction parsing module and the running logic manager.

[0066] Instruction parsing module: parses the instructions sent by the console and sends them to the relevant execution module. These instructions include control instructions such as system start, system stop, and speed modification, and auxiliary instructions such as modifying system parameters, obtaining system parameters, and control algorithm selection methods. The instruction execution module is mainly for the system parameter manager and the running logic manager. The instruction parsing module transmits system parameter related instructions and data such as modifying system parameters and obtaining system parameters to the system parameter manager for execution, and transmits system running related instructions such as system start, stop, and speed adjustment to the running logic manager for execution. It can be seen that the instruction parsing module can not only serve as an instruction parser, but also as an instruction dispatcher.

[0067] Running logic manager: responsible for the running logic control and working state control of the entire system. The running logic manager completes two tasks: one is to parse the instruction information transmitted by the instruction parsing module according to a certain control logic, generate sub-instructions, and transmit them to the relevant module for execution; the other is to control the specific running logic of the entire system, such as automatic switching of working mode, control flow monitoring (such as alarm and processing for long adjustment time), etc. It can be said that the running logic manager integrates system parameters, system state information, and instruction information to comprehensively dispatch the execution part of the system, and is the aggregation point of information and the generator and distributor of internal system instructions.

[0068] Further, the controller module is mainly responsible for the running of the control algorithm, including the control algorithm selector, the control algorithm library, the controller generation module, the controller running module, the controller algorithm automatic adjustment module, and the controller destruction module.

[0069] Control algorithm selector: automatically select the control algorithm to be used according to the system parameters and the instruction of the running logic manager. If the system parameters require the user to specify the control algorithm, the control algorithm selector selects the control algorithm to be used. If the system parameters require the system to automatically select the control algorithm, the control algorithm selector automatically selects the control algorithm according to certain rules according to the control instruction (such as the speed regulation instruction). In addition, if the selected control algorithm is determined to be unable to complete the corresponding instruction, an error is reported and the optimal control algorithm is automatically selected.

[0070] Control algorithm library: stores the algorithms that need to be used, including the generation function, execution function, destruction function, and automatic adjustment function of the algorithm.

[0071] Controller generation module: the controller generation module takes the algorithm generation function from the control algorithm library according to the selection result of the control algorithm selector, generates the controller according to the system parameters, and sends it to the controller running module for execution.

[0072] Controller running module: this module completes the execution of the control algorithm. The controller running module obtains the instruction working state from the system state manager, and at the same time obtains the hardware working state from the system state manager in order to realize closed-loop control, and calculates the control output according to the control algorithm. Optionally, for adaptive control algorithms and other algorithms that need to be adjusted online, the controller running module can adjust the controller according to the control algorithm parameter value output by the controller algorithm automatic adjustment module to obtain excellent control performance. In addition, due to the limitation of DSP adjustment time, the DSP only processes the speed loop, and the control output is sent to the CPLD via the inter-chip communication module.

[0073] Controller algorithm automatic adjustment module: the algorithm in this module is used in cooperation with the control algorithm used to jointly constitute the overall adaptive control algorithm or other algorithms with self-adjusting function. Based on a specific algorithm, the module determines new control algorithm parameters according to the current system working state and transmits them to the control algorithm execution module to improve the robustness and dynamic and static performance of the control algorithm.

[0074] Controller destruction module: when the controller is used up or needs to be switched to a different control algorithm, the current controller is destroyed in order to establish a new controller. The destruction process mainly modifies the parameters of the controller, updates the execution stage, and releases the memory space.

[0075] Further, the main CPLD software part has a similar framework to the DSP software part, and its software architecture diagram is shown in Figure 2 The functions of the same modules are similar to those of the DSP software part, but due to the limited digital processing capability, the software framework is much simpler, mainly including the inter-chip communication module, the instruction analysis module, the system parameter management module, the running logic manager, the system state manager, the controller running module, and the hardware communication module.

[0076] Inter-chip communication module: communicate with DSP through bus, get target current value and system parameter modification instruction, controller parameter modification instruction and other data, and transmit working state data to DSP.

[0077] Instruction analysis module: analyze the instruction sent by DSP, and send instruction execution data to relevant modules according to the instruction content.

[0078] System parameter management module: store and manage simple system parameters, such as current upper limit value, control algorithm parameters, control time base, etc.

[0079] Running logic manager: realize simple running logic control, mainly process error and protection function of inverter module.

[0080] System state manager: manage sensor information collected by hardware, such as current value, voltage value, Hall position, etc. For CPLD, the system state manager is only a register, and even does not need the system state manager, the hardware communication module directly interacts with the data application terminal module, such as directly connected with the controller running module.

[0081] Controller running module: execute control algorithm, complete current loop control calculation, and output control quantity. This module obtains target current value and current value from system state manager, calculates control quantity according to specific algorithm, and directly transmits to inverter drive module.

[0082] Hardware communication module: interact with bottom hardware, mainly for ADC chip and switch signal driving circuit. Communicate with ADC chip through SPI protocol, and directly communicate and control with switch signal driving circuit through IO logic signal.

[0083] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. An intelligent hydraulic actuation control system, characterized in that, include: Communication module, system status control module, system parameter module, execution module, and controller module; The communication module is used to send and receive information, and to communicate with the underlying hardware processing chip, control chip, and storage chip respectively; the communication module includes a console interface communication module. The system status control module is connected to the communication module and is used to manage the system operating status; The system status control module includes a system status manager; The system parameter module is used to manage system parameters; The system parameter module includes: a system parameter library and a system parameter manager; The system parameter manager is used to obtain instructions and related data for modifying system parameters from the instruction parser module, and modify the corresponding members in the system parameter library according to the instructions and related data; at the same time, it transmits the system parameters to the console interface communication module for display on the console interface. The execution module is used to parse and execute instructions sent from the control console; The controller module is used to control the operation of the algorithm; The controller module includes: a control algorithm selector, a control algorithm library, a controller generation module, a controller operation module, a controller algorithm automatic adjustment module, and a controller destruction module; The controller operation module obtains the instruction operating status from the system status manager; at the same time, it obtains the hardware operating status from the system status manager and calculates the control output according to the control algorithm; The controller operation module adjusts the controller based on the control algorithm parameter values ​​output by the controller algorithm adjustment module to achieve excellent control performance; the controller algorithm automatic adjustment module: the algorithm in this module works in conjunction with the control algorithm used to form an overall adaptive control algorithm or other algorithms with self-adjustment function; The controller destruction module is used to destroy the current controller when the controller is no longer in use or when it is necessary to switch to a different control algorithm.

2. The intelligent hydraulic actuation control system as described in claim 1, characterized in that, The communication module includes: a console interface communication module, a hardware communication module, and an inter-chip communication module; The console interface communication module is used to send system status information and receive and extract first instruction information; the first instruction information includes: switch status; The hardware communication module is used to communicate with the underlying hardware processing chip. The inter-chip communication module is used for data communication with the control chip and the memory chip.

3. The intelligent hydraulic actuation control system as described in claim 2, characterized in that, The console interface communication module includes: a sending module and a receiving module; The sending module is used to send system status information to the control panel interface through the sending buffer in accordance with the communication protocol specifications. The receiving module is used to retrieve instruction information from the receiving buffer and extract the instruction information according to the communication protocol specifications and the preset identification code.

4. The intelligent hydraulic actuation control system as described in claim 3, characterized in that, The sending module encapsulates the system status information and places the encapsulated system status information in the sending buffer. The chip's underlying program and hardware module then send the encapsulated system status information to the control panel interface.

5. The intelligent hydraulic actuation control system as described in claim 2, characterized in that, The system status control module includes: a system status manager and an error handling module; The system status manager is used to uniformly manage the system status, including: obtaining the current working status of the system from the communication module; receiving second instruction information from the running logic manager, processing the second instruction information, and sending it to the communication module and the execution module to execute the instruction; The error handling module is used to receive system hardware and software error information transmitted from the system status manager and to feed back the error handling results to the system status manager.

6. The intelligent hydraulic actuation control system as described in claim 5, characterized in that, The system status manager is also used to send system status information to the console interface communication module and the operation logic manager respectively; at the same time, it receives and analyzes the second instruction information sent from the operation logic manager to determine the target working status of the system.

7. The intelligent hydraulic actuation control system as described in claim 6, characterized in that, The system status manager is also used to parse the system target operating state into instructions and convert them into switch signals to be transmitted to the communication module.

8. The intelligent hydraulic actuation control system as described in claim 1, characterized in that, The system parameter library stores hardware system parameter information and software operation parameters in the form of a structure. The parameters for software operation include: communication baud rate, chip clock frequency, and the type of control algorithm used.

9. The intelligent hydraulic actuation control system as described in claim 5, characterized in that, The execution module includes: an instruction parsing module and a runtime logic manager; The instruction parsing module is used to parse the instructions sent by the control console and send them to the relevant execution modules; the instructions sent by the control console include: control instructions and auxiliary instructions; the control instructions include: system start, system stop, and speed modification; the auxiliary instructions include: modifying system parameters, obtaining system parameters, and selecting control algorithm mode; the relevant execution modules are the system parameter manager and the running logic manager; The runtime logic manager performs detailed operation parsing on the instruction information transmitted from the instruction parsing module, generates sub-instructions, and sends them to the relevant modules for execution; at the same time, it controls the runtime logic of the entire system.

10. The intelligent hydraulic actuation control system as described in claim 9, characterized in that, The control algorithm selector is used to automatically select the control algorithm to be used according to the instructions of the running logic manager; The control algorithm library is used to store relevant algorithms as well as their generation functions, execution functions, destruction functions, and automatic adjustment functions; The controller generation module is used to read the algorithm generation function from the control algorithm library according to the selection result of the control algorithm selector, generate a controller according to the system parameters, and send the generated controller to the controller running module for execution; The controller algorithm automatic adjustment module determines new control algorithm parameters based on the current system operating status and transmits them to the control algorithm execution module.

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