Multi-channel coordinated compensation method and system of electro-hydraulic servo loading system

Abstract

This invention provides a multi-channel coordinated compensation method and system for an electro-hydraulic servo loading system, relating to the field of mechanical loading technology. For each coordinated compensation cycle, the mean error, phase error, and amplitude error of the main channel and each branch channel are calculated. Based on the mean error, phase error, and amplitude error of the main channel, the input commands for the main channel are corrected. Similarly, based on the mean error, phase error, and amplitude error of the main channel and each branch channel, the input commands for each branch channel are corrected. This invention solves problems such as amplitude attenuation and phase asynchrony in multi-channel loading control, effectively improving the control accuracy and stability of the mechanical loading instrument.

Description

Technical Field

[0001] This invention relates to the field of mechanical loading technology, and in particular to a multi-channel coordinated compensation method and system for an electro-hydraulic servo loading system. Background Technology

[0002] With the development of advanced large-scale mechanical equipment, higher requirements have been placed on the control precision of mechanical loading. As an important part of mechanical loading, the electro-hydraulic servo loading system often encounters control precision problems such as amplitude attenuation and phase lag in each channel during coordinated loading tests. This is because the loading channels and their structural characteristics are not completely identical, resulting in different phase shifts for the same frequency command signal. Furthermore, the hydraulic system parameters have nonlinear and time-varying characteristics. Consequently, multi-channel coordinated loading cannot meet the test requirements. Summary of the Invention

[0003] The purpose of this invention is to provide a multi-channel coordinated compensation method and system for an electro-hydraulic servo loading system, which solves problems such as amplitude attenuation and phase asynchrony in the multi-channel loading control process, and effectively improves the control accuracy and stability of the mechanical loading instrument.

[0004] A multi-channel coordinated compensation method for an electro-hydraulic servo loading system includes:

[0005] S1, acquire the command signal and feedback signal of the main channel and the command signal and feedback signal of each branch channel within N sampling periods; N is a positive integer ≥3;

[0006] S2, perform noise reduction processing on the feedback signal of the main channel to obtain the noise-reduced feedback signal of the main channel; perform noise reduction processing on the feedback signals of each branch channel to obtain the noise-reduced feedback signal of each branch channel.

[0007] S3, select the command signal and feedback noise reduction signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel; select the command signal and feedback noise reduction signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel;

[0008] S4: Calculate the mean error of the main channel based on the instruction parameter signal and feedback parameter signal of the main channel. Judge the mean error of the main channel. If the absolute value of the mean error of the main channel is greater than or equal to the mean error setting value, then correct the input command of the main channel based on the mean error of the main channel. If the absolute value of the mean error of the main channel is less than the mean error setting value, then execute S5.

[0009] S5: Calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and judge the phase error of the main channel. If the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, then correct the input command of the main channel based on the phase error of the main channel. If the absolute value of the phase error of the main channel is less than the phase error setting value, then execute S6.

[0010] S6. The amplitude error of the main channel is calculated based on the command parameter signal and feedback parameter signal of the main channel. The amplitude error of the main channel is judged. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed.

[0011] S7: Calculate the mean error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel. Judge the mean error of the branch channel. If the absolute value of the mean error of the branch channel is greater than or equal to the mean error setting value, then correct the input instruction of the branch channel based on the mean error of the branch channel. If the absolute value of the mean error of the branch channel is less than the mean error setting value, then execute S8.

[0012] S8: Calculate the first phase error of the branch channel based on the feedback parameter signals of the main channel and the branch channel; calculate the second phase error of the branch channel based on the initial phase of the main channel and the branch channel; calculate the final phase error of the branch channel based on the first and second phase errors; judge the final phase error of the branch channel; if the absolute value of the final phase error of the branch channel is greater than or equal to the phase error setting value, then correct the input command of the branch channel based on the final phase error of the branch channel; if the absolute value of the final phase error of the branch channel is less than the phase error setting value, then execute S9.

[0013] S9: The amplitude error of the branch channel is calculated based on the command parameter signal and feedback parameter signal of the main channel and the command parameter signal and feedback parameter signal of the branch channel. The amplitude error of the branch channel is judged. If the absolute value of the amplitude error of the branch channel is greater than or equal to the amplitude error setting value, the input command of the branch channel is corrected based on the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is less than the amplitude error setting value, no correction is performed.

[0014] Preferably, an LMS adaptive filter is used for noise reduction. The noise reduction of the feedback signal of the main channel is performed to obtain the noise-reduced feedback signal of the main channel, as shown in the following formula:

[0015]

[0016] In the formula: i represents the main channel, 1≤i≤n, n is the total number of channels, M is the order of the LMS adaptive filter, M equals the number of sampling points in one sampling period, y i This represents the feedback signal of the main channel, y i (τ-m) represents the value of the feedback signal of the main channel at time τ-m, Y i (τ) represents the filtered value of the feedback signal from the main channel at time τ, ω m Let be the weight on the m-th tap line. μ is the step size factor. Let y be the vector form of ω. i (τ) represents the value of the feedback signal of the main channel at time τ. S MAX For y i (τ) is the maximum value of the power spectral density.

[0017] Preferably, the formula for calculating the mean error of the main channel is as follows:

[0018]

[0019] The formula for calculating the mean error of the branch channel is as follows:

[0020]

[0021] In the formula: Δb represents the mean error of the main channel, S avg express The mean, This indicates the command parameter signal for the main channel. Y avg express The mean, This indicates the feedback parameter signal of the main channel. Y ir Y represents the value of the r-th parameter in the feedback parameter signal of the main channel. ip This represents the p-th parameter value in the feedback parameter signal of the main channel, where i represents the main channel and u represents the p-th parameter value. i,r This represents the value of the r-th parameter in the command parameter signal of the main channel, u. ik This represents the k-th parameter value in the command parameter signal of the main channel, u. ip This represents the p-th parameter value in the command parameter signal of the main channel, where p represents the number of sampling points in N sampling periods, r represents the number of sampling points in 1 sampling period, and Y... ik Δb represents the k-th parameter value in the feedback parameter signal of the main channel. j This represents the mean error of the j-th branch channel. express The mean, This represents the instruction parameter signal for the j-th branch channel. This represents the value of the r-th parameter in the instruction parameter signal of the j-th branch channel, u. jp This represents the value of the p-th parameter in the instruction parameter signal of the j-th branch channel, u. jk This represents the value of the k-th parameter in the instruction parameter signal of the j-th branch channel. express The mean, This represents the feedback parameter signal of the j-th branch channel. Y jr Y represents the value of the r-th parameter in the feedback parameter signal of the j-th branch channel. jp Y represents the value of the p-th parameter in the feedback parameter signal of the j-th branch channel. jk Let represent the k-th parameter value in the feedback parameter signal of the j-th branch channel, where 1≤j≤n and j≠i.

[0022] Preferably, the formula for calculating the phase error of the main channel is as follows:

[0023]

[0024] The formula for calculating the first phase error of the branch channel is as follows:

[0025]

[0026] The formula for calculating the second phase error of the branch channel is as follows:

[0027] Δθ2=θ i -θ j ;

[0028] The formula for calculating the final phase error of the branch channel is as follows:

[0029] Δθ j =Δθ1 - Δθ2;

[0030] In the formula: Δθ represents the phase error of the main channel, p a Indicates the command parameter signal of the main channel Count the points at the position of the a-th peak. Indicates the feedback parameter signal of the main channel. The position of the a-th peak, N represents the total number of sampling periods, r represents the number of sampling points in one sampling period, v c Indicates the command parameter signal of the main channel The position number of the c-th valley value. Indicates the feedback parameter signal of the main channel. At the position of the c-th valley, Δθ1 represents the first phase error of the branch channel, Δθ2 represents the second phase error of the branch channel, and Δθ j This represents the final phase error of the j-th branch channel. This represents the feedback parameter signal of the j-th branch channel. Count the points at the position of the a-th peak. This represents the feedback parameter signal of the j-th branch channel. The number of points at the c-th valley, θ i θ represents the initial phase of the main channel. j This represents the initial phase of the j-th branch channel.

[0031] Preferably, the formula for calculating the amplitude error of the main channel is as follows:

[0032]

[0033] The formula for calculating the amplitude error of the branch channel is as follows:

[0034]

[0035] In the formula: ΔA represents the amplitude error of the main channel, S pa Indicates the command parameter signal of the main channel The a-th peak, Y pa Indicates the feedback parameter signal of the main channel. The a-th peak, S vc Indicates the command parameter signal of the main channel The c-th valley value, Y vc Indicates the feedback parameter signal of the main channel. The c-th valley value, where N is the total number of sampling periods, ΔA j This represents the amplitude error of the j-th branch channel. Indicates the instruction parameter signal for the j-th branch channel. The a-th peak, This represents the feedback parameter signal of the j-th branch channel. The a-th peak, Indicates the instruction parameter signal for the j-th branch channel. The c-th valley value, This represents the feedback parameter signal of the j-th branch channel. The c-th valley value.

[0036] Preferably, the input command for the main channel is as follows:

[0037] u i =b i +A i sin(εt+θ i );

[0038] The input command for the branch channel is as follows:

[0039] u j =b j +A j sin(εt+θ j );

[0040] In the formula: u i This indicates the input command for the main channel, b i Indicates the signal bias of the main channel, A i The signal amplitude of the main channel is represented by ε, the angular velocity by t, and the time by θ. i The initial phase of the main channel is represented by i, where i represents the main channel, 1 ≤ i ≤ n, and n is the total number of channels. j b represents the input instruction for the j-th branch channel. j A represents the signal bias of the j-th branch channel. j θ represents the signal amplitude of the j-th branch channel. j Let represent the initial phase of the j-th branch channel, where 1 ≤ j ≤ n and j ≠ i.

[0041] Preferably, the input command for the main channel, after correction for the mean error of the main channel, is as follows:

[0042] u i =b i +Δb*δ b +A i sin(εt+θ i );

[0043] The input command for the main channel, after phase error correction, is as follows:

[0044] u i =b i +A i sin(εt+θ i +Δθ*δ θ );

[0045] The input command for the main channel, after amplitude error correction, is as follows:

[0046] u i =b i +(A i +δ A *ΔA)sin(εt+θ i );

[0047] In the formula: Δb represents the mean error of the main channel, δ b δ represents the mean correction factor, Δθ represents the phase error of the main channel, and δ represents the mean correction factor.θ δ represents the phase correction coefficient, ΔA represents the mean error of the main channel, and δ represents the mean error of the main channel. A This represents the amplitude correction factor.

[0048] Preferably, the input command for the branch channel, after correction for the mean error of the branch channel, is as follows:

[0049] u j =b j +Δb j *δ b +A j sin(εt+θ k );

[0050] The input command for the branch channel, after final phase error correction, is as follows:

[0051] u j =b j +A j sin(εt+θ j +Δθ j *δ θ );

[0052] The input command for the branch channel after amplitude error correction is as follows:

[0053] u j =b j +(A j +δ A *ΔA j sin(εt+θ) j );

[0054] In the formula: Δb j Δθ represents the mean error of the j-th branch channel. j Let ΔA represent the phase error of the j-th branch channel. j This represents the amplitude error of the j-th branch channel.

[0055] The present invention also provides a multi-channel coordinated compensation system for an electro-hydraulic servo loading system, comprising: a signal acquisition module, a signal noise reduction module, a signal selection module, a main channel averaging module, a main channel phase module, a main channel amplitude module, a branch channel averaging module, a branch channel phase module, and a branch channel amplitude module;

[0056] The signal acquisition module is used to acquire the command signal and feedback signal of the main channel and the command signal and feedback signal of each branch channel within N sampling periods; N is a positive integer ≥3;

[0057] The signal noise reduction module is used to perform noise reduction processing on the feedback signal of the main channel to obtain the feedback noise reduction signal of the main channel; and to perform noise reduction processing on the feedback signals of each branch channel to obtain the feedback noise reduction signal of each branch channel.

[0058] The signal selection module is used to select the command signal and feedback noise reduction signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel, and to select the command signal and feedback noise reduction signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel.

[0059] The main channel mean error module is used to calculate the mean error of the main channel based on the instruction parameter signal and feedback parameter signal of the main channel, and to judge the mean error of the main channel. If the absolute value of the mean error of the main channel is greater than or equal to the mean error set value, the input command of the main channel is corrected based on the mean error of the main channel. If the absolute value of the mean error of the main channel is less than the mean error set value, the main channel phase module is executed.

[0060] The main channel phase module is used to calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the phase error of the main channel. If the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, the input command of the main channel is corrected based on the phase error of the main channel. If the absolute value of the phase error of the main channel is less than the phase error setting value, the main channel amplitude module is executed.

[0061] The main channel amplitude module is used to calculate the amplitude error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed.

[0062] The branch channel mean value module is used to calculate the mean error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel, and to judge the mean error of the branch channel. If the absolute value of the mean error of the branch channel is greater than or equal to the mean error set value, the input instruction of the branch channel is corrected based on the mean error of the branch channel. If the absolute value of the mean error of the branch channel is less than the mean error set value, the branch channel phase module is executed.

[0063] The branch channel phase module is used to calculate the first phase error of the branch channel based on the feedback parameter signals of the main channel and the branch channel, calculate the second phase error of the branch channel based on the initial phase of the main channel and the branch channel, and calculate the final phase error of the branch channel based on the first and second phase errors of the branch channel. The module then judges the final phase error of the branch channel. If the absolute value of the final phase error of the branch channel is greater than or equal to the phase error set value, the input command of the branch channel is corrected based on the final phase error. If the absolute value of the final phase error of the branch channel is less than the phase error set value, the branch channel amplitude module is executed.

[0064] The branch channel amplitude module is used to calculate the amplitude error of the branch channel based on the command parameter signal and feedback parameter signal of the main channel and the command parameter signal and feedback parameter signal of the branch channel. The module judges the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is greater than or equal to the amplitude error setting value, the input command of the branch channel is corrected based on the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is less than the amplitude error setting value, no correction is performed.

[0065] The effects of this invention are as follows:

[0066] The multi-channel coordinated compensation method of the electro-hydraulic servo loading system of the present invention is applicable not only to multi-channel coordinated loading during position control, but also to multi-channel coordinated loading during pressure control, and is applicable to loading control under various complex working conditions.

[0067] The multi-channel coordinated compensation method of the electro-hydraulic servo loading system of the present invention can not only correct the amplitude and phase of the loading process of a single channel, but also ensure the synchronous loading of multiple channels based on the feedback signal of the main channel, thus realizing the coordinated and synchronous loading of the test piece.

[0068] The multi-channel coordinated compensation method of the electro-hydraulic servo loading system of the present invention corrects the mean, phase and amplitude of the signal in sequence, which can not only ensure that the correction is completed in the fewest number of corrections, but also ensure multi-channel coordinated loading.

[0069] The multi-channel coordinated compensation method of the electro-hydraulic servo loading system of this invention performs adaptive filtering on the feedback signal, which not only removes the interference of the external environment and noise, but also effectively reduces the impact of the interaction between channels, making the processing and analysis of the feedback signal more accurate and improving the control precision of the experiment. Attached Figure Description

[0070] Figure 1 This is a flowchart of the multi-channel coordinated compensation method for the electro-hydraulic servo loading system of the present invention;

[0071] Figure 2 This is a structural diagram of the multi-channel coordinated compensation system of the electro-hydraulic servo loading system of the present invention;

[0072] Figure 3 This is a structural diagram of the LMS adaptive filter of the present invention;

[0073] Figure 4 This is a structural diagram of the weight adaptive algorithm for the LMS adaptive filter of this invention.

[0074] In the diagram: 1. Signal acquisition module; 2. Signal noise reduction module; 3. Signal selection module; 4. Main channel averaging module; 5. Main channel phase module; 6. Main channel amplitude module; 7. Branch channel averaging module; 8. Branch channel phase module; 9. Branch channel amplitude module. Detailed Implementation

[0075] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0076] The input command for the main channel of the electro-hydraulic servo loading system is as follows:

[0077]

[0078] The input commands for the branch channels of the electro-hydraulic servo loading system are as follows:

[0079]

[0080] In the formula: u i This indicates the input command for the main channel, b i Indicates the signal bias of the main channel, A i The signal amplitude of the main channel is represented by ε, the angular velocity by t, and the time by θ. i The initial phase of the main channel is represented by i, where i represents the main channel, 1 ≤ i ≤ n, and n is the total number of channels. j b represents the input instruction for the j-th branch channel. j A represents the signal bias of the j-th branch channel. j θ represents the signal amplitude of the j-th branch channel. j Let represent the initial phase of the j-th branch channel, where 1 ≤ j ≤ n and j ≠ i.

[0081] When the load is a sinusoidal periodic signal, the feedback signal will exhibit amplitude attenuation and phase lag due to the amplitude-frequency characteristics of the hydraulic system. Therefore, it is necessary to correct and compensate for the feedback signal. First, the command signal and feedback signal of each channel are sampled, and the feedback signal is denoised. Then, for the main channel, the mean error, phase error, and amplitude error of the main channel command signal and the denoised main channel signal are calculated sequentially to obtain new command signal parameters. For each branch channel, the mean error and amplitude error are still obtained through analysis of the main channel command signal and the denoised main channel signal, while the phase error is obtained through analysis of the denoised main channel signal and the denoised branch channel signal. Finally, mean compensation, phase compensation, and amplitude compensation are performed sequentially on each branch channel to achieve coordinated loading control of multiple channels.

[0082] Figure 1 This is a flowchart of the multi-channel coordinated compensation method for the electro-hydraulic servo loading system of the present invention. Figure 1 As shown, the present invention provides a multi-channel coordinated compensation method for an electro-hydraulic servo loading system, comprising:

[0083] S1, perform signal acquisition. Specifically: acquire the command signal and feedback signal of the main channel, and the command signal and feedback signal of each branch channel within N sampling periods; N is a positive integer ≥ 3.

[0084] S2, perform signal noise reduction processing. Specifically: perform noise reduction processing on the feedback signal of the main channel to obtain the main channel feedback noise-reduced signal; perform noise reduction processing on the feedback signals of each branch channel to obtain the feedback noise-reduced signal of each branch channel.

[0085] Filters can effectively reduce the attenuation of the desired signal frequency and prevent the passage of signals at undesired frequencies. This invention uses an LMS adaptive filter to achieve noise reduction of the feedback signal. The LMS adaptive filter is as follows: Figure 3 As shown, Figure 3 middle, y i (τ) represents the value of the feedback signal of the main channel at time τ.

[0086] Y i (τ) represents the value of the feedback signal of the main channel at time τ after filtering; H(z) is the parameter matrix; d(τ) is the value of the input command of the main channel at time τ; e(τ) is the error. The LMS adaptive filter is reset by e(τ) to minimize the mean square interpolation of the error.

[0087] The feedback signal of the main channel is denoised to obtain the denoised feedback signal of the main channel, as shown in the following formula:

[0088]

[0089] In the formula: i represents the main channel, 1≤i≤n, n is the total number of channels, M is the order of the LMS adaptive filter, M equals the number of sampling points in one sampling period, y i This represents the feedback signal of the main channel, y i (τ-m) represents the value of the feedback signal of the main channel at time τ-m, ω m Let ω be the weight on the m-th tap line. m The detailed structure of the adaptive control is as follows: Figure 4 As shown, according to Figure 4 achievable μ is the step size factor. Let y be the vector form of ω. i (τ) represents the value of the feedback signal of the main channel at time τ. S MAX For y i (τ) is the maximum value of the power spectral density. Figure 4 In the middle, e * (τ) is the transpose of e(τ), and ζ is the coefficient value, specifically taken as 1.

[0090] For noise reduction processing of the feedback signals of each branch channel, please refer to the noise reduction processing of the feedback signal of the main channel. Using an LMS adaptive filter to denoise the feedback signal not only reduces interference from the external environment and noise, but also effectively solves the coupling problem of multi-channel loaded signals.

[0091] S3, perform signal selection. Specifically: select the command signal and feedback noise-reduced signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel; select the command signal and feedback noise-reduced signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel. Since the input command changes after each coordination compensation cycle, the electro-hydraulic servo loading system needs a certain amount of time to recover stability, and the LMS adaptive filter cannot fully exert its ability when the number of filtering points is less than the order, this invention only selects data within 2-N sampling periods, which can effectively avoid this problem.

[0092] S4, perform mean compensation on the main channel. Specifically: calculate the mean error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, judge the mean error of the main channel, if the absolute value of the mean error of the main channel is greater than or equal to the mean error set value, then correct the input command of the main channel based on the mean error of the main channel, if the absolute value of the mean error of the main channel is less than the mean error set value, then execute S5.

[0093] The formula for calculating the mean error of the main channel is as follows:

[0094]

[0095] The input command for the main channel, after correction for the mean error of the main channel, is as follows:

[0096] u i =b i +Δb*δ b +A i si n(εt+θ i ).

[0097] In the formula: Δb represents the mean error of the main channel, S avg express The mean, This indicates the command parameter signal for the main channel. Y avg express The mean, This indicates the feedback parameter signal of the main channel. Y ir Y represents the value of the r-th parameter in the feedback parameter signal of the main channel. ip This represents the p-th parameter value in the feedback parameter signal of the main channel. This represents the value of the r-th parameter in the command parameter signal of the main channel, u. ik This represents the k-th parameter value in the command parameter signal of the main channel, u. ip This represents the p-th parameter value in the command parameter signal of the main channel, where r represents the number of sampling points in one sampling period, and Y... ik δ represents the value of the k-th parameter in the feedback parameter signal of the main channel. b This represents the mean correction factor.

[0098] S5, perform phase compensation on the main channel. Specifically: calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, judge the phase error of the main channel, if the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, then correct the input command of the main channel based on the phase error of the main channel, if the absolute value of the phase error of the main channel is less than the phase error setting value, then execute S6.

[0099] because and If the sample consists of (N-1) periods, then it can be determined and They all have (N-1) peaks and valleys, which can be further analyzed by... and The phase error of the main channel is calculated by analyzing the positions of its peak and trough values. The formula for calculating the phase error of the main channel is as follows:

[0100]

[0101] The input command for the main channel, after phase error correction, is as follows:

[0102] u i =b i +A i si n(εt+θ i +Δθ*δ θ ).

[0103] In the formula: Δθ represents the phase error of the main channel, p a Indicates the command parameter signal of the main channel Count the points at the position of the a-th peak. Indicates the feedback parameter signal of the main channel. The position of the a-th peak, v c Indicates the command parameter signal of the main channel The position number of the c-th valley value. Indicates the feedback parameter signal of the main channel. The number of points at the c-th valley, δ θ This represents the phase correction coefficient.

[0104] S6, Amplitude compensation is performed on the main channel. Specifically: The amplitude error of the main channel is calculated based on the command parameter signal and feedback parameter signal of the main channel. The amplitude error of the main channel is judged. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed.

[0105] because and They all have (N-1) peaks and valleys, therefore through and The amplitude error of the main channel is calculated using the peak and trough values. The formula for calculating the amplitude error of the main channel is as follows:

[0106]

[0107] The input command for the main channel, after amplitude error correction, is as follows:

[0108] u i =b i +(A i +δ A *ΔA)sin(εt+θ i ).

[0109] In the formula: ΔA represents the amplitude error of the main channel, S paIndicates the command parameter signal of the main channel The a-th peak, Y pa Indicates the feedback parameter signal of the main channel. The a-th peak, S vc Indicates the command parameter signal of the main channel The c-th valley value, Y vc Indicates the feedback parameter signal of the main channel. The c-th valley value, where N is the total number of sampling periods, δ A This represents the amplitude correction factor.

[0110] S7, perform mean compensation for each branch channel. Specifically: calculate the mean error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel, judge the mean error of the branch channel, if the absolute value of the mean error of the branch channel is greater than or equal to the mean error set value, then correct the input command of the branch channel based on the mean error of the branch channel, if the absolute value of the mean error of the branch channel is less than the mean error set value, then execute S8.

[0111] The formula for calculating the mean error of the branch channel is as follows:

[0112]

[0113] The input command for the branch channel, after mean error correction, is as follows:

[0114]

[0115] In the formula: , Δb j This represents the mean error of the j-th branch channel. express The mean, This represents the instruction parameter signal for the j-th branch channel. This represents the value of the r-th parameter in the instruction parameter signal of the j-th branch channel, u. jp This represents the value of the p-th parameter in the instruction parameter signal of the j-th branch channel, u. jk This represents the value of the k-th parameter in the instruction parameter signal of the j-th branch channel. express The mean, This represents the feedback parameter signal of the j-th branch channel. Y jr Y represents the value of the r-th parameter in the feedback parameter signal of the j-th branch channel. jp Y represents the value of the p-th parameter in the feedback parameter signal of the j-th branch channel. jkThis represents the value of the k-th parameter in the feedback parameter signal of the j-th branch channel.

[0116] S8, perform phase compensation on each branch channel. Specifically: to ensure that the branch channel is synchronized with the main channel during compensation, the first phase error of the branch channel is calculated based on the feedback parameter signals of the main channel and the branch channel. The second phase error of the branch channel is calculated based on the initial phase of the main channel and the branch channel. The final phase error of the branch channel is calculated based on the first and second phase errors. The final phase error of the branch channel is judged. If the absolute value of the final phase error of the branch channel is greater than or equal to the phase error setting value, the input command of the branch channel is corrected based on the final phase error of the branch channel. If the absolute value of the final phase error of the branch channel is less than the phase error setting value, then S9 is executed.

[0117] Similarly due to and If all have (N-1) peaks and valleys, then it can be determined that... and They all have (N-1) peaks and valleys, therefore they can be obtained through... and The phase difference is calculated using the positions of the peak and trough values. The formula for calculating the first phase error of the branch channel is as follows:

[0118]

[0119] The formula for calculating the second phase error of the branch channel is as follows:

[0120] Δθ2=θ i -θ j .

[0121] The formula for calculating the final phase error of the branch channel is as follows:

[0122] Δθ j =Δθ1-Δθ2.

[0123] The input command for the branch channel, after final phase error correction, is as follows:

[0124] u j =b j +A j sin(εt+θ j +Δθ j *δ θ );

[0125] In the formula: Δθ1 represents the first phase error of the branch channel, Δθ2 represents the second phase error of the branch channel, and Δθ jThis represents the final phase error of the j-th branch channel. This represents the feedback parameter signal of the j-th branch channel. Count the points at the position of the a-th peak. This represents the feedback parameter signal of the j-th branch channel. The position number of the c-th valley value.

[0126] S9, Amplitude compensation is performed on each branch channel. Specifically: To ensure that the branch channels are synchronized and coordinated with the main channel during compensation, the amplitude error of the branch channels is calculated based on the command parameter signals and feedback parameter signals of the main channel and the command parameter signals and feedback parameter signals of the branch channels. The amplitude error of the branch channels is judged. If the absolute value of the amplitude error of the branch channels is greater than or equal to the amplitude error setting value, the input command of the branch channels is corrected based on the amplitude error of the branch channels. If the absolute value of the amplitude error of the branch channels is less than the amplitude error setting value, no correction is performed.

[0127] The formula for calculating the amplitude error of the branch channel is as follows:

[0128]

[0129] The input command for the branch channel after amplitude error correction is as follows:

[0130] u j =b j +(A j +δ A *ΔA j sin(εt+θ) j ).

[0131] In the formula: ΔA j This represents the amplitude error of the j-th branch channel. Indicates the instruction parameter signal for the j-th branch channel. The a-th peak, This represents the feedback parameter signal of the j-th branch channel. The a-th peak, Indicates the instruction parameter signal for the j-th branch channel. The c-th valley value, This represents the feedback parameter signal of the j-th branch channel. The c-th valley value.

[0132] Figure 2 This is a structural diagram of the multi-channel coordinated compensation system of the electro-hydraulic servo loading system of the present invention. (See diagram below.) Figure 2As shown, the present invention provides a multi-channel coordinated compensation system for an electro-hydraulic servo loading system, comprising: a signal acquisition module 1, a signal noise reduction module 2, a signal selection module 3, a main channel averaging module 4, a main channel phase module 5, a main channel amplitude module 6, a branch channel averaging module 7, a branch channel phase module 8, and a branch channel amplitude module 9.

[0133] Signal acquisition module 1 is used to acquire the command signal and feedback signal of the main channel, and the command signal and feedback signal of each branch channel within N sampling periods. N is a positive integer ≥ 3.

[0134] Signal noise reduction module 2 is used to perform noise reduction processing on the feedback signal of the main channel to obtain the feedback noise reduction signal of the main channel; and to perform noise reduction processing on the feedback signals of each branch channel to obtain the feedback noise reduction signal of each branch channel.

[0135] The signal selection module 3 is used to select the command signal and feedback noise reduction signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel, and to select the command signal and feedback noise reduction signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel.

[0136] The main channel mean error module 4 is used to calculate the mean error of the main channel based on the instruction parameter signal and feedback parameter signal of the main channel, and to judge the mean error of the main channel. If the absolute value of the mean error of the main channel is greater than or equal to the mean error set value, the input command of the main channel is corrected based on the mean error of the main channel. If the absolute value of the mean error of the main channel is less than the mean error set value, the main channel phase module 5 is executed.

[0137] The main channel phase module 5 is used to calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the phase error of the main channel. If the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, the input command of the main channel is corrected based on the phase error of the main channel. If the absolute value of the phase error of the main channel is less than the phase error setting value, the main channel amplitude module 6 is executed.

[0138] The main channel amplitude module 6 is used to calculate the amplitude error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed.

[0139] The branch channel averaging module 7 is used to calculate the average error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel, and to judge the average error of the branch channel. If the absolute value of the average error of the branch channel is greater than or equal to the average error setting value, the input instruction of the branch channel is corrected based on the average error of the branch channel. If the absolute value of the average error of the branch channel is less than the average error setting value, the branch channel phase module 8 is executed.

[0140] The branch channel phase module 8 is used to calculate the first phase error of the branch channel based on the feedback parameter signals of the main channel and the branch channel, calculate the second phase error of the branch channel based on the initial phase of the main channel and the branch channel, and calculate the final phase error of the branch channel based on the first and second phase errors of the branch channel. The final phase error of the branch channel is judged. If the absolute value of the final phase error of the branch channel is greater than or equal to the phase error setting value, the input command of the branch channel is corrected based on the final phase error of the branch channel. If the absolute value of the final phase error of the branch channel is less than the phase error setting value, the branch channel amplitude module 9 is executed.

[0141] The branch channel amplitude module 9 is used to calculate the amplitude error of the branch channel based on the instruction parameter signal and feedback parameter signal of the main channel and the instruction parameter signal and feedback parameter signal of the branch channel. It judges the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is greater than or equal to the amplitude error setting value, the input command of the branch channel is corrected based on the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is less than the amplitude error setting value, no correction is performed.

[0142] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0143] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A multi-channel coordinated compensation method for an electro-hydraulic servo loading system, characterized in that, include: S1, acquire the command signal and feedback signal of the main channel and the command signal and feedback signal of each branch channel within N sampling periods; N is a positive integer ≥3; S2, perform noise reduction processing on the feedback signal of the main channel to obtain the noise-reduced feedback signal of the main channel; perform noise reduction processing on the feedback signals of each branch channel to obtain the noise-reduced feedback signal of each branch channel. S3, select the command signal and feedback noise reduction signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel; select the command signal and feedback noise reduction signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel; S4: Calculate the mean error of the main channel based on the instruction parameter signal and feedback parameter signal of the main channel. Judge the mean error of the main channel. If the absolute value of the mean error of the main channel is greater than or equal to the mean error setting value, then correct the input command of the main channel based on the mean error of the main channel. If the absolute value of the mean error of the main channel is less than the mean error setting value, then execute S5. S5: Calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and judge the phase error of the main channel. If the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, then correct the input command of the main channel based on the phase error of the main channel. If the absolute value of the phase error of the main channel is less than the phase error setting value, then execute S6. S6. The amplitude error of the main channel is calculated based on the command parameter signal and feedback parameter signal of the main channel. The amplitude error of the main channel is judged. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed. S7: Calculate the mean error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel. Judge the mean error of the branch channel. If the absolute value of the mean error of the branch channel is greater than or equal to the mean error setting value, then correct the input instruction of the branch channel based on the mean error of the branch channel. If the absolute value of the mean error of the branch channel is less than the mean error setting value, then execute S8. S8: Calculate the first phase error of the branch channel based on the feedback parameter signals of the main channel and the branch channel; calculate the second phase error of the branch channel based on the initial phase of the main channel and the branch channel; calculate the final phase error of the branch channel based on the first and second phase errors; judge the final phase error of the branch channel; if the absolute value of the final phase error of the branch channel is greater than or equal to the phase error setting value, then correct the input command of the branch channel based on the final phase error of the branch channel; if the absolute value of the final phase error of the branch channel is less than the phase error setting value, then execute S9. S9: The amplitude error of the branch channel is calculated based on the command parameter signal and feedback parameter signal of the main channel and the command parameter signal and feedback parameter signal of the branch channel. The amplitude error of the branch channel is judged. If the absolute value of the amplitude error of the branch channel is greater than or equal to the amplitude error setting value, the input command of the branch channel is corrected based on the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is less than the amplitude error setting value, no correction is performed.

2. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 1, characterized in that, An LMS adaptive filter is used for noise reduction. The feedback signal of the main channel is denoised to obtain the denoised feedback signal of the main channel, as shown in the following formula: In the formula: i represents the main channel, 1≤i≤n, n is the total number of channels, M is the order of the LMS adaptive filter, M equals the number of sampling points in one sampling period, y i This represents the feedback signal of the main channel, y i (τ-m) represents the value of the feedback signal of the main channel at time τ-m, Y i (τ) represents the filtered value of the feedback signal from the main channel at time τ, ω m Let be the weight on the m-th tap line. μ is the step size factor. Let y be the vector form of ω. i (τ) represents the value of the feedback signal of the main channel at time τ. S MAX For y i (τ) is the maximum value of the power spectral density.

3. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 1, characterized in that, The formula for calculating the mean error of the main channel is as follows: The formula for calculating the mean error of the branch channel is as follows: In the formula: Δb represents the mean error of the main channel, S avg express The mean, This indicates the command parameter signal for the main channel. Y avg express The mean, This indicates the feedback parameter signal of the main channel. Y ir Y represents the value of the r-th parameter in the feedback parameter signal of the main channel. ip This represents the p-th parameter value in the feedback parameter signal of the main channel, where i represents the main channel and u represents the p-th parameter value. i,r This represents the value of the r-th parameter in the command parameter signal of the main channel, u. ik This represents the k-th parameter value in the command parameter signal of the main channel, u. ip This represents the p-th parameter value in the command parameter signal of the main channel, where p represents the number of sampling points in N sampling periods, r represents the number of sampling points in 1 sampling period, and Y... ik Δb represents the k-th parameter value in the feedback parameter signal of the main channel. j This represents the mean error of the j-th branch channel. express The mean, This represents the instruction parameter signal for the j-th branch channel. This represents the value of the r-th parameter in the instruction parameter signal of the j-th branch channel, u. jp This represents the value of the p-th parameter in the instruction parameter signal of the j-th branch channel, u. jk This represents the value of the k-th parameter in the instruction parameter signal of the j-th branch channel. express The mean, This represents the feedback parameter signal of the j-th branch channel. Y jr Y represents the value of the r-th parameter in the feedback parameter signal of the j-th branch channel. jp Y represents the value of the p-th parameter in the feedback parameter signal of the j-th branch channel. jk Let represent the k-th parameter value in the feedback parameter signal of the j-th branch channel, where 1≤j≤n and j≠i.

4. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 1, characterized in that, The formula for calculating the phase error of the main channel is as follows: The formula for calculating the first phase error of the branch channel is as follows: The formula for calculating the second phase error of the branch channel is as follows: Δθ2=θ i -θ j ; The formula for calculating the final phase error of the branch channel is as follows: Dth j =Δθ1-Δθ2; In the formula: Δθ represents the phase error of the main channel, p a Indicates the command parameter signal of the main channel Count the position of the a-th peak. Indicates the feedback parameter signal of the main channel. The position of the a-th peak, N represents the total number of sampling periods, r represents the number of sampling points in one sampling period, v c Indicates the command parameter signal of the main channel The position number of the c-th valley value. Indicates the feedback parameter signal of the main channel. At the position of the c-th valley, Δθ1 represents the first phase error of the branch channel, Δθ2 represents the second phase error of the branch channel, and Δθ j This represents the final phase error of the j-th branch channel. This represents the feedback parameter signal of the j-th branch channel. Count the position of the a-th peak. This represents the feedback parameter signal of the j-th branch channel. The number of points at the c-th valley, θ i θ represents the initial phase of the main channel. j This represents the initial phase of the j-th branch channel.

5. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 1, characterized in that, The formula for calculating the amplitude error of the main channel is as follows: The formula for calculating the amplitude error of the branch channel is as follows: In the formula: ΔA represents the amplitude error of the main channel, S pa Indicates the command parameter signal of the main channel The a-th peak, Y pa Indicates the feedback parameter signal of the main channel. The a-th peak, S vc Indicates the command parameter signal of the main channel The c-th valley value, Y vc Indicates the feedback parameter signal of the main channel. The c-th valley value, where N is the total number of sampling periods, ΔA j This represents the amplitude error of the j-th branch channel. Indicates the instruction parameter signal for the j-th branch channel. The a-th peak, This represents the feedback parameter signal of the j-th branch channel. The a-th peak, Indicates the instruction parameter signal for the j-th branch channel. The c-th valley value, This represents the feedback parameter signal of the j-th branch channel. The c-th valley value.

6. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 1, characterized in that, The input command for the main channel is as follows: you i =b i +A i sin(εt+θ i ); The input command for the branch channel is as follows: you j =b j +A j sin(εt+θ j ); In the formula: u i This indicates the input command for the main channel, b i Indicates the signal bias of the main channel, A i The signal amplitude of the main channel is represented by ε, the angular velocity by t, and the time by θ. i The initial phase of the main channel is represented by i, where i represents the main channel, 1 ≤ i ≤ n, and n is the total number of channels. j b represents the input instruction for the j-th branch channel. j A represents the signal bias of the j-th branch channel. j θ represents the signal amplitude of the j-th branch channel. j Let represent the initial phase of the j-th branch channel, where 1 ≤ j ≤ n and j ≠ i.

7. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 6, characterized in that, The input command for the main channel, after correction for the mean error of the main channel, is as follows: you i =b i +Δb*δ b +A i sin(εt+θ i ); The input command for the main channel, after phase error correction, is as follows: you i =b i +A i sin(εt+θ i +Δθ*δ θ ); The input command for the main channel, after amplitude error correction, is as follows: you i =b i +(A i +d A *ΔA)sin(εt+θ i ); In the formula: Δb represents the mean error of the main channel, δ b δ represents the mean correction factor, Δθ represents the phase error of the main channel, and δ represents the mean correction factor. θ δ represents the phase correction coefficient, ΔA represents the mean error of the main channel, and δ represents the mean error of the main channel. A This represents the amplitude correction factor.

8. The multi-channel coordinated compensation method for the electro-hydraulic servo loading system according to claim 7, characterized in that, The input command for the branch channel, after mean error correction, is as follows: you j =b j +Δb j *d b +A j sin(εt+θ j ); The input command for the branch channel, after final phase error correction, is as follows: you j =b j +A j sin(εt+θ j +Δθ j *d θ ); The input command for the branch channel after amplitude error correction is as follows: you j =b j +(A j +d a *DA j )sin(εt+θ j ); In the formula: Δb j Δθ represents the mean error of the j-th branch channel. j Let ΔA represent the phase error of the j-th branch channel. j This represents the amplitude error of the j-th branch channel.

9. A multi-channel coordinated compensation system for an electro-hydraulic servo loading system, characterized in that, include: Signal acquisition module, signal noise reduction module, signal selection module, main channel averaging module, main channel phase module, main channel amplitude module, branch channel averaging module, branch channel phase module, and branch channel amplitude module; The signal acquisition module is used to acquire the command signal and feedback signal of the main channel and the command signal and feedback signal of each branch channel within N sampling periods; N is a positive integer ≥3; The signal noise reduction module is used to perform noise reduction processing on the feedback signal of the main channel to obtain the feedback noise-reduced signal of the main channel. The feedback signals of each branch channel are denoised to obtain the denoised feedback signals of each branch channel; The signal selection module is used to select the command signal and feedback noise reduction signal of the main channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of the main channel, and to select the command signal and feedback noise reduction signal of each branch channel within 2-N sampling periods as the command parameter signal and feedback parameter signal of each branch channel. The main channel mean error module is used to calculate the mean error of the main channel based on the instruction parameter signal and feedback parameter signal of the main channel, and to judge the mean error of the main channel. If the absolute value of the mean error of the main channel is greater than or equal to the mean error set value, the input command of the main channel is corrected based on the mean error of the main channel. If the absolute value of the mean error of the main channel is less than the mean error set value, the main channel phase module is executed. The main channel phase module is used to calculate the phase error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the phase error of the main channel. If the absolute value of the phase error of the main channel is greater than or equal to the phase error setting value, the input command of the main channel is corrected based on the phase error of the main channel. If the absolute value of the phase error of the main channel is less than the phase error setting value, the main channel amplitude module is executed. The main channel amplitude module is used to calculate the amplitude error of the main channel based on the command parameter signal and feedback parameter signal of the main channel, and to judge the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is greater than or equal to the amplitude error setting value, the input command of the main channel is corrected based on the amplitude error of the main channel. If the absolute value of the amplitude error of the main channel is less than the amplitude error setting value, no correction is performed. The branch channel mean value module is used to calculate the mean error of the branch channel based on the instruction parameter signal and feedback parameter signal of the branch channel, and to judge the mean error of the branch channel. If the absolute value of the mean error of the branch channel is greater than or equal to the mean error set value, the input instruction of the branch channel is corrected based on the mean error of the branch channel. If the absolute value of the mean error of the branch channel is less than the mean error set value, the branch channel phase module is executed. The branch channel phase module is used to calculate the first phase error of the branch channel based on the feedback parameter signals of the main channel and the branch channel, calculate the second phase error of the branch channel based on the initial phase of the main channel and the branch channel, and calculate the final phase error of the branch channel based on the first and second phase errors of the branch channel. The module then judges the final phase error of the branch channel. If the absolute value of the final phase error of the branch channel is greater than or equal to the phase error set value, the input command of the branch channel is corrected based on the final phase error. If the absolute value of the final phase error of the branch channel is less than the phase error set value, the branch channel amplitude module is executed. The branch channel amplitude module is used to calculate the amplitude error of the branch channel based on the command parameter signal and feedback parameter signal of the main channel and the command parameter signal and feedback parameter signal of the branch channel. The module judges the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is greater than or equal to the amplitude error setting value, the input command of the branch channel is corrected based on the amplitude error of the branch channel. If the absolute value of the amplitude error of the branch channel is less than the amplitude error setting value, no correction is performed.

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