Real-time control method, controller and control system for a hydraulic variable-damping ram

By acquiring cylinder information in real time and calculating the closed-loop target output force of the valve core control system, the problem of nonlinear control of the throttle valve in the hydraulic variable damping cylinder is solved, achieving a control effect with strong stability and adaptability.

CN116336124BActive Publication Date: 2026-06-23NAT REHABILITATION ASSISTIVE DEVICES RES CENT
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
NAT REHABILITATION ASSISTIVE DEVICES RES CENT
Filing Date
2021-12-24
Publication Date
2026-06-23

AI Technical Summary

Technical Problem

Existing linear controllers cannot effectively handle the nonlinear characteristics of throttle valves in hydraulic variable damping cylinders, resulting in poor control performance.

Method used

By acquiring the position of the cylinder piston and the external driving force information in real time, the actual position, velocity and acceleration information are calculated using a filter algorithm. Combined with the target trajectory, the closed-loop target output force of the valve core control system is calculated and fed back to the valve core servo position driver to control the position of the throttle valve core.

Benefits of technology

It achieves control without fluid pressure sensors, reducing sensing costs and size, while also being adaptable to external interference and variable loads, ensuring the stability and rapid response of the target trajectory.

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Abstract

The application discloses a real-time control method, a controller and a control system for a hydraulic variable-damping oil cylinder, wherein the control method comprises the following steps: acquiring in real time piston position information and external driving force information of an oil cylinder piston, calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at a current time of the oil cylinder based on the position information and the external driving force information of the piston by using a filter algorithm, obtaining target position information, target speed information, target acceleration information of the oil cylinder at the current time and output force required for forming a target trajectory based on a target trajectory of the oil cylinder, obtaining a closed-loop target output force of a spool control system based on the above information, and calculating target spool position information of a throttle valve spool at the current time based on an actual flow of the throttle valve at the current time and the closed-loop target output force of the spool control system, so that the stability of target trajectory tracking can be ensured.
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