Method, apparatus, controller and storage medium for determining feedforward control quantity

Abstract

The application discloses a method, device, controller and storage medium for determining a feedforward control amount. The method comprises: obtaining a current posture and a target posture of an arm support; determining a planning action of the arm support from the current posture to the target posture; discretizing the planning action to obtain a plurality of intermediate postures and an arm support angular velocity corresponding to each intermediate posture; determining a cylinder speed corresponding to each intermediate posture according to the arm support angular velocity corresponding to each intermediate posture by using an influence coefficient method; and determining a feedforward control amount of each intermediate posture according to the cylinder speed corresponding to each intermediate posture and a corresponding relation table of the cylinder speed and the control amount respectively. The application determines the cylinder speed corresponding to each intermediate posture by using the influence coefficient method, and determines the feedforward control amount of each intermediate posture according to the cylinder speed corresponding to each intermediate posture and the corresponding relation table of the cylinder speed and the control amount respectively, so that the debugging efficiency and control effect of the engineering machinery can be improved.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and specifically to a method, apparatus, controller and storage medium for determining feedforward control quantities. Background Technology

[0002] Currently, existing control methods generally combine feedforward and feedback control. Feedforward control requires multiple experiments before implementation, using a fixed control variable to acquire boom angular velocity data. A lookup table is then created based on the relationship between boom angular velocity and control variable. This table-based approach allows for the determination of the control variable in feedforward control. However, the complex experimental process leads to low debugging efficiency in existing technologies. Furthermore, relying solely on table lookup results in strong nonlinearity in the boom angular velocity response, making the machinery prone to oscillations and resulting in poor control performance. Therefore, existing technologies suffer from low debugging efficiency and poor control performance in construction machinery. Summary of the Invention

[0003] The purpose of this application is to provide a method, apparatus, controller, and storage medium for determining feedforward control quantities, so as to solve the problems of low debugging efficiency and poor control effect of engineering machinery in the prior art.

[0004] To achieve the above objectives, the first aspect of this application provides a method for determining a feedforward control quantity, applied to a controller, the method comprising:

[0005] The current and target attitudes of the boom are obtained, and the boom is driven by hydraulic cylinders.

[0006] Determine the planned motion for the boom to transition from its current position to the target position;

[0007] The planned motion is discretized to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture;

[0008] The cylinder speed corresponding to each intermediate posture is determined by the influence coefficient method based on the boom angular velocity corresponding to each intermediate posture.

[0009] The feedforward control quantity for each intermediate posture is determined based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0010] In this embodiment of the application, the feedforward control quantity for each intermediate posture is determined according to the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity, including:

[0011] Determine the boom reversal point based on the planned movements;

[0012] For any intermediate posture, determine the action time required for the boom angular velocity to reach the boom reversal point corresponding to any intermediate posture. The boom reversal point is the angular velocity point where the direction of the boom angular velocity changes.

[0013] When the action time is within the compensation time interval, the initial control quantity is determined according to the cylinder speed corresponding to any intermediate posture and the correspondence table between cylinder speed and control quantity.

[0014] The initial control input is compensated to obtain the feedforward control input for any intermediate attitude.

[0015] In this embodiment of the application, the method further includes:

[0016] Determine the duration of a one-way action based on the planned actions;

[0017] The compensation time interval is determined based on the compensation time coefficient and the duration of one-way action.

[0018] In this embodiment of the application, compensating for the initial control quantity includes:

[0019] The compensation valve control quantity is determined based on the boom mass and the boom angular velocity corresponding to any intermediate posture.

[0020] In this embodiment of the application, the compensation time interval includes at least one of a first interval and a second interval. The first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point.

[0021] In this embodiment of the application, the method further includes:

[0022] When the action time is within the first interval, the initial control quantity is subtracted from the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0023] When the action time is within the second interval, the initial control quantity is added to the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0024] In this embodiment, the hydraulic cylinder is equipped with a flow valve and a pilot solenoid valve. The pilot solenoid valve is used to adjust the pressure of the pilot solenoid valve according to the control quantity, so as to adjust the displacement of the main valve core of the flow valve, thereby adjusting the flow rate; the method further includes:

[0025] Obtain the first correspondence table between the control quantity and the pilot solenoid valve pressure;

[0026] Obtain the second correspondence table of pilot solenoid valve pressure, main valve spool displacement and flow rate;

[0027] The third correspondence table between flow rate and cylinder speed is determined based on the cylinder parameters;

[0028] The correspondence table between cylinder speed and control quantity is determined based on the first correspondence table, the second correspondence table, and the third correspondence table.

[0029] A second aspect of this application provides an apparatus for determining a feedforward control quantity, comprising:

[0030] The attitude acquisition module is configured to acquire the current attitude and target attitude of the boom;

[0031] The motion planning and determination module is configured to determine the planned motion for the boom to transform from its current posture to its target posture.

[0032] The planned motion discretization module is configured to discretize the planned motion to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture.

[0033] The cylinder speed determination module is configured to determine the cylinder speed corresponding to each intermediate posture based on the boom angular velocity corresponding to each intermediate posture using the influence coefficient method.

[0034] The feedforward control quantity determination module is configured to determine the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0035] A third aspect of this application provides a controller, comprising:

[0036] The memory is configured to store instructions; and

[0037] The processor is configured to retrieve instructions from memory and, when executing instructions, to implement the aforementioned method for determining feedforward control quantities.

[0038] A fourth aspect of this application provides a machine-readable storage medium storing instructions for causing a machine to perform the aforementioned method for determining a feedforward control quantity.

[0039] This application acquires the current and target postures of the boom, determines the planned motion for the boom to transform from the current posture to the target posture, and then discretizes the planned motion to obtain multiple intermediate postures and the corresponding boom angular velocity for each intermediate posture. Then, using the influence coefficient method, the cylinder speed corresponding to each intermediate posture is determined based on the boom angular velocity. Finally, the feedforward control quantity for each intermediate posture is determined based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity. This application improves the debugging efficiency and control effect of engineering machinery by determining the cylinder speed corresponding to each intermediate posture using the influence coefficient method and further determining the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0040] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0041] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0042] Figure 1 A flowchart illustrating a method for determining a feedforward control quantity according to an embodiment of this application is shown schematically.

[0043] Figure 2 The diagram illustrates a schematic representation of an excavator boom and stick joint according to a specific embodiment of this application.

[0044] Figure 3 The illustration shows a schematic diagram of a control process for engineering machinery according to a specific embodiment of this application;

[0045] Figure 4 This schematic diagram illustrates a structural diagram of an apparatus for determining a feedforward control quantity according to an embodiment of this application;

[0046] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Detailed Implementation

[0047] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0048] It should be noted that if the embodiments of this application involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0049] Furthermore, if the embodiments of this application involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0050] Figure 1 A flowchart illustrating a method for determining a feedforward control quantity according to an embodiment of this application is shown schematically. Figure 1 As shown in the embodiments of this application, a method for determining feedforward control quantities is provided and applied to a controller. The method may include the following steps:

[0051] Step 101: Obtain the current attitude and target attitude of the boom. The boom is driven by hydraulic cylinders.

[0052] Step 102: Determine the planned motion for the boom to transform from its current posture to the target posture;

[0053] Step 103: Discretize the planned motion to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture;

[0054] Step 104: Using the influence coefficient method, determine the cylinder speed corresponding to each intermediate posture based on the boom angular velocity corresponding to each intermediate posture;

[0055] Step 105: Determine the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0056] The method for determining feedforward control quantities provided in this application embodiment can be applied to construction machinery equipped with multi-section booms. In this application embodiment, the construction machinery includes a controller, a boom, and hydraulic cylinders. The boom is driven by the hydraulic cylinders. The controller can acquire the current attitude and target attitude of the boom, and determine the planned action for the boom to transform from the current attitude to the target attitude based on the current attitude and target attitude. The planned action is a specific planning scheme for the process of the boom transforming from the current attitude to the target attitude. When the planned action is determined, the controller can discretize the planned action to obtain multiple intermediate attitudes and the boom angular velocity corresponding to each intermediate attitude. In one example, the planned action can be discretized based on a pre-set sampling period. For example, if the sampling period is 10 nanoseconds, based on the planned action, the controller can determine an intermediate attitude every 10 nanoseconds, and each intermediate attitude has a corresponding boom angular velocity and a corresponding time point.

[0057] Subsequently, the controller can determine the cylinder speed corresponding to each intermediate posture based on the boom angular velocity corresponding to each intermediate posture using the influence coefficient method. Figure 2 This diagram schematically illustrates a boom and stick joint of an excavator according to a specific embodiment of this application. Figure 2 As shown, AB is the hydraulic cylinder, AC is the boom, and CB is the stick. Let... for for for for Given a unit vector, we can obtain the position equation, i.e., formula (1):

[0058]

[0059] Differentiating formula (1) yields formula (2):

[0060]

[0061] Where ω1 is the angular velocity of the hydraulic cylinder, ω3 is the angular velocity of the boom, and V1 is the hydraulic cylinder velocity. The unit vector along the axis of the hydraulic cylinder's rotating joint. Let be the unit vector along the axis of the boom rotation joint.

[0062] Formula (2) can be transformed into matrix form, i.e., formula (3). Therefore, given the boom angular velocity ω3, the cylinder velocity V1 and cylinder angular velocity ω1 can be obtained. Formula (3) is as follows:

[0063]

[0064] Among them, G 1e G1 is the first-order influence coefficient of the hydraulic cylinder, and G2 is the first-order influence coefficient of the boom. The scalar form of the first-order influence coefficient can be obtained through vector cross product, i.e. This represents the unit component of the hydraulic cylinder in the horizontal direction. This represents the unit component of the hydraulic cylinder in the vertical direction. Let be the horizontal component of the hydraulic cylinder. This represents the vertical component of the hydraulic cylinder. Let be the horizontal component of the boom. This represents the vertical component of the boom.

[0065] Therefore, the controller can obtain the cylinder speed V1 corresponding to each intermediate posture. Furthermore, the controller can determine the feedforward control quantity for each intermediate posture based on the cylinder speed V1 corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0066] This application acquires the current and target attitudes of the boom and determines the planned motion for the boom to transform from the current attitude to the target attitude. The planned motion is then discretized to obtain multiple intermediate attitudes and the corresponding boom angular velocity for each intermediate attitude. Then, using the influence coefficient method, the cylinder speed corresponding to each intermediate attitude is determined based on the boom angular velocity. Finally, the feedforward control quantity for each intermediate attitude is determined based on the cylinder speed and the correspondence between cylinder speed and control quantity. Determining the control quantity solely through a lookup table would result in strong nonlinearity in the boom angular velocity response, making the construction machinery prone to oscillations during operation. Therefore, this application uses the influence coefficient method to determine the cylinder speed for each intermediate attitude and further determines the feedforward control quantity for each intermediate attitude based on the cylinder speed and the correspondence between cylinder speed and control quantity. In other words, attitude compensation is introduced in the calculation of the feedforward control quantity, which can suppress the nonlinear effects of attitude on the boom during movement and improve the debugging efficiency and control effect of the construction machinery.

[0067] In this embodiment of the application, step 105, determining the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity, may include:

[0068] Determine the boom reversal point based on the planned movements;

[0069] For any intermediate posture, determine the action time required for the boom angular velocity to reach the boom reversal point corresponding to any intermediate posture. The boom reversal point is the angular velocity point where the direction of the boom angular velocity changes.

[0070] When the action time is within the compensation time interval, the initial control quantity is determined according to the cylinder speed corresponding to any intermediate posture and the correspondence table between cylinder speed and control quantity.

[0071] The initial control input is compensated to obtain the feedforward control input for any intermediate attitude.

[0072] Specifically, since there may be multiple boom reversal points during the transition from the current posture to the target posture, compensation for the initial control quantity is necessary. A boom reversal point is the point where the direction of the boom's angular velocity changes, i.e., the point where the boom's angular velocity changes from positive to negative or vice versa. The controller can determine these points based on the planned motion, i.e., the boom reversal points. After discretizing the planned motion, multiple intermediate postures can be obtained. For any intermediate posture, combined with the corresponding time point, the controller can determine the action time required for the boom's angular velocity to reach the boom reversal point. When the action time is within the compensation time interval, the controller can determine the initial control quantity based on the cylinder speed corresponding to any intermediate posture and the correspondence between cylinder speed and control quantity, and compensate for the initial control quantity, ultimately obtaining the feedforward control quantity for any intermediate posture. It should be noted that the controller can also compensate the initial control quantity according to a preset compensation amount, which can be determined based on actual conditions.

[0073] When the action time is not within the compensation time interval, the controller can use the initial control quantity as the feedforward control quantity. In other words, the feedforward control quantity can be obtained without compensating the initial control quantity. In this way, by compensating the initial control quantity before and after the boom reversal point, the possibility of accidents occurring before the boom reversal point can be reduced, and the operating efficiency of the construction machinery after the boom reversal point can be improved.

[0074] In this embodiment of the application, the method may further include:

[0075] Determine the duration of a one-way action based on the planned actions;

[0076] The compensation time interval is determined based on the compensation time coefficient and the duration of one-way action.

[0077] Specifically, the controller can determine the compensation time interval based on the compensation time coefficient and the duration of the one-way action. The compensation time interval includes at least one of the first interval and the second interval. The compensation time of the compensation time interval satisfies formula (4):

[0078] t = k × T; (4)

[0079] Where t is the compensation time within the compensation time interval, k is the compensation time coefficient, and T is the one-way motion duration. The one-way motion duration can be determined based on the planned motion. Specifically, the planned motion is marked with multiple steps, and the duration required for each step is the one-way motion duration. In an example, if the planned motion is a continuous motion of up, down, up, then it can be determined that there are three steps in the planned motion. In this case, the duration required for each step can be determined, i.e., the one-way motion duration can be determined. Thus, the compensation time interval of the boom can be determined.

[0080] In this embodiment of the application, compensating for the initial control quantity may include:

[0081] The compensation valve control quantity is determined based on the boom mass and the boom angular velocity corresponding to any intermediate posture.

[0082] Specifically, the controller can determine the compensation valve control quantity based on the boom mass and the boom angular velocity corresponding to any intermediate posture. The compensation valve control quantity satisfies formula (5):

[0083] U t =f(ω,m); (5)

[0084] Among them, U t To compensate for the valve control quantity, ω is the boom angular velocity, and m is the boom mass.

[0085] In this embodiment of the application, the compensation time interval may include at least one of a first interval and a second interval, wherein the first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point.

[0086] Specifically, the compensation time interval may include at least one of a first interval and a second interval. The first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point. The controller can reduce the initial control quantity before the boom angular velocity reaches the boom reversal point, causing the boom to decelerate in advance, thereby reducing the possibility of accidents occurring before the boom reversal point. In addition, the controller can increase the initial control quantity after the boom angular velocity reaches the boom reversal point, causing the boom to accelerate, thereby improving the operating efficiency of the construction machinery after the boom reversal point.

[0087] In this embodiment of the application, the method may further include:

[0088] When the action time is within the first interval, the initial control quantity is subtracted from the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0089] When the action time is within the second interval, the initial control quantity is added to the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0090] Specifically, before and after the boom reversal point, the controller can compensate for the initial control quantity to obtain the feedforward control quantity for any intermediate posture. The first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point. When the action time is within the first interval, the controller can subtract the initial control quantity from the compensation valve control quantity to obtain the feedforward control quantity for any intermediate posture. When the action time is within the second interval, the controller can add the initial control quantity to the compensation valve control quantity to obtain the feedforward control quantity for any intermediate posture.

[0091] In this embodiment, the hydraulic cylinder is equipped with a flow valve and a pilot solenoid valve. The pilot solenoid valve is used to adjust the pressure of the pilot solenoid valve according to the control quantity, so as to adjust the displacement of the main valve core of the flow valve, thereby adjusting the flow rate; the method may further include:

[0092] Obtain the first correspondence table between the control quantity and the pilot solenoid valve pressure;

[0093] Obtain the second correspondence table of pilot solenoid valve pressure, main valve spool displacement and flow rate;

[0094] The third correspondence table between flow rate and cylinder speed is determined based on the cylinder parameters;

[0095] The correspondence table between cylinder speed and control quantity is determined based on the first correspondence table, the second correspondence table, and the third correspondence table.

[0096] Specifically, the hydraulic cylinder is equipped with a flow valve and a pilot solenoid valve. The pilot solenoid valve can be an electro-proportional valve, connected to the control chamber of the flow valve. Under the control of a control quantity, the pilot solenoid valve changes its opening degree. This opening degree affects the damping of the pilot solenoid valve, thereby changing the pressure in the control chamber of the flow valve and adjusting the displacement of the main valve spool. The opening degree of the main valve spool affects the flow rate, which in turn affects the cylinder speed. Based on the adjustment relationship between the pilot solenoid valve and the flow valve, the controller can determine a correspondence table between the cylinder speed and the control quantity. The controller can obtain a first correspondence table between the control quantity and the pilot solenoid valve pressure, and a second correspondence table between the pilot solenoid valve pressure, the main valve spool displacement, and the flow rate. Simultaneously, the controller can determine a third correspondence table between the flow rate and the cylinder speed based on the cylinder parameters. Based on the first, second, and third correspondence tables, the controller can ultimately determine the correspondence table between the cylinder speed and the control quantity.

[0097] Figure 3This illustration schematically depicts a control flow diagram of engineering machinery according to a specific embodiment of this application. For example... Figure 3 As shown in a specific embodiment of this application, the controller can determine the current attitude, target attitude, and desired trajectory of the boom based on the target signal and feedback signal, thereby determining the planned action for the boom to transform from the current attitude to the target attitude. Further, if the boom is before or after a reversing point, the controller can obtain the initial control quantity using a nonlinear feedforward calculation method. Specifically, using the influence coefficient method, the controller determines the cylinder speed corresponding to any intermediate attitude based on the boom angular velocity, and then determines the initial control quantity for any intermediate attitude based on the cylinder speed and the correspondence table between cylinder speed and control quantity. Furthermore, the controller can compensate for the initial control quantity to obtain the feedforward control quantity. If the boom is not before or after a reversing point, the controller can obtain the initial control quantity using a nonlinear feedforward calculation method and use this initial control quantity as the feedforward control quantity. In this way, the controller can combine the target signal, feedback signal, and feedforward control quantity to perform proportional-integral-derivative control to control the boom's movement.

[0098] Figure 4 The diagram schematically illustrates a structural diagram of an apparatus for determining a feedforward control quantity according to an embodiment of this application. Figure 4 As shown in the embodiments of this application, the device for determining the feedforward control quantity may include:

[0099] The attitude acquisition module 401 is configured to acquire the current attitude and target attitude of the boom;

[0100] The planned motion determination module 402 is configured to determine the planned motion for the boom to transform from its current posture to its target posture;

[0101] The planned motion discretization module 403 is configured to discretize the planned motion to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture.

[0102] The cylinder speed determination module 404 is configured to determine the cylinder speed corresponding to each intermediate posture based on the boom angular velocity corresponding to each intermediate posture using the influence coefficient method.

[0103] The feedforward control quantity determination module 405 is configured to determine the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0104] In this embodiment, the attitude acquisition module 401 can acquire the current attitude and target attitude of the boom, and the planned action determination module 402 can determine the planned action for the boom to transform from the current attitude to the target attitude based on the current attitude and target attitude. When the planned action is determined, the planned action discretization module 403 can discretize the planned action to obtain multiple intermediate attitudes and the boom angular velocity corresponding to each intermediate attitude. Subsequently, the cylinder speed determination module 404 can determine the cylinder speed corresponding to each intermediate attitude based on the boom angular velocity corresponding to each intermediate attitude using the influence coefficient method. Further, the feedforward control quantity determination module 405 can determine the feedforward control quantity for each intermediate attitude based on the cylinder speed corresponding to each intermediate attitude and the correspondence table between cylinder speed and control quantity.

[0105] Figure 5 A schematic block diagram of a controller according to an embodiment of this application is shown. Figure 5 As shown in the figure, this application provides a controller that may include:

[0106] Memory 510 is configured to store instructions; and

[0107] Processor 520 is configured to retrieve instructions from memory 510 and, when executing instructions, to implement the aforementioned method for determining feedforward control quantities.

[0108] Specifically, in this embodiment of the application, the processor 520 can be configured to:

[0109] The current and target attitudes of the boom are obtained, and the boom is driven by hydraulic cylinders.

[0110] Determine the planned motion for the boom to transition from its current position to the target position;

[0111] The planned motion is discretized to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture;

[0112] The cylinder speed corresponding to each intermediate posture is determined by the influence coefficient method based on the boom angular velocity corresponding to each intermediate posture.

[0113] The feedforward control quantity for each intermediate posture is determined based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity.

[0114] Furthermore, the processor 520 can also be configured as follows:

[0115] Determine the boom reversal point based on the planned movements;

[0116] For any intermediate posture, determine the action time required for the boom angular velocity to reach the boom reversal point corresponding to any intermediate posture. The boom reversal point is the angular velocity point where the direction of the boom angular velocity changes.

[0117] When the action time is within the compensation time interval, the initial control quantity is determined according to the cylinder speed corresponding to any intermediate posture and the correspondence table between cylinder speed and control quantity.

[0118] The initial control input is compensated to obtain the feedforward control input for any intermediate attitude.

[0119] Furthermore, the processor 520 can also be configured as follows:

[0120] Determine the duration of a one-way action based on the planned actions;

[0121] The compensation time interval is determined based on the compensation time coefficient and the duration of one-way action.

[0122] Furthermore, the processor 520 can also be configured as follows:

[0123] The compensation valve control quantity is determined based on the boom mass and the boom angular velocity corresponding to any intermediate posture.

[0124] In this embodiment of the application, the compensation time interval includes at least one of a first interval and a second interval. The first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point.

[0125] Furthermore, the processor 520 can also be configured as follows:

[0126] When the action time is within the first interval, the initial control quantity is subtracted from the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0127] When the action time is within the second interval, the initial control quantity is added to the compensation valve control quantity to obtain the feedforward control quantity for any intermediate attitude.

[0128] Furthermore, the processor 520 can also be configured as follows:

[0129] The method also includes:

[0130] Obtain the first correspondence table between the control quantity and the pilot solenoid valve pressure;

[0131] Obtain the second correspondence table of pilot solenoid valve pressure, main valve spool displacement and flow rate;

[0132] The third correspondence table between flow rate and cylinder speed is determined based on the cylinder parameters;

[0133] The correspondence table between cylinder speed and control quantity is determined based on the first correspondence table, the second correspondence table, and the third correspondence table.

[0134] This application acquires the current and target attitudes of the boom, determines the planned motion for the boom to transform from the current attitude to the target attitude, and then discretizes the planned motion to obtain multiple intermediate attitudes and the corresponding boom angular velocity for each intermediate attitude. Then, using the influence coefficient method, the cylinder speed corresponding to each intermediate attitude is determined based on the boom angular velocity. Finally, the feedforward control quantity for each intermediate attitude is determined based on the cylinder speed and the correspondence between cylinder speed and control quantity. This application improves debugging efficiency and control effect by determining the cylinder speed for each intermediate attitude using the influence coefficient method and further determining the feedforward control quantity for each intermediate attitude based on the cylinder speed and the correspondence between cylinder speed and control quantity.

[0135] This application also provides a machine-readable storage medium storing instructions that cause a machine to perform the above-described method for determining feedforward control quantities.

[0136] 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.

[0137] 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.

[0138] 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.

[0139] 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.

[0140] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0141] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0142] 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 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.

[0143] 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.

[0144] 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 for determining feedforward control quantities, characterized in that, Applied to a controller, the method includes: The current attitude and target attitude of the boom are obtained, and the boom is driven by a hydraulic cylinder; Determine the planned motion for the boom to transform from its current posture to the target posture; The planned action is discretized to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture; The cylinder speed corresponding to each intermediate posture is determined by the influence coefficient method based on the boom angular velocity corresponding to each intermediate posture. The feedforward control quantity for each intermediate posture is determined based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity. The step of determining the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity includes: Determine the boom reversal point based on the planned actions; For any intermediate posture, determine the action time required for the boom angular velocity corresponding to the arbitrary intermediate posture to reach the boom reversal point, where the boom reversal point is the angular velocity point where the direction of the boom angular velocity changes. When the action time is within the compensation time interval, the initial control quantity is determined according to the cylinder speed corresponding to any intermediate posture and the correspondence table between the cylinder speed and the control quantity. The initial control quantity is compensated to obtain the feedforward control quantity for the arbitrary intermediate attitude.

2. The method according to claim 1, characterized in that, The method further includes: The duration of a one-way action is determined based on the planned action. The compensation time interval is determined based on the compensation time coefficient and the duration of the one-way action.

3. The method according to claim 1, characterized in that, The compensation for the initial control quantity includes: The compensation valve control quantity is determined based on the mass of the boom and the boom angular velocity corresponding to any intermediate posture.

4. The method according to claim 1, characterized in that, The compensation time interval includes at least one of a first interval and a second interval, wherein the first interval is the compensation time interval before the boom angular velocity reaches the boom reversal point, and the second interval is the compensation time interval after the boom angular velocity reaches the boom reversal point.

5. The method according to claim 4, characterized in that, The method further includes: When the action time is within the first interval, the initial control quantity is subtracted from the compensation valve control quantity to obtain the feedforward control quantity for the arbitrary intermediate attitude. When the action time is within the second interval, the initial control quantity is added to the compensation valve control quantity to obtain the feedforward control quantity for the arbitrary intermediate attitude.

6. The method according to claim 1, characterized in that, The hydraulic cylinder is equipped with a flow valve and a pilot solenoid valve. The pilot solenoid valve is used to adjust the pressure of the pilot solenoid valve according to the control quantity, so as to adjust the displacement of the main valve core of the flow valve, thereby adjusting the flow rate; the method further includes: Obtain the first correspondence table between the control quantity and the pilot solenoid valve pressure; Obtain the second correspondence table of pilot solenoid valve pressure, main valve spool displacement and flow rate; The third correspondence table between flow rate and cylinder speed is determined based on the cylinder parameters; The correspondence table between cylinder speed and control quantity is determined based on the first correspondence table, the second correspondence table, and the third correspondence table.

7. A device for determining a feedforward control quantity, characterized in that, include: The attitude acquisition module is configured to acquire the current attitude and target attitude of the boom; The planned action determination module is configured to determine the planned action for the boom to transform from its current posture to a target posture; The planned action discretization module is configured to discretize the planned action to obtain multiple intermediate postures and the boom angular velocity corresponding to each intermediate posture. The cylinder speed determination module is configured to determine the cylinder speed corresponding to each intermediate posture based on the boom angular velocity corresponding to each intermediate posture using the influence coefficient method. The feedforward control quantity determination module is configured to determine the feedforward control quantity for each intermediate posture based on the cylinder speed corresponding to each intermediate posture and the correspondence table between cylinder speed and control quantity. The feedforward control quantity determination module is specifically configured as follows: Determine the boom reversal point based on the planned actions; For any intermediate posture, determine the action time required for the boom angular velocity corresponding to the arbitrary intermediate posture to reach the boom reversal point, where the boom reversal point is the angular velocity point where the direction of the boom angular velocity changes. When the action time is within the compensation time interval, the initial control quantity is determined according to the cylinder speed corresponding to any intermediate posture and the correspondence table between the cylinder speed and the control quantity. The initial control quantity is compensated to obtain the feedforward control quantity for the arbitrary intermediate attitude.

8. A controller, characterized in that, include: The memory is configured to store instructions; as well as The processor is configured to retrieve the instructions from the memory and, when executing the instructions, to implement the method for determining a feedforward control quantity according to any one of claims 1 to 6.

9. A machine-readable storage medium, characterized in that, The machine-readable storage medium stores instructions for causing the machine to perform a method for determining a feedforward control quantity according to any one of claims 1 to 6.

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