Four-cylinder outrigger synchronous motion control system
By adjusting the parameters using a BP neural network PID controller, the problem of poor control performance of conventional PID controllers in systems with large time delays, nonlinearity, and time-varying characteristics was solved, and stable and reliable synchronous movement of the four-cylinder outriggers was achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GUIZHOU AEROSPACE TIANMA ELECTRICAL TECH
- Filing Date
- 2023-07-19
- Publication Date
- 2026-06-19
Smart Images
Figure CN117006118B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to a four-cylinder outrigger synchronous motion control system, belonging to the field of electrical control technology, specifically to a four-cylinder outrigger synchronous motion control system based on BP neural network PID. Background Technology
[0002] Conventional PID control suffers from long parameter settling times and difficulty in real-time parameter adjustment when controlling systems with large time delays, nonlinearities, and time-varying characteristics. The effectiveness of PID control largely depends on the selection of control parameters; inappropriate parameter selection leads to poor control performance. Furthermore, the K0 parameter in PID control is significantly affected by time delays. p K i K d The three control parameters influence and interact with each other, so choosing the appropriate adjustment parameters is particularly important. Summary of the Invention
[0003] To solve the above-mentioned technical problems, the present invention provides a four-cylinder outrigger synchronous motion control system, which can solve the problem that conventional PID controllers have poor control capabilities for large time delay, time-varying, and nonlinear systems.
[0004] The present invention is achieved through the following technical solutions.
[0005] This invention provides a synchronous motion control system for a four-cylinder outrigger, comprising an oil tank, an oil pump motor, an oil pump, a proportional valve, a directional valve, a display and control assembly, a BP neural network PID controller, and a four-cylinder outrigger. The oil pump is connected to the oil pump motor, the proportional valve, the directional valve, the four-cylinder outrigger, and the oil tank. The four-cylinder outrigger is equipped with a displacement sensor and a motion limit proximity switch. The display and control assembly includes a CPU module, an AD module, a DA module, a KI module, and a KO module. The proportional valve and the directional valve are communicatively connected to the display and control assembly, as are the displacement sensor and the motion limit proximity switch. The BP neural network PID controller is communicatively connected to the display and control assembly and electrically connected to the hydraulic motor of the four-cylinder outrigger.
[0006] The four-cylinder outriggers are connected to the oil pump via oil pipes.
[0007] The CPU module is used for data processing and provides an Ethernet interface for communication with a remote host computer; the AD module is used to collect the four-cylinder outrigger error and the four-cylinder synchronous motion error as inputs to the BP neural network PID controller; the DA module is used to output the proportional valve control quantity to control the synchronous motion of the four-cylinder outrigger; the KI module is used to collect the limit position signal of the motion limit proximity switch to limit the movement of the four-cylinder outrigger to the extreme position; the KO module is used to output the control signal to control the start of the oil pump motor.
[0008] The BP neural network PID controller is used to output a suitable K based on the input four-cylinder outrigger error and four-cylinder synchronous motion error. p K i K d The opening of the proportional valve is adjusted numerically to control the synchronous movement of the four-cylinder outriggers.
[0009] The directional valve is used to control the flow direction of hydraulic oil to realize the raising or lowering of the four-cylinder outriggers; the proportional valve controls the proportion of hydraulic oil passing through according to the control quantity given by the BP neural network PID controller, so as to provide power to the hydraulic motor.
[0010] The display and control unit is connected to the power control unit.
[0011] The display and control unit is connected to a local switch via Ethernet. The local switch is connected to a remote switch via optical fiber. The remote switch is connected to a host computer via Ethernet.
[0012] The oil pump motor provides the power source for the oil pump.
[0013] The displacement sensor is used to provide real-time feedback on the movement position of the four-cylinder outrigger; the movement limit proximity switch is used to limit the movement of the four-cylinder outrigger.
[0014] The oil pump draws the hydraulic oil required for the four-cylinder outrigger from the oil tank, providing power for the movement of the four-cylinder outrigger.
[0015] The beneficial effects of this invention are: it can have a good control effect on complex systems, and the system has strong anti-interference ability, high robustness, and can stably and reliably control the operation of the system synchronously; by building a closed-loop system through real-time position feedback from displacement sensors, it can control the synchronous movement of the four-cylinder outriggers from both local and remote host computers; it has the characteristics of strong anti-interference ability, fast response speed, and reliable and stable synchronous operation. Attached Figure Description
[0016] Figure 1 This is a schematic diagram of the BP neural network PID controller of the present invention;
[0017] Figure 2 This is a diagram of the BP neural network structure.
[0018] Figure 3 This is a schematic diagram of the structure of the present invention;
[0019] Figure 4 This is the control principle diagram of the present invention. Detailed Implementation
[0020] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.
[0021] Example 1
[0022] like Figures 1-4 The illustrated four-cylinder outrigger synchronous motion control system includes an oil tank, an oil pump motor, an oil pump, a proportional valve, a directional valve, a display and control assembly, a BP neural network PID controller, and four outriggers. The oil pump is connected to the oil pump motor, the proportional valve, the directional valve, the four outriggers, and the oil tank. The four outriggers are equipped with a displacement sensor and a motion limit proximity switch. The display and control assembly includes a CPU module, an AD module, a DA module, a KI module, and a KO module. The proportional valve and the directional valve are communicatively connected to the display and control assembly, as are the displacement sensor and the motion limit proximity switch. The BP neural network PID controller is communicatively connected to the display and control assembly and electrically connected to the hydraulic motor of the four outriggers.
[0023] The four-cylinder outriggers are connected to the oil pump via oil pipes.
[0024] The CPU module is used for data processing and provides an Ethernet interface for communication with a remote host computer; the AD module is used to collect the four-cylinder outrigger error and the four-cylinder synchronous motion error as inputs to the BP neural network PID controller; the DA module is used to output the proportional valve control quantity to control the synchronous motion of the four-cylinder outrigger; the KI module is used to collect the limit position signal of the motion limit proximity switch to limit the movement of the four-cylinder outrigger to the extreme position; the KO module is used to output the control signal to control the start of the oil pump motor.
[0025] The BP neural network PID controller is used to output a suitable K based on the input four-cylinder outrigger error and four-cylinder synchronous motion error. p K i K d The opening of the proportional valve is adjusted numerically to control the synchronous movement of the four-cylinder outriggers.
[0026] The directional valve is used to control the flow direction of hydraulic oil to realize the raising or lowering of the four-cylinder outriggers; the proportional valve controls the proportion of hydraulic oil passing through according to the control quantity given by the BP neural network PID controller, so as to provide power to the hydraulic motor.
[0027] The display and control unit is connected to the power control unit.
[0028] The display and control combination is connected to a local switch via Ethernet. The local switch is connected to a remote switch via optical fiber. The remote switch is connected to a host computer via Ethernet. Therefore, the present invention has local control and remote host computer control functions, and can realize the synchronous movement of the four-cylinder outriggers even at a remote location.
[0029] The oil pump motor provides the power source for the oil pump.
[0030] The displacement sensor is used to provide real-time feedback on the movement position of the four-cylinder outrigger; the movement limit proximity switch is used to limit the movement of the four-cylinder outrigger.
[0031] The oil pump draws the hydraulic oil required for the four-cylinder outrigger from the oil tank, providing power for the movement of the four-cylinder outrigger.
[0032] Preferably, the power supply to the display and control unit is provided by a power control unit. The display and control unit uses a CPU module, DA module, AD module, KI module, and KO module to build a control system for collecting, storing, processing, and analyzing various data.
[0033] Specifically, this invention utilizes a BP neural network PID controller to build a closed-loop system. By controlling the flow of the proportional valve, the hydraulic motor drives the lead screw to achieve synchronous movement of the four-cylinder outriggers, thereby realizing the synchronous lifting or lowering of the four-cylinder outriggers. Through real-time feedback from the displacement sensor, the reliable and stable synchronous movement of the four-cylinder outriggers is controlled in real time.
[0034] Furthermore, the BP neural network is trained using samples through backpropagation. After training, the BP neural network outputs an appropriate K based on the input error. p K i K d The opening of the proportional valve is adjusted to control the synchronous movement of the four cylinders.
[0035] Example 2
[0036] like Figure 2 As shown, the BP neural network has a three-layer structure: an input layer, a hidden layer, and an output layer. The input layer has eight nodes, representing the four-cylinder outrigger errors e1, e2, e3, e4, and the four-cylinder synchronous motion error e. 1avg e 2avg e 3avg e 4avg The hidden layer has 10 nodes, which are fully connected to both the input and output layers. The output layer has 3 nodes, which output the K values of the BP neural network PID controller. p K i K d value.
[0037] The BP neural network uses the sigmoid activation function for non-linear activation and is trained using 100 sets of data through backpropagation. After training, it can be used to generate neural networks based on inputs e1, e2, e3, e4, and e... 1avg e 2avg e 3avg e 4avg Output a suitable K p K i K d To control the synchronized movement of the four-cylinder outriggers.
[0038] Example 3
[0039] like Figure 1 As shown, given the control quantity r t As the desired output for the movement of the four-cylinder outrigger, the displacement sensor values output by the four-cylinder outrigger are y1, y2, y3, and y4, respectively. The differences between the given control quantity and y1, y2, y3, and y4 are respectively used to obtain the errors e1, e2, e3, and e4 of the four-cylinder outrigger. The average value of the displacement sensor values y1, y2, y3, and y4 of the four-cylinder outrigger is calculated, and the differences between y1, y2, y3, and y4 and the average value are respectively used to obtain the errors of the synchronized movement of the four-cylinder outrigger, which are e1, e2, e3, and e4, respectively. 1avg e 2avg e 3avg e 4avg .
[0040] The BP neural network PID controller controls the opening of the proportional valve based on appropriate input and output control quantities u1, u2, u3, and u4, thereby achieving synchronous movement of the four cylinders.
Claims
1. A four-cylinder outrigger synchronous motion control system, comprising an oil tank, an oil pump motor, an oil pump, a proportional valve, a directional valve, a display and control assembly, a BP neural network PID controller, and four-cylinder outriggers, wherein the oil pump is connected to the oil pump motor, the proportional valve, the directional valve, the four-cylinder outriggers, and the oil tank, characterized in that: The four-cylinder outrigger is equipped with a displacement sensor and a motion limit proximity switch. The display and control assembly includes a CPU module, an AD module, a DA module, a KI module, and a KO module. The proportional valve and the directional valve are communicatively connected to the display and control assembly. The displacement sensor and the motion limit proximity switch are also communicatively connected to the display and control assembly. The BP neural network PID controller is communicatively connected to the display and control assembly and is electrically connected to the hydraulic motor of the four-cylinder outrigger. The CPU module is used for data processing and provides an Ethernet interface for communication with a remote host computer; the AD module is used to collect the four-cylinder outrigger error and the four-cylinder synchronous motion error as inputs to the BP neural network PID controller; the DA module is used to output the proportional valve control quantity to control the synchronous motion of the four-cylinder outrigger; the KI module is used to collect the limit position signal of the motion limit proximity switch to limit the movement of the four-cylinder outrigger to the extreme position; the KO module is used to output the control signal to control the start of the oil pump motor. The BP neural network PID controller is used to output appropriate K p , K i , K d value adjustment proportional valve opening amount, control four cylinder leg synchronous movement.
2. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The four-cylinder outriggers are connected to the oil pump via oil pipes.
3. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The directional valve is used to control the flow direction of hydraulic oil to realize the raising or lowering of the four-cylinder outriggers; the proportional valve controls the proportion of hydraulic oil passing through according to the control quantity given by the BP neural network PID controller, so as to provide power to the hydraulic motor.
4. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The display and control unit is connected to the power control unit.
5. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The display and control unit is connected to a local switch via Ethernet. The local switch is connected to a remote switch via optical fiber. The remote switch is connected to a host computer via Ethernet.
6. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The oil pump motor provides the power source for the oil pump.
7. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The displacement sensor is used to provide real-time feedback on the movement position of the four-cylinder outrigger; the movement limit proximity switch is used to limit the movement of the four-cylinder outrigger.
8. The four-cylinder outrigger synchronous motion control system as described in claim 1, characterized in that: The oil pump draws the hydraulic oil required for the four-cylinder outrigger from the oil tank, providing power for the movement of the four-cylinder outrigger.