Adaptive control method and system for hydraulic rotary impact equipment

Abstract

The present invention discloses an adaptive control method and system for hydraulic rotary impact equipment, and relates to the field of intelligent control technology. The method includes: obtaining the rotation monitoring parameters of the rotary mechanism and the impact monitoring parameters of the impact mechanism, and performing consistency analysis. When the rotation impact synchronization fails to reach the consistency target, tracing and analyzing according to the deviation amount to obtain the control parameters; taking the deviation amount as the adjustment target, adaptively fitting the control parameters, and verifying the control strategy through the environment autonomous sensing module as the execution control strategy. The present invention solves the technical problem in the prior art that the actions of the rotary and impact mechanisms may be out of sync due to mechanical clearance, wear or environmental factors, which affects the work efficiency and processing quality, and achieves the technical effect of adaptive control with the consistency of the parameters of the rotary and impact mechanisms as the target, improving the equipment control accuracy, and the work efficiency and processing quality.

Description

Technical Field

[0001] The invention relates to the field of intelligent control technology, and in particular to an adaptive control method and system for hydraulic rotary impact equipment. Background Art

[0002] Hydraulic rotary impact equipment plays an important role in many fields such as mining industry, coal industry, railway engineering, military engineering, etc. Hydraulic rotary impact equipment needs to realize both rotation and impact at the same time, and the synchronization between the two is very high. This requires precise control of the motion parameters of the rotating mechanism and the impact mechanism to ensure the coordination and consistency of the two during the action. However, due to the influence of factors such as mechanical clearance, wear, load changes, etc., it is difficult to achieve high-precision synchronous control, which directly affects the working efficiency and processing quality of the hydraulic rotary impact equipment. Summary of the invention

[0003] The present application provides an adaptive control method and system for a hydraulic rotary impact device, which is used to solve the technical problem in the prior art that the actions of the rotary and impact mechanisms may be out of sync due to mechanical clearance, wear or environmental factors, thus affecting work efficiency and processing quality.

[0004] The first aspect of the present application provides an adaptive control method for a hydraulic rotary impact device, the method comprising: establishing a rotation acquisition channel to obtain rotation monitoring parameters of a rotating mechanism, including a rotation speed and a rotation torque; establishing an impact acquisition channel to obtain impact monitoring parameters of the impact mechanism, including an impact frequency and an impact force; performing consistency analysis based on the rotation monitoring parameters and impact monitoring parameters of the rotating mechanism to obtain rotation impact synchronization; when the rotation impact synchronization fails to reach a consistency target, tracing back and analyzing the deviation between the rotation impact synchronization and the consistency target to obtain control parameters; using the deviation as an adjustment target, adaptively fitting the control parameters to obtain a control strategy; verifying the control strategy through environmental recognition data of an environmental autonomous sensing module, and using the control strategy that meets the verification as the execution control strategy.

[0005] According to a second aspect of the present application, an adaptive control system for hydraulic rotary impact equipment is provided, the system comprising: a rotation monitoring parameter acquisition module, the rotation monitoring parameter acquisition module is used to establish a rotation acquisition channel, and obtain the rotation monitoring parameters of the rotary mechanism, including the rotation speed and the rotation torque; an impact monitoring parameter acquisition module, the impact monitoring parameter acquisition module is used to establish an impact acquisition channel, and obtain the impact monitoring parameters of the impact mechanism, including the impact frequency and the impact force; a consistency analysis module, the consistency analysis module is used to perform consistency analysis based on the rotation monitoring parameters and the impact monitoring parameters of the rotary mechanism, and obtain the rotation impact synchronization; a deviation tracing and analysis module, the deviation tracing and analysis module is used to obtain the control parameters based on the deviation between the rotation impact synchronization and the consistency target when the rotation impact synchronization fails to reach the consistency target; a control parameter fitting module, the control parameter fitting module is used to use the deviation as the adjustment target, perform adaptive fitting on the control parameters, and obtain the control strategy; a control strategy verification module, the control strategy verification module is used to verify the control strategy through the environmental recognition data of the environmental autonomous sensing module, and use the control strategy that meets the verification as the execution control strategy.

[0006] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0007] The adaptive control method and system of the hydraulic rotary impact equipment provided by the present application relate to the field of intelligent control technology. By acquiring the rotation monitoring parameters of the rotating mechanism and the impact monitoring parameters of the impact mechanism, consistency analysis is performed. When the rotation impact synchronization fails to reach the consistency target, the control parameters are acquired based on the deviation amount traceback analysis, and the deviation amount is used as the adjustment target. The control parameters are adaptively fitted to generate a control strategy. After the control strategy is verified by the environmental autonomous sensing module, it is used as the execution control strategy. The technical problem in the prior art that the actions of the rotating and impact mechanisms may be out of sync due to mechanical clearance, wear or environmental factors, affecting work efficiency and processing quality, is solved. The adaptive control with the consistency of the parameters of the rotating and impact mechanisms as the target is achieved, and the technical effect of improving the control accuracy of the equipment, as well as work efficiency and processing quality is achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0009] Figure 1A schematic flow chart of an adaptive control method for a hydraulic rotary impact device provided in an embodiment of the present application;

[0010] Figure 2 A schematic diagram of a flow chart of obtaining rotational impact synchronization through consistency analysis in an adaptive control method for a hydraulic rotational impact device provided in an embodiment of the present application;

[0011] Figure 3 A schematic diagram of the structure of an adaptive control system for a hydraulic rotary impact device provided in an embodiment of the present application.

[0012] Explanation of the reference numerals: rotation monitoring parameter acquisition module 11 , impact monitoring parameter acquisition module 12 , consistency analysis module 13 , deviation tracing and analysis module 14 , control parameter fitting module 15 , control strategy verification module 16 . DETAILED DESCRIPTION

[0013] The present application provides an adaptive control method and system for a hydraulic rotary impact device, which is used to solve the technical problem in the prior art that the actions of the rotary and impact mechanisms may be out of sync due to mechanical clearance, wear or environmental factors, thus affecting work efficiency and processing quality.

[0014] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0015] It should be noted that the terms "first", "second", etc. in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or modules that are not clearly listed or inherent to these processes, methods, products, or devices.

[0016] Embodiment 1

[0017] like Figure 1 As shown, the present application provides an adaptive control method for a hydraulic rotary impact device, the method comprising:

[0018] P10: Establish a rotation acquisition channel to obtain the rotation monitoring parameters of the rotating mechanism, including rotation speed and rotation torque.

[0019] Specifically, in order to obtain the key rotation monitoring parameters of the rotating mechanism in real time, a rotation acquisition channel is established by installing a rotation speed sensor and a rotation torque sensor. The key rotation monitoring parameters include rotation speed and rotation torque, which are key indicators for judging the operating status and efficiency of the rotating mechanism. Among them, the rotation speed refers to the number of revolutions per minute (RPM) of the rotating mechanism, which reflects the speed of the equipment. It can be obtained by installing a rotation speed sensor, which usually uses a high-precision rotary encoder or Hall effect sensor. These sensors can accurately capture the instantaneous speed changes of the rotating mechanism and provide real-time data. High-speed rotation may mean efficient work, but it may also bring greater wear and heat problems.

[0020] The rotational torque refers to the torque applied by the rotating mechanism during the rotation process. The magnitude of the torque directly affects the power output and load capacity of the equipment. It can be obtained by installing a rotational torque sensor, which uses a strain gauge torque sensor or a magnetoelastic torque sensor. These sensors can measure the torque applied to the rotating shaft and help evaluate the load and working status of the rotating mechanism.

[0021] When establishing a rotation acquisition channel, the real-time and reliability of the data also need to be considered. In order to ensure that the data can be transmitted to the control system in real time, a high-speed data acquisition card and a stable data transmission protocol are used to ensure the accuracy and timeliness of the data during the acquisition, transmission and processing process. At the same time, in order to prevent data loss or errors, measures such as data verification and redundant backup are taken to improve the reliability and stability of the data acquisition channel.

[0022] P20: Establish an impact collection channel to obtain the impact monitoring parameters of the impact mechanism, including impact frequency and impact intensity.

[0023] Optionally, in the adaptive control method of the hydraulic rotary impact device, the second step is to establish an impact collection channel to obtain the key impact monitoring parameters of the impact mechanism. These parameters include impact frequency and impact force, which are core indicators for measuring the performance and working status of the impact mechanism. The impact frequency refers to the number of impacts generated by the impact mechanism per unit time, which is an important indicator for measuring its working frequency and working efficiency. In order to accurately measure the impact frequency, an acceleration sensor or a vibration sensor can be used. These sensors can capture the acceleration or vibration signals generated by the impact mechanism during the impact process, and convert these signals into impact frequency data through signal processing technology. This non-contact measurement method is not only highly accurate, but also can avoid interference with the impact mechanism itself.

[0024] The impact intensity refers to the magnitude of the force generated by the impact mechanism during each impact process, reflecting the effect of the impact mechanism on the target object. In order to measure the impact intensity, a force sensor or a pressure sensor can be used. These sensors can directly measure the force or pressure changes generated by the impact mechanism at the moment of impact, and convert them into electrical signals for output. By analyzing and processing the electrical signals, the accurate value of the impact intensity can be obtained.

[0025] When establishing an impact acquisition channel, the real-time and accuracy of data processing are crucial. To achieve this goal, a high-speed data acquisition system and advanced signal processing algorithms can be used to ensure that the impact data can be captured and processed in the first place. At the same time, in order to prevent data loss or error accumulation, a variety of data verification and error correction mechanisms are adopted to improve the reliability of data acquisition and processing.

[0026] In addition, in order to better adapt to the complex and changing working environment, the impact collection channel also has environmental self-adaptation capabilities. By integrating environmental sensors (such as temperature sensors, humidity sensors, etc.), the impact collection channel can monitor changes in the working environment in real time and automatically adjust collection parameters and processing strategies to ensure that accurate and reliable impact monitoring data can be obtained in different environments.

[0027] P30: Perform consistency analysis based on the rotation monitoring parameters and impact monitoring parameters of the rotating mechanism to obtain rotation impact synchronization.

[0028] Further, such as Figure 2 As shown, step P30 of the embodiment of the present application also includes:

[0029] P31: Convert the collected analog signals of the rotation monitoring parameters and impact monitoring parameters into digital signals, and establish a timing alignment relationship; P32: Based on the timing alignment relationship, calculate the delay time by fitting the waveforms of the rotation speed and the impact frequency, and determine the time consistency evaluation value according to the delay time; P33: Calculate the waveform similarity by fitting the waveforms of the rotation torque and the impact force, and obtain the waveform matching evaluation value; P34: Configure the delay time and waveform matching fusion coefficient, and perform dimensionality reduction fusion on the time consistency evaluation value and the waveform matching evaluation value based on the fusion coefficient to generate the rotation impact synchronization.

[0030] It should be understood that consistency analysis is performed based on the rotation monitoring parameters and impact monitoring parameters of the rotating mechanism to obtain the synchronization of the rotation impact. Specifically, the collected analog signals of the rotation monitoring parameters and impact monitoring parameters are first converted into digital signals through an analog-to-digital converter (ADC) to ensure that the data maintains high precision during subsequent processing. At the same time, the timestamp alignment technology is used to synchronize the data acquisition time of different sensors using a high-precision clock, and the timing alignment relationship between the rotation monitoring parameters and the impact monitoring parameters is established to ensure that the data of the rotating mechanism and the impact mechanism are synchronized in time, providing a basis for subsequent analysis.

[0031] Furthermore, based on the data after time series alignment, a time consistency analysis is performed. First, by fitting the waveforms of the rotation speed and the impact frequency, the delay time between the two is calculated. The delay time reflects the degree of time asynchrony between the rotation action and the impact action. The shorter the delay time, the better the synchronization between the rotation and the impact. According to the delay time, a time consistency evaluation value can be determined to quantify the degree of time synchronization between the rotation and the impact.

[0032] In addition to time consistency, the matching degree of the rotation torque and impact force in waveform also needs to be evaluated. This is achieved by fitting the waveforms of the two and calculating the waveform similarity. Waveform similarity refers to the similarity of the waveform shape and change trend of the rotation torque and impact force. The higher the waveform similarity, the more consistent the change trend of the rotation torque and impact force, which further reflects the synchronization of rotation and impact in power output. Based on the waveform similarity, a waveform matching evaluation value is obtained.

[0033] Finally, in order to comprehensively evaluate the synchronization of rotational impact, the time consistency evaluation value is fused with the waveform matching evaluation value. This usually involves configuring fusion coefficients such as delay time and waveform matching, which can be adjusted according to actual needs and equipment characteristics. Based on the fusion coefficient, the time consistency evaluation value and the waveform matching evaluation value are subjected to dimensionality reduction fusion processing. The dimensionality reduction fusion technology can be achieved through methods such as weighted averaging or principal component analysis (PCA), simplifying the multi-dimensional evaluation results into a comprehensive indicator. This indicator comprehensively reflects the synchronization of the rotation mechanism and the impact mechanism in time and power output, and provides an important basis for subsequent control strategy adjustments.

[0034] P40: When the rotation impact synchronization fails to reach the consistency target, a control parameter is obtained by retrospective analysis based on the deviation between the rotation impact synchronization and the consistency target.

[0035] Furthermore, step P40 of the embodiment of the present application also includes:

[0036] P41: Taking flow, pressure and wrapping pressure as parameter variables, analyze the correlation between the rotation impact synchronization and the parameter variables; P42: Analyze the deviation based on the correlation and determine the fitting coefficient, which represents the influence of the parameter variable on the deviation; P43: Match and decouple based on the fitting coefficient of each parameter variable to obtain the control parameter, which is a parameter that affects the rotation impact synchronization, and is one or a combination of the flow, pressure and wrapping pressure.

[0037] Optionally, in the adaptive control process of the hydraulic rotary impact equipment, when it is detected that the rotary impact synchronization does not reach the preset consistency target, the system enters the deviation tracing and analysis stage, aiming to find out the specific cause of the synchronization deviation through in-depth analysis of the relationship between the rotary impact synchronization and the control parameters, and obtain the control parameters required for adjustment accordingly.

[0038] To achieve this goal, first of all, a systematic correlation analysis is carried out with flow, pressure, and package pressure as key parameter variables. These parameter variables directly affect the output performance of the hydraulic system, thereby indirectly affecting the operating status of the rotating mechanism and the impact mechanism. Through mathematical methods such as statistical analysis and regression analysis, the correlation between the rotation impact synchronization and these parameter variables is analyzed to clarify which parameter variables have a significant impact on synchronization.

[0039] Furthermore, based on the results of the above correlation analysis, the synchronization deviation is analyzed in depth. Exemplarily, the deviation is used as the dependent variable and the parameter variable is used as the independent variable to construct a mathematical model for fitting. Through the fitting process, the fitting coefficient of each parameter variable is determined, and these fitting coefficients quantitatively describe the influence of the parameter variable on the deviation. The positive and negative, size of the fitting coefficient directly reflects the direction and degree of synchronization improvement caused by the adjustment of the parameter variable.

[0040] Finally, a matching decoupling operation is performed based on the fitting coefficients of each parameter variable, and the combined effects of multiple parameter variables are decomposed into separate control variables through a mathematical model (such as a linear decoupling model). The purpose of matching decoupling is to separate one or several parameters that have the most significant impact on the synchronization of the rotary impact from multiple interrelated parameter variables and adjust them as control parameters. These control parameters may be one or a combination of flow, pressure, and wrapping pressure. By accurately calculating and adjusting the values ​​of these control parameters, the synchronization deviation can be effectively reduced, making the working states of the rotary mechanism and the impact mechanism more coordinated.

[0041] Accurate control parameters are obtained through correlation analysis and fitting coefficient determination of parameter variables such as flow, pressure and wrapping pressure. These control parameters will be used for adaptive adjustment to optimize the performance of the hydraulic rotary impact equipment and ensure that it can achieve the best consistency and synchronization under various working conditions.

[0042] Furthermore, step P41 of the embodiment of the present application further includes:

[0043] P41-1: The relationship between the rotation impact synchronization and the flow rate, pressure, and package pressure is set as a linear model: , where Q is flow, P is pressure, B is package pressure, , , is the relationship coefficient, and C is the constant term; P41-2: Use multiple linear regression analysis to determine the relationship coefficient and constant term, including: constructing a data matrix based on the historical sample set: , where n is the number of samples, is the sample data at the nth time point; the least square method is used to solve the data matrix, obtain the relationship coefficient and the constant term, and obtain the correlation between the rotation impact synchronization and the parameter variable.

[0044] Specifically, the specific process of analyzing the correlation between the rotation impact synchronization and the parameter variable may be, first, assuming that the rotation impact synchronization There is a linear relationship between flow rate Q, pressure P, and package pressure B. This assumption is based on simplification and practical engineering experience. Although the actual situation may be more complicated, the linear model can usually provide effective insights in the preliminary analysis stage. Therefore, the linear model is set as: , where Q is flow, P is pressure, B is package pressure, , , are relationship coefficients, which respectively represent the influence of flow, pressure and package pressure on synchronization, and C is a constant term used to compensate for the fixed deviation in the model.

[0045] Furthermore, in order to determine the relationship coefficients and constant terms in the above linear model, multiple linear regression analysis is used. This method is based on a historical sample set and uses statistical analysis to find the best fitting model parameters. First, a certain number of historical sample data are collected, each sample contains the observed values ​​of the rotational impact synchronization and the corresponding flow, pressure, and package pressure values. Assuming there are n such samples, a data matrix can be constructed: , where n is the number of samples, is the sample data at the nth time point. In addition, a column of all 1s is added to the data matrix to correspond to the constant term C.

[0046] Furthermore, the data matrix is ​​solved using the least squares method to obtain the relationship coefficient , , and constant term C. The least squares method aims to minimize the sum of squares of the errors between the model prediction value and the actual value. By obtaining the relationship coefficient and constant term, the correlation between the rotation impact synchronization and the parameter variables is obtained. These coefficients represent the intensity and direction of the influence of each parameter variable on the rotation impact synchronization. Among them, the relationship coefficient , , The magnitude and sign of reveal how flow, pressure, and pack pressure affect the rotational impact synchronization. For example, a positive coefficient indicates that the parameter variable has a positive effect on synchronization, while a negative coefficient indicates a negative effect. The constant term C represents the base level of synchronization when all parameter variables are zero.

[0047] Through the above steps, the relationship between the rotational impact synchronization and the flow, pressure and package pressure was successfully modeled, and the key relationship coefficients and constant terms were determined using multivariate linear regression analysis, providing a scientific basis for the subsequent control parameter acquisition and adaptive adjustment.

[0048] Furthermore, step P43 of the embodiment of the present application also includes:

[0049] P43-1: With the goal of minimizing the deviation of rotational impact synchronization, an objective function is constructed based on the fitting coefficient; P43-2: Historical data is obtained, and parameter variables are initialized based on the historical data; P43-3: A decoupling search strategy is configured, which includes the search direction from a single parameter variable to a combination of parameter variables, a learning rate, and an iteration stop target; P43-4: Based on the objective function and the decoupling search strategy, a decoupling search space is constructed, and a matching decoupling search is performed through the decoupling search space, including: Step 1: Randomly obtain a single parameter variable as the search target, and perform an optimization search with the initial parameter variable as the starting point, and calculate the search loss gradient according to the objective function; Step 2: Based on the search loss gradient, according to The parameter variables are updated by the gradient descent method, and the search is repeated until the iteration stop target is reached to obtain the minimum loss objective function value of the single parameter variable; Step 3: Randomly obtain a combination of parameter variables, perform an optimization search with the initial parameter variables as the starting point, and calculate the search loss gradient according to the objective function; Step 4: Based on the search loss gradient, the parameter variable combination is updated according to the gradient descent method, and the search is repeated until the iteration stop target is reached to obtain the minimum loss objective function value of the parameter variable combination; Step 5: Search for the minimum loss objective value from the minimum loss objective function value of the single parameter variable and the minimum loss objective function value of the parameter variable combination, and output the corresponding parameter variable or parameter variable combination as the control parameter.

[0050] It should be understood that in order to more accurately obtain the control parameters that have a significant impact on the synchronization of rotational impact, the selection of parameter variables is optimized by constructing an objective function and a decoupled search strategy. Specifically, first, with the goal of minimizing the deviation of the synchronization of rotational impact, an objective function is constructed based on the fitting coefficients obtained by the multivariate linear regression analysis to quantify the degree of deviation of the synchronization of rotational impact under different parameter variables or combinations of parameter variables.

[0051] Furthermore, the operating data of the rotary impact equipment is obtained from the historical sample set, including flow, pressure, wrapping pressure and rotary impact synchronization. Based on the historical data, the parameter variables Q, P, and B are initialized as the starting point for the optimization search. Then, the decoupled search strategy is configured, including configuring the search direction from a single parameter variable to a combination of parameter variables to cover all possible parameter combinations; setting the learning rate to control the step size of the parameter variable update in each iteration to ensure the stability and convergence of the optimization process; defining the iteration stop target, and stopping the search when the change in the objective function is less than a preset threshold or the maximum number of iterations is reached. The decoupled search strategy aims to find the parameter variable or parameter variable combination that minimizes the objective function by systematically exploring the parameter space.

[0052] Furthermore, based on the objective function and the decoupled search strategy, a decoupled search space is constructed, and the search is performed through the following steps: First, a single parameter variable is randomly obtained as the search target, that is, one of Q, P, and B is selected as the search target, and the parameter variable is optimized using the gradient descent method. The loss gradient in the search process is calculated, that is, the derivative of the objective function relative to the parameter variable, indicating the direction and magnitude of the change of the parameter variable, and the parameter value is updated according to the gradient until the iteration stop target is reached. The minimum loss objective function value at this time is recorded.

[0053] Furthermore, a combination of parameter variables is randomly obtained, that is, a combination of multiple parameters is selected from Q, P, and B as the search target, and the initial parameter variables are used as the starting point for optimization search. The gradient descent method is also used for optimization search. In each iteration, the loss gradient under the combined parameters is calculated and the parameter value is updated. This process is repeated until the iteration stop condition is met, and the minimum loss objective function value is recorded.

[0054] Finally, the loss minimum objective function values ​​of all single parameter variables and parameter variable combinations are compared, and the parameter variable or parameter variable combination corresponding to the minimum loss value is selected as the final control parameter output. These control parameters will be used to adaptively adjust the hydraulic rotary impact equipment to ensure its efficient operation and stability under various working conditions.

[0055] P50: Taking the deviation as an adjustment target, adaptively fitting the control parameters to obtain a control strategy.

[0056] Furthermore, step P50 of the embodiment of the present application also includes:

[0057] P51: When the control parameter is a single parameter variable, the consumption evaluation function is adjusted: , used to represent the energy or resource loss required to adjust the control parameters, where ΔQ, ΔP, ΔB are the control parameter flow , pressure P, wrapping pressure B adjustment, α, β, γ are the corresponding weight coefficients, calculate the adjustment loss value; P52: when the control parameter is a combination of parameter variables, according to the adjustment offset evaluation function: , which is used to represent the mutual offset of adjustments between different parameters, where ρ, σ, and λ are the offset coefficients, is the current parameter value of the parameter variable, is the adjustment value of the parameter variable, which represents the interaction between different parameters, and obtains the adjustment loss value; P53: According to the adjustment loss value, the parameter variable and the preset compensation module are matched, the compensation amount is determined, and the control parameter is corrected using the compensation amount to obtain the control strategy, wherein the preset compensation module is a compensation analysis model obtained by training with a supervised learning algorithm using historical data as a training set.

[0058] It should be understood that the deviation of the rotation impact synchronization is used as the adjustment target, and the control parameters are adaptively fitted to develop an effective control strategy. First, when the control parameter is a single parameter variable (such as flow Q, pressure P or package pressure B), the energy or resource loss required to adjust the parameter is first evaluated. This is achieved by adjusting the consumption evaluation function, which is: , used to represent the energy or resource loss required to adjust the control parameters, where ΔQ, ΔP, ΔB are the control parameter flow , pressure P, and wrapping pressure B, α, β, and γ are the corresponding weight coefficients. The adjustment loss value is calculated by adjusting the consumption evaluation function, which quantifies the total cost required to implement parameter adjustment.

[0059] Furthermore, when the control parameters are a combination of parameter variables, the situation becomes more complicated because the adjustments between different parameters may produce a mutual offset. In order to accurately evaluate this effect, an adjustment offset evaluation function can be introduced: , the adjustment offset evaluation function is used to represent the mutual offset effect of adjustment between different parameters, where ρ, σ, λ are the offset coefficients, is the current parameter value of the parameter variable, is the adjustment value of the parameter variable, which represents the interaction between different parameters. By adjusting the offset evaluation function, the adjustment loss value is calculated.

[0060] Furthermore, after obtaining the adjustment loss value, it is matched with the preset compensation module. The preset compensation module is a compensation analysis model trained by a supervised learning algorithm based on historical data. The model can identify and compensate for control deviations caused by factors such as system nonlinearity, uncertainty or external interference. By matching the adjustment loss value and the compensation analysis model, the appropriate compensation amount is determined, that is, the additional adjustment amount required for the control parameters to achieve the optimal control effect. Finally, according to the calculated compensation amount, the control parameters are corrected to finally obtain the optimized control strategy. The control strategy aims to minimize the deviation amount and optimize the synchronization of rotational impact.

[0061] P60: Verify the control strategy through the environmental recognition data of the environmental autonomous sensing module, and use the control strategy that meets the verification as the execution control strategy.

[0062] Furthermore, step P60 of the embodiment of the present application also includes:

[0063] P61: Obtain a monitoring data set of environmental sensors, where the monitoring data set includes temperature, humidity, pressure, dust, and vibration; P62: Evaluate the monitoring data set based on the baseline of each monitoring data to obtain abnormal monitoring data; P63: Determine the environment type based on the deviation ratio of the abnormal monitoring data; P64: Evaluate the parameter response of the control strategy based on the comparison of the environment type with the expected environmental conditions, and when the parameter response result meets the response tolerance threshold, use the control strategy as the execution control strategy.

[0064] Optionally, the control strategy can be verified through the environmental recognition data of the environmental autonomous sensing module, and evaluated and corrected according to the actual environment type and system response to ensure the effectiveness and stability of the control strategy under different environmental conditions. This process can not only improve the operating efficiency of the equipment, but also prevent potential failures caused by environmental changes and extend the service life of the equipment.

[0065] Specifically, first, various sensors (such as temperature sensors, humidity sensors, pressure sensors, dust sensors and vibration sensors) in the environment autonomous sensing module are used to comprehensively monitor various parameters of the current environment to obtain a monitoring data set, including comprehensive information on ambient temperature, humidity, pressure, dust concentration and vibration conditions. Furthermore, the monitoring data set is evaluated according to the preset baselines of each monitoring data (i.e., the standard value or range under normal environmental conditions), and the monitoring data can be obtained through historical data or experimental measurements. By comparing the actual monitoring values ​​with the baseline values, abnormal monitoring data that exceeds the normal range or standard is identified. These abnormal data may indicate significant changes in environmental conditions or potential problems. For example, the temperature exceeds the set threshold, the humidity is too high, or the dust concentration is too high.

[0066] Furthermore, the proportion of abnormal monitoring data in the entire data set is calculated to determine the degree of deviation of the environment. According to the deviation proportion, the environment is divided into different types (such as normal, mild abnormality, severe abnormality, etc.). Each environment type corresponds to different environmental conditions and response strategies. Compare the current environment type with the expected environmental conditions to evaluate the parameter response results of the control strategy in the current environment. For example, in a high temperature environment, whether the response of the control strategy can effectively adjust the equipment parameters to maintain stability. At the same time, set the response tolerance threshold, that is, the allowable range of the control strategy under different environmental conditions. When the parameter response result meets the threshold, it means that the control strategy is effective in the current environment.

[0067] Finally, the control strategy that meets the response tolerance threshold and is verified by the environmental autonomous sensing module is used as the final execution control strategy. According to the verification results, the control strategy that meets the conditions is executed to ensure the stable operation and efficient performance of the hydraulic rotary impact equipment under various environmental conditions.

[0068] In summary, the embodiments of the present application have at least the following technical effects:

[0069] The present application performs consistency analysis by obtaining the rotation monitoring parameters of the rotating mechanism and the impact monitoring parameters of the impact mechanism. When the rotation-impact synchronization fails to reach the consistency target, the control parameters are obtained based on the traceback analysis according to the deviation amount. The deviation amount is used as the adjustment target, and the control parameters are adaptively fitted to generate a control strategy. The control strategy is then verified through the environmental autonomous sensing module as the execution control strategy.

[0070] The technical effect of performing adaptive control with the consistency of the rotation and impact mechanism parameters as the goal, improving the equipment control accuracy, work efficiency and processing quality has been achieved.

[0071] Embodiment 2

[0072] Based on the same inventive concept as the adaptive control method of the hydraulic rotary impact device in the aforementioned embodiment, Figure 3 As shown, the present application provides an adaptive control system for a hydraulic rotary impact device, and the system and method embodiments in the present application are based on the same inventive concept. The system includes:

[0073] The rotation monitoring parameter acquisition module 11 is used to establish a rotation acquisition channel to acquire the rotation monitoring parameters of the rotating mechanism, including the rotation speed and the rotation torque.

[0074] The impact monitoring parameter acquisition module 12 is used to establish an impact collection channel and acquire impact monitoring parameters of the impact mechanism, including impact frequency and impact strength.

[0075] The consistency analysis module 13 is used to perform consistency analysis according to the rotation monitoring parameters and impact monitoring parameters of the rotation mechanism to obtain rotation impact synchronization.

[0076] The deviation tracing and analyzing module 14 is used to obtain control parameters according to the deviation tracing and analyzing between the rotation impact synchronization and the consistency target when the rotation impact synchronization fails to reach the consistency target.

[0077] The control parameter fitting module 15 is used to take the deviation as an adjustment target, perform adaptive fitting on the control parameter, and obtain a control strategy.

[0078] The control strategy verification module 16 is used to verify the control strategy through the environment recognition data of the environment autonomous sensing module, and use the control strategy that meets the verification as the execution control strategy.

[0079] Furthermore, the consistency analysis module 13 is further configured to perform the following steps:

[0080] The collected analog signals of the rotation monitoring parameters and impact monitoring parameters are converted into digital signals, and a timing alignment relationship is established; based on the timing alignment relationship, the delay time is calculated by fitting the waveforms of the rotation speed and the impact frequency, and the time consistency evaluation value is determined according to the delay time; by fitting the waveforms of the rotation torque and the impact force, the waveform similarity is calculated to obtain the waveform matching evaluation value; the delay time and waveform matching fusion coefficients are configured, and the time consistency evaluation value and the waveform matching evaluation value are fused by dimensionality reduction based on the fusion coefficient to generate the rotation impact synchronization.

[0081] Furthermore, the deviation tracing and parsing module 14 is further configured to perform the following steps:

[0082] With flow, pressure and wrapping pressure as parameter variables, the correlation between the rotation impact synchronization and the parameter variables is analyzed; based on the correlation, the deviation is analyzed to determine the fitting coefficient, and the fitting coefficient represents the influence of the parameter variable on the deviation; matching and decoupling are performed based on the fitting coefficients of each parameter variable to obtain the control parameter, which is a parameter that affects the rotation impact synchronization, and the control parameter is one or a combination of the flow, pressure and wrapping pressure.

[0083] Furthermore, the deviation tracing and parsing module 14 is further configured to perform the following steps:

[0084] The relationship between the rotation impact synchronization and the flow rate, pressure, and package pressure is set to a linear model: , where Q is flow, P is pressure, B is package pressure, , , is the relationship coefficient, and C is the constant term; multiple linear regression analysis is used to determine the relationship coefficient and the constant term, including: constructing a data matrix according to the historical sample set: , where n is the number of samples, is the sample data at the nth time point; the least square method is used to solve the data matrix, obtain the relationship coefficient and the constant term, and obtain the correlation between the rotation impact synchronization and the parameter variable.

[0085] Furthermore, the deviation tracing and parsing module 14 is further configured to perform the following steps:

[0086] The objective function is constructed based on the fitting coefficient with the goal of minimizing the deviation of the rotation impact synchronization; historical data is obtained, and parameter variables are initialized based on the historical data; a decoupling search strategy is configured, including the search direction from a single parameter variable to a combination of parameter variables, a learning rate, and an iteration stop target; a decoupling search space is constructed based on the objective function and the decoupling search strategy, and a matching decoupling search is performed through the decoupling search space, including: step 1: randomly obtaining a single parameter variable as a search target, and performing an optimization search with the initial parameter variable as a starting point, and calculating a search loss gradient according to the objective function; step 2: based on the search loss gradient, updating the parameter variable according to the gradient descent method, Repeat the search until the iteration stop target is reached, and obtain the minimum loss objective function value of the single parameter variable; Step 3: Randomly obtain a combination of parameter variables, perform optimization search with the initial parameter variable as the starting point, and calculate the search loss gradient according to the objective function; Step 4: Based on the search loss gradient, update the parameter variable combination according to the gradient descent method, repeat the search until the iteration stop target is reached, and obtain the minimum loss objective function value of the parameter variable combination; Step 5: Search for the minimum loss target value from the minimum loss objective function value of the single parameter variable and the minimum loss objective function value of the parameter variable combination, and output the corresponding parameter variable or parameter variable combination as the control parameter.

[0087] Furthermore, the control parameter fitting module 15 is also used to perform the following steps:

[0088] When the control parameter is a single parameter variable, the consumption evaluation function is adjusted according to: , used to represent the energy or resource loss required to adjust the control parameters, where ΔQ, ΔP, ΔB are the control parameter flow , pressure P, wrapping pressure B adjustment, α, β, γ are the corresponding weight coefficients, calculate the adjustment loss value; when the control parameter is a combination of parameter variables, according to the adjustment offset evaluation function: , which is used to represent the mutual offset of adjustments between different parameters, where ρ, σ, and λ are the offset coefficients, is the current parameter value of the parameter variable, is the adjustment value of the parameter variable, which represents the interaction between different parameters, and obtains the adjustment loss value; according to the adjustment loss value, the parameter variable is matched with the preset compensation module, the compensation amount is determined, and the control parameter is corrected using the compensation amount to obtain the control strategy, wherein the preset compensation module is a compensation analysis model obtained by training with a supervised learning algorithm using historical data as a training set.

[0089] Furthermore, the control strategy verification module 16 is also used to perform the following steps:

[0090] Acquire a monitoring data set of an environmental sensor, the monitoring data set including temperature, humidity, pressure, dust, and vibration; evaluate the monitoring data set with a baseline of each monitoring data to obtain abnormal monitoring data; determine the environment type according to the deviation ratio of the abnormal monitoring data; compare the environment type with the expected environmental conditions, evaluate the parameter response of the control strategy, and when the parameter response result meets the response tolerance threshold, use the control strategy as the execution control strategy.

[0091] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0092] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

[0093] This specification and the drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. An adaptive control method for a hydraulic rotary impact device, characterized in that: The adaptive control method of the hydraulic rotary impact device comprises: Establish a rotation acquisition channel to obtain the rotation monitoring parameters of the rotating mechanism, including rotation speed and rotation torque; Establish an impact collection channel to obtain the impact monitoring parameters of the impact mechanism, including impact frequency and impact intensity; Perform consistency analysis based on the rotation monitoring parameters and impact monitoring parameters of the rotating mechanism to obtain rotation impact synchronization; When the rotation impact synchronization fails to reach the consistency target, a control parameter is obtained by retrospective analysis based on the deviation between the rotation impact synchronization and the consistency target; Taking the deviation as an adjustment target, adaptively fitting the control parameters to obtain a control strategy; Verifying the control strategy through the environment recognition data of the environment autonomous sensing module, and taking the control strategy that meets the verification as the execution control strategy; The method of performing consistency analysis based on the rotation monitoring parameters and impact monitoring parameters of the rotation mechanism to obtain the rotation impact synchronization includes: Convert the collected analog signals of the rotation monitoring parameters and impact monitoring parameters into digital signals, and establish a timing alignment relationship; Based on the timing alignment relationship, by fitting the waveforms of the rotation speed and the impact frequency, a delay time is calculated, and a time consistency evaluation value is determined according to the delay time; By fitting the waveforms of the rotational torque and the impact force, the waveform similarity is calculated to obtain a waveform matching evaluation value; Configure the delay time and the waveform matching fusion coefficient, and perform dimension reduction fusion on the time consistency evaluation value and the waveform matching evaluation value based on the fusion coefficient to generate the rotation impact synchronization; The step of tracing back and analyzing the deviation between the rotation impact synchronization and the consistency target to obtain the control parameters includes: Taking flow rate, pressure and wrapping pressure as parameter variables, analyzing the correlation between the rotation impact synchronization and the parameter variables; Analyze the deviation based on the correlation to determine a fitting coefficient, wherein the fitting coefficient represents the influence of the parameter variable on the deviation; Matching and decoupling are performed based on the fitting coefficients of each parameter variable to obtain the control parameter, where the control parameter is a parameter that affects the synchronization of the rotation impact, and the control parameter is one or a combination of the flow rate, pressure, and wrapping pressure; The deviation is used as an adjustment target, and the control parameters are adaptively fitted to obtain a control strategy, including: When the control parameter is a single parameter variable, the consumption evaluation function is adjusted according to: , used to represent the energy or resource loss required to adjust the control parameters, where , , Is the control parameter flow ,pressure , Package pressure The adjustment amount, α, β, γ are the corresponding weight coefficients, and the adjustment loss value is calculated; When the control parameter is a combination of parameter variables, the evaluation function is adjusted to offset: , which is used to represent the mutual offset of adjustments between different parameters, where ρ, σ, and λ are the offset coefficients, is the current parameter value of the parameter variable, is the adjusted value of the parameter variable, which represents the interaction between different parameters and obtains the adjusted loss value; According to the adjustment loss value, the parameter variable is matched with the preset compensation module to determine the compensation amount, and the control parameter is corrected by using the compensation amount to obtain the control strategy, wherein the preset compensation module is a compensation analysis model obtained by training with a supervised learning algorithm using historical data as a training set; The process of verifying the control strategy through the environment recognition data of the environment autonomous sensing module and taking the control strategy that meets the verification as the execution control strategy includes: Acquire a monitoring data set of an environmental sensor, wherein the monitoring data set includes temperature, humidity, pressure, dust, and vibration; Evaluate each monitoring data baseline according to the monitoring data set to obtain abnormal monitoring data; Determining the environment type according to the deviation ratio of the abnormal monitoring data; The environment type is compared with the expected environment condition, the parameter response of the control strategy is evaluated, and when the parameter response result meets the response tolerance threshold, the control strategy is used as the execution control strategy.

2. The adaptive control method of the hydraulic rotary impact device according to claim 1, characterized in that: The flow rate, pressure, and wrapping pressure are used as parameter variables to analyze the correlation between the rotation impact synchronization and the parameter variables, including: The relationship between the rotation impact synchronization and the flow rate, pressure, and package pressure is set to a linear model: ,in, For flow, For pressure, For package pressure, , , is the relationship coefficient, C is the constant term; Multiple linear regression analysis was used to determine the relationship coefficients and constant terms, including: Construct a data matrix based on the historical sample set: , where n is the number of samples, is the sample data at the nth time point; The least square method is used to solve the data matrix, obtain the relationship coefficient and constant term, and obtain the correlation between the rotation impact synchronization and the parameter variable.

3. The adaptive control method of the hydraulic rotary impact device according to claim 1, characterized in that: The matching and decoupling based on the fitting coefficients of the parameter variables to obtain the control parameters includes: With the goal of minimizing the deviation of the rotation impact synchronization, an objective function is constructed based on the fitting coefficients; Get historical data and initialize parameter variables based on historical data; Configure the decoupled search strategy, including the search direction from single parameter variables to parameter variable combinations, learning rate, and iteration stop target; Based on the objective function and the decoupled search strategy, a decoupled search space is constructed, and matching decoupled search is performed through the decoupled search space, including: Step 1: randomly obtain a single parameter variable as the search target, and use the initial parameter variable as the starting point for optimization search, and calculate the search loss gradient according to the objective function; Step 2: Based on the search loss gradient, update the parameter variable according to the gradient descent method, repeat the search until the iteration stop target is reached, and obtain the minimum loss objective function value of the single parameter variable; Step 3: randomly obtain a combination of parameter variables, perform optimization search with the initial parameter variables as the starting point, and calculate the search loss gradient according to the objective function; Step 4: Based on the search loss gradient, update the parameter variable combination according to the gradient descent method, repeat the search until the iteration stop target is reached, and obtain the minimum loss objective function value of the parameter variable combination; Step 5: Search for the minimum loss target value from the minimum loss target function value of the single parameter variable and the minimum loss target function value of the parameter variable combination, and output the corresponding parameter variable or parameter variable combination as the control parameter.

4. An adaptive control system for a hydraulic rotary impact device, characterized in that: The system is used to implement the adaptive control method of the hydraulic rotary impact device according to any one of claims 1 to 3, and the system comprises: A rotation monitoring parameter acquisition module, which is used to establish a rotation acquisition channel to obtain rotation monitoring parameters of the rotating mechanism, including rotation speed and rotation torque; An impact monitoring parameter acquisition module, which is used to establish an impact collection channel and acquire impact monitoring parameters of the impact mechanism, including impact frequency and impact intensity; A consistency analysis module, the consistency analysis module is used to perform consistency analysis according to the rotation monitoring parameters and impact monitoring parameters of the rotation mechanism to obtain rotation impact synchronization; A deviation tracing and analyzing module, wherein the deviation tracing and analyzing module is used to obtain control parameters according to the deviation between the rotation impact synchronization and the consistency target when the rotation impact synchronization fails to reach the consistency target; A control parameter fitting module, wherein the control parameter fitting module is used to take the deviation as an adjustment target, perform adaptive fitting on the control parameter, and obtain a control strategy; A control strategy verification module is used to verify the control strategy through the environmental recognition data of the environmental autonomous sensing module, and use the control strategy that meets the verification as the execution control strategy.

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