Inertia load simulation control method, system and test bench for large inertia closed system

Abstract

The invention discloses an inertial load simulation control method and system of a large inertia closed system, and a test bench. The closed system motor speed is used as a detection quantity to facilitate data collection, so that the inertial load simulation control of the large inertia closed system can be performed, and the simulated inertial load of the test bench is first closed-loop controlled to ensure the precision and accuracy of the inertial load simulation control, and at the same time, a proportional servo valve control signal curve during closed-loop control is obtained, and then open-loop control is performed on the simulated inertial load based on the proportional servo valve control signal curve to optimize the proportional servo valve control signal curve, and finally open-loop control is performed based on the optimized proportional servo valve control signal curve, so that the performance of the optimized closed system can be tested.

Description

Technical Field

[0001] The present invention relates to the technical field of inertial load simulation, and in particular to a load simulation control method and system for inertia of a large inertia closed system, a test bench, an electronic device, and a computer-readable storage medium. Background Art

[0002] With the development of society, there are more and more equipment with large inertia loads, such as walking machinery, screw conveyors, etc. Since their hydraulic systems have the characteristics of high power density, existing large inertia loads are often driven by hydraulic closed systems. The load inertia of hydraulic closed systems such as walking machinery and screw conveyors is large. When braking, due to the inertia, high pressure is generated on the motor outlet of the hydraulic closed system (i.e., the pump suction port). When the pressure reaches a certain level, it will damage the pipelines, pumps, motors and other components of the walking closed system, thereby affecting the reliability and service life of the entire equipment; however, the high pressure at the pump suction port cannot be too low, which will cause the equipment to brake for too long and cause safety hazards. Therefore, it is necessary to reasonably match the motor speed, hydraulic components, component set pressure, etc. of the hydraulic closed system so that the pump suction port pressure is neither too high nor too low when the equipment is braked. At present, the inertial load of the large inertia hydraulic closed system is simulated on the test bench to test the performance of the large inertia hydraulic closed system.

[0003] The inertial loading methods of the existing test bench include flywheel loading, motor loading and motor loading. Among them, since the flywheel is more dangerous when loaded at high speed, the motor loading method or motor loading method is usually adopted. However, the existing motor loading method and motor loading method both adopt torque closed-loop control, which requires the acquisition of torque data of the actual working conditions and then reproduces the simulation on the test bench. For example, patent CN106646219A discloses an inertial load simulation device, which uses a motor as an inertial loading element and uses electrical inertia to simulate the actual inertial load. The inertial load control method is a closed-loop control with torque as the control target, acceleration as detection, and real-time change of input torque signal; patent CN101532517A discloses an electro-hydraulic servo simulation method for a follow-up system load, which uses a motor as an inertial loading element and performs closed-loop control with torque as the control target. However, for large inertia load equipment, such as the walking system of a cotton picker, it is difficult to measure torque in real time, so the existing closed-loop torque control method is not suitable for inertial load simulation control of large inertia closed systems. Moreover, after the large-inertia hydraulic closed system under test is optimized, its performance test under inertial load cannot be achieved through torque closed-loop control, because the changes inside the tested closed system after optimization will affect the changes in torque under inertial load conditions, which is equivalent to the torque changes of the tested closed system after optimization being unknown, and the existing inertial loading control method requires the input of a known torque curve to perform inertial loading. Summary of the invention

[0004] The present invention provides a method and system for simulating the inertia load of a large inertia closed system, a test bench, electronic equipment, and a computer-readable storage medium, which can perform inertia load simulation control of the large inertia closed system and perform performance testing on the optimized closed system.

[0005] According to one aspect of the present invention, there is provided an inertial load simulation control method for a large inertia closed system, comprising the following contents:

[0006] Collect the speed of the closed system motor during actual braking of large inertia equipment to obtain the inertia load speed curve;

[0007] Based on the inertial load speed curve, the inertial load is controlled in a closed loop, and the control signal curve of the proportional servo valve during closed loop control is obtained;

[0008] Based on the control signal curve of the proportional servo valve, the inertial load is open-loop controlled to obtain an optimized control signal curve of the proportional servo valve;

[0009] After optimizing the closed system of the test bench, its performance was verified based on the optimized proportional servo valve control signal curve.

[0010] Furthermore, the process of collecting the speed of the closed system motor during actual braking of the large inertia device to obtain the inertia load speed curve includes the following:

[0011] A speed sensor is installed on the closed system motor of the large inertia device to collect the speed curve of the closed system motor of the large inertia device when braking under the actual working conditions of maximum walking speed and full load, and use it as the inertia load speed curve.

[0012] Furthermore, the process of controlling the inertial load in a closed loop based on the inertial load speed curve and obtaining the control signal curve of the proportional servo valve during the closed loop control includes the following:

[0013] The inertial load speed curve is input into the test bench. Through closed-loop control PID, the speed curve of the closed system motor of the test bench is kept consistent with the input inertial load speed curve. The control signal of the proportional servo valve during closed-loop control is collected to obtain the proportional servo valve control signal curve.

[0014] Furthermore, the process of open-loop controlling the inertial load based on the control signal curve of the proportional servo valve to obtain an optimized control signal curve of the proportional servo valve includes the following:

[0015] The proportional servo valve control signal curve is directly input into the proportional servo valve of the test bench for open-loop control, and the speed of the closed system motor of the test bench is collected. By adjusting and optimizing the proportional servo valve control signal curve, the deviation between the speed curve of the closed system motor of the test bench under open-loop control and the inertial load speed curve is within a preset range, and the optimized proportional servo valve control signal curve is saved.

[0016] Furthermore, after optimizing the closed system of the test bench, the process of verifying its performance based on the optimized proportional servo valve control signal curve includes the following:

[0017] After optimizing the closed system of the test bench, the optimized proportional servo valve control signal curve is input into the proportional servo valve of the test bench. The performance of the optimized closed system is verified by collecting the maximum braking pressure and braking distance of the optimized closed system.

[0018] Furthermore, the following contents are also included:

[0019] The brake side pressure of the closed system during actual braking of the large inertia device is collected to obtain the actual brake pressure curve. The brake side pressure of the closed system of the test bench during closed-loop control is collected to obtain a simulated brake pressure curve. The simulated brake pressure curve is compared with the actual brake pressure curve, and the consistency between the closed system of the test bench and the closed system of the large inertia device is judged based on the comparison results.

[0020] In addition, the present invention further provides an inertia load simulation control system for a large inertia closed system, which adopts the inertia load simulation control method for a large inertia closed system as described above, comprising:

[0021] The speed acquisition module is used to collect the speed of the closed system motor during actual braking of large inertia equipment to obtain the inertia load speed curve;

[0022] A closed-loop control module is used to perform closed-loop control of the inertial load based on the inertial load speed curve and obtain a control signal curve of the proportional servo valve during closed-loop control;

[0023] An open-loop control module, used for open-loop control of the inertial load based on a control signal curve of the proportional servo valve, to obtain an optimized control signal curve of the proportional servo valve;

[0024] The performance verification module is used to verify the performance of the closed system of the test bench based on the optimized proportional servo valve control signal curve after the closed system of the test bench is optimized.

[0025] In addition, the present invention also provides a test bench for simulating the inertial load of a hydraulic closed system of a large inertia device, using the inertial load simulation control system of the large inertia closed system as described above.

[0026] In addition, the present invention also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0027] In addition, the present invention also provides a computer-readable storage medium for storing a computer program for performing inertial load simulation control of a large inertia closed system, wherein the computer program executes the steps of the method described above when running on a computer.

[0028] The present invention has the following beneficial effects:

[0029] The inertial load simulation control method for a large inertia closed system of the present invention adopts the closed system motor speed as the detection quantity, which is convenient for data collection, so that the inertial load simulation control of the large inertia closed system can be performed, and the simulated inertial load of the test bench is first closed-loop controlled to ensure the precision and accuracy of the inertial load simulation control, and at the same time obtain the proportional servo valve control signal curve during closed-loop control, and then open-loop control is performed on the simulated inertial load based on the proportional servo valve control signal curve to optimize the proportional servo valve control signal curve, and finally open-loop control is performed based on the optimized proportional servo valve control signal curve, so that the performance of the optimized closed system can be tested.

[0030] In addition, the inertia load simulation control system and test bench of the large inertia closed system of the present invention also have the above advantages.

[0031] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0033] Figure 1 It is a flow chart of the inertial load simulation control method of a large inertia closed system according to the preferred embodiment of the present application.

[0034] Figure 2 It is a schematic diagram of the principle of closed-loop control of the inertial load simulation control method of the large inertia closed system of the preferred embodiment of the present application on a test bench.

[0035] Figure 3 It is a schematic diagram of the principle of open-loop control on a test bench of the inertial load simulation control method of a large inertia closed system according to a preferred embodiment of the present application.

[0036] Figure 4 It is a schematic diagram of the module structure of an inertial load simulation control system of a large inertia closed system according to another embodiment of the present application. DETAILED DESCRIPTION

[0037] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0038] Reference Figure 1 The preferred embodiment of the present application provides an inertia load simulation control method for a large inertia closed system, comprising the following contents:

[0039] Step S1: collecting the speed of the closed system motor during actual braking of the large inertia device to obtain an inertia load speed curve;

[0040] Step S2: Close-loop control the inertial load based on the inertial load speed curve, and obtain a control signal curve of the proportional servo valve during closed-loop control;

[0041] Step S3: Open-loop control of the inertial load based on the control signal curve of the proportional servo valve to obtain an optimized control signal curve of the proportional servo valve;

[0042] Step S4: After optimizing the closed system of the test bench, verify its performance based on the optimized proportional servo valve control signal curve.

[0043] It can be understood that the inertial load simulation control method of the large inertia closed system of this embodiment first collects the closed system motor speed curve when the large inertia device is actually braked, and inputs it as the inertial load speed curve into the test bench to perform closed-loop control on the closed-loop system motor of the test bench, so that the speed curve of the closed system motor of the test bench is consistent with the motor speed curve during actual braking, and at the same time collects the control signal curve of the proportional servo valve of the test bench. Then, the control signal curve of the proportional servo valve is directly input into the proportional servo valve of the test bench for open-loop control, and the speed curve of the closed system motor of the test bench is collected, and the motor speed curve of the open-loop control is compared with the motor speed curve during actual braking. If there is a large difference between the two, the control signal curve of the proportional servo valve is adjusted and optimized until the difference between the two is within the preset range. Finally, after optimizing the closed system of the test bench, the optimized proportional servo valve control signal curve is used for open-loop control, so that the performance of the optimized closed system can be verified. The present invention adopts the motor speed of the closed system as the detection quantity, which is convenient for data collection, so that the inertial load simulation control of the large inertia closed system can be performed, and the simulated inertial load of the test bench is first closed-loop controlled to ensure the precision and accuracy of the inertial load simulation control, and at the same time, the proportional servo valve control signal curve during closed-loop control is obtained, and then the simulated inertial load is open-loop controlled based on the proportional servo valve control signal curve to optimize the proportional servo valve control signal curve, and finally open-loop control is performed based on the optimized proportional servo valve control signal curve, and the performance of the optimized closed system can be tested.

[0044] It can be understood that the test bench includes a closed system and an inertial loading system, wherein the closed system of the test bench is built at a 1:1 ratio based on the actual closed system of large inertia equipment, and the inertial loading system is used to perform inertial loading on the closed system of the test bench, which includes an accumulator, a proportional servo valve and a loading motor. The proportional servo valve is connected to the accumulator and the loading motor respectively, and the loading motor is rigidly connected to the closed system motor of the test bench through a coupling.

[0045] It can be understood that in step S1, the process of collecting the speed of the closed system motor when the large inertia device is actually braked to obtain the inertia load speed curve includes the following:

[0046] A speed sensor is installed on the closed system motor of the large inertia device to collect the speed curve of the closed system motor of the large inertia device when braking under the actual working conditions of maximum walking speed and full load, and use it as the inertia load speed curve.

[0047] Specifically, a speed sensor is installed on the closed system motor of the large inertia device. When the large inertia device is actually braked, the real-time speed of the actual closed system motor is collected to obtain the actual motor speed curve, and use it as the inertia load speed curve to control the inertia load of the test bench. Among them, it is preferred to use the large inertia device to collect the motor speed under the worst braking condition, that is, to collect the motor speed curve when the large inertia device is at the highest walking speed and full load condition. Of course, in other embodiments of the present invention, the motor speed curve of the large inertia device when braking under different conditions such as different walking speeds and different loads can also be collected to facilitate the inertia load simulation control under different braking conditions.

[0048] It can be understood that in step S2, the process of controlling the inertial load in a closed loop based on the inertial load speed curve and obtaining the control signal curve of the proportional servo valve during closed loop control includes the following:

[0049] The inertial load speed curve is input into the test bench. Through closed-loop control PID, the speed curve of the closed system motor of the test bench is kept consistent with the input inertial load speed curve. The control signal of the proportional servo valve during closed-loop control is collected to obtain the proportional servo valve control signal curve.

[0050] Specifically, Figure 2 As shown, the inertial load speed curve obtained in step S1 (i.e., the motor speed curve during actual braking conditions) is input into the control system of the test bench, and the speed sensor on the test bench is used to collect the speed of the motor of the closed system of the test bench in real time. Through closed-loop control of PID, the speed of the motor of the closed system of the test bench is kept consistent with the input inertial load speed curve. At the same time, the control signal of the proportional servo valve during closed-loop control is collected to obtain the control signal curve of the proportional servo valve.

[0051] It can be understood that in step S3, the process of open-loop controlling the inertial load based on the control signal curve of the proportional servo valve to obtain the optimized control signal curve of the proportional servo valve includes the following:

[0052] The proportional servo valve control signal curve is directly input into the proportional servo valve of the test bench for open-loop control, and the speed of the closed system motor of the test bench is collected. By adjusting and optimizing the proportional servo valve control signal curve, the deviation between the speed curve of the closed system motor of the test bench under open-loop control and the inertial load speed curve is within a preset range, and the optimized proportional servo valve control signal curve is saved.

[0053] Specifically, Figure 3As shown, the proportional servo valve control signal curve obtained in step S2 is input into the control system of the test bench to perform open-loop control on the proportional servo valve, the speed of the motor of the closed system of the test bench is collected and the motor speed curve is obtained, and the motor speed curve is compared with the inertial load speed curve. If the difference between the two exceeds the preset requirement, the input proportional servo valve control signal curve is adjusted and optimized until the difference between the open-loop controlled motor speed curve and the inertial load speed curve is within the preset range, and the optimized proportional servo valve control signal curve is saved.

[0054] It can be understood that since the closed-loop control in step S2 is to change the control signal of the proportional servo valve in real time according to the speed parameter, and the response time of the valve / pump / motor of the closed system and the valve of the inertial loading system is not exactly the same every time, when the response time of the valve changes, the control signal of the proportional servo valve obtained by the closed-loop control is not exactly the same as the previous time, which causes the inertial loading system to input the same curve multiple times, and the control signal of the proportional servo valve obtained is not exactly the same. Therefore, the present invention performs open-loop control on the inertial load based on the proportional servo valve control signal curve obtained by the closed-loop control, and considering that the open-loop control cannot adjust the control signal in real time, the proportional servo valve control signal obtained by the closed-loop control is not necessarily the optimal signal control curve of the open-loop control, therefore, when the simulated inertial load is open-loop controlled based on the proportional servo valve control signal curve, the proportional servo valve control signal curve is optimized, and the optimal control signal curve is obtained after multiple tests, and finally the open-loop control is performed based on the optimized proportional servo valve control signal curve, so that the performance of the optimized closed system can be tested.

[0055] It can be understood that in step S4, after optimizing the closed system of the test bench, the process of verifying its performance based on the optimized proportional servo valve control signal curve includes the following:

[0056] After optimizing the closed system of the test bench, the optimized proportional servo valve control signal curve is input into the proportional servo valve of the test bench. The performance of the optimized closed system is verified by collecting the maximum braking pressure and braking distance of the optimized closed system.

[0057] Specifically, after optimizing the closed system on the test bench, the optimized proportional servo valve control signal curve in step S3 is input into the control system of the test bench to perform open-loop control of the proportional servo valve, thereby verifying the performance of the optimized closed system. The main performance indicators to be verified include the maximum braking pressure and braking distance. The braking pressure can be detected by the pressure sensor on the test bench, while the braking distance can be obtained by integrating the motor speed of the closed system.

[0058] Optionally, the inertial load simulation control method of the large inertia closed system further includes the following contents:

[0059] The brake side pressure of the closed system during actual braking of the large inertia device is collected to obtain the actual brake pressure curve. The brake side pressure of the closed system of the test bench during closed-loop control is collected to obtain a simulated brake pressure curve. The simulated brake pressure curve is compared with the actual brake pressure curve, and the consistency between the closed system of the test bench and the closed system of the large inertia device is judged based on the comparison results.

[0060] Specifically, in step S1, the brake side pressure of the closed system during actual braking of the large inertia device is collected to obtain an actual brake pressure curve. In step S2, the brake side pressure of the closed system of the test bench during closed-loop control is collected to obtain a simulated brake pressure curve. Then, the two brake pressure curves are compared to determine the difference between the closed system of the test bench and the actual closed system of the large inertia device. When indicators such as the established maximum pressure, the pressure rise slope during braking, and the overall curve of the pressure curve of the two brake pressure curves are within the preset deviation range, it can be determined that the closed system of the test bench is basically consistent with the actual closed system of the large inertia device. If these indicators exceed the preset deviation range, the closed system of the test bench needs to be maintained and repaired to ensure the accuracy and reliability of the inertia load simulation.

[0061] In addition, if Figure 4 As shown, another embodiment of the present invention further provides an inertia load simulation control system for a large inertia closed system, preferably using the inertia load simulation control method for a large inertia closed system as described above, comprising:

[0062] The speed acquisition module is used to collect the speed of the closed system motor during actual braking of large inertia equipment to obtain the inertia load speed curve;

[0063] A closed-loop control module is used to perform closed-loop control of the inertial load based on the inertial load speed curve and obtain a control signal curve of the proportional servo valve during closed-loop control;

[0064] An open-loop control module, used for open-loop control of the inertial load based on a control signal curve of the proportional servo valve, to obtain an optimized control signal curve of the proportional servo valve;

[0065] The performance verification module is used to verify the performance of the closed system of the test bench based on the optimized proportional servo valve control signal curve after the closed system of the test bench is optimized.

[0066] It can be understood that the inertial load simulation control system of the large inertia closed system of this embodiment first collects the closed system motor speed curve when the large inertia device is actually braked, and inputs it as the inertial load speed curve into the test bench to perform closed-loop control on the closed-loop system motor of the test bench, so that the speed curve of the closed system motor of the test bench is consistent with the motor speed curve during actual braking, and at the same time collects the control signal curve of the proportional servo valve of the test bench. Then, the control signal curve of the proportional servo valve is directly input into the proportional servo valve of the test bench for open-loop control, and the speed curve of the closed system motor of the test bench is collected, and the motor speed curve of the open-loop control is compared with the motor speed curve during actual braking. If there is a large difference between the two, the control signal curve of the proportional servo valve is adjusted and optimized until the difference between the two is within the preset range. Finally, after optimizing the closed system of the test bench, the optimized proportional servo valve control signal curve is used for open-loop control, so that the performance of the optimized closed system can be verified. The present invention adopts the motor speed of the closed system as the detection quantity, which is convenient for data collection, so that the inertial load simulation control of the large inertia closed system can be performed, and the simulated inertial load of the test bench is first closed-loop controlled to ensure the precision and accuracy of the inertial load simulation control, and at the same time, the proportional servo valve control signal curve during closed-loop control is obtained, and then the simulated inertial load is open-loop controlled based on the proportional servo valve control signal curve to optimize the proportional servo valve control signal curve, and finally open-loop control is performed based on the optimized proportional servo valve control signal curve, and the performance of the optimized closed system can be tested.

[0067] In addition, another embodiment of the present invention further provides a test bench for simulating the inertial load of a hydraulic closed system of a large inertia device, preferably using the inertial load simulation control system of the large inertia closed system as described above.

[0068] In addition, another embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the above method by calling the computer program stored in the memory.

[0069] In addition, another embodiment of the present invention further provides a computer-readable storage medium for storing a computer program for performing inertial load simulation control of a large-inertia closed system, wherein the computer program executes the steps of the method described above when running on a computer.

[0070] Common computer-readable storage media include: floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, any other optical media, punch cards, paper tapes, any other physical media with patterns of holes, random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), flash-erasable programmable read-only memory (FLASH-EPROM), any other memory chip or cartridge, or any other medium that can be read by a computer. Instructions can further be transmitted or received by a transmission medium. The term transmission medium may include any tangible or intangible medium that can be used to store, encode or carry instructions for execution by a machine, and includes digital or analog communication signals or intangible media that facilitate communication of the above instructions. Transmission media include coaxial cables, copper wire, and optical fiber, including the wires of a bus used to transmit a computer data signal.

[0071] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes. The schemes in the embodiments of the present application may be implemented in various computer languages, for example, object-oriented programming language Java and literal scripting language JavaScript, etc.

[0072] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0073] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0074] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0075] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0076] Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for simulating inertial load control of a large inertia closed system, characterized in that: Includes the following: Collect the speed of the closed system motor during actual braking of large inertia equipment to obtain the inertia load speed curve; Based on the inertial load speed curve, the inertial load is controlled in a closed loop, and the control signal curve of the proportional servo valve during closed loop control is obtained; Based on the control signal curve of the proportional servo valve, the inertial load is open-loop controlled to obtain an optimized control signal curve of the proportional servo valve; After optimizing the closed system of the test bench, its performance was verified based on the optimized proportional servo valve control signal curve.

2. The inertia load simulation control method for a large inertia closed system according to claim 1, characterized in that: The process of collecting the speed of the closed system motor during actual braking of the large inertia device to obtain the inertia load speed curve includes the following: A speed sensor is installed on the closed system motor of the large inertia device to collect the speed curve of the closed system motor of the large inertia device when braking under the actual working conditions of maximum walking speed and full load, and use it as the inertia load speed curve.

3. The inertia load simulation control method for a large inertia closed system according to claim 1, characterized in that: The process of controlling the inertial load in closed loop based on the inertial load speed curve and obtaining the control signal curve of the proportional servo valve during closed loop control includes the following: The inertial load speed curve is input into the test bench. Through closed-loop control PID, the speed curve of the closed system motor of the test bench is kept consistent with the input inertial load speed curve. The control signal of the proportional servo valve during closed-loop control is collected to obtain the proportional servo valve control signal curve.

4. The inertial load simulation control method for a large inertia closed system according to claim 1, characterized in that: The process of open-loop controlling the inertial load based on the control signal curve of the proportional servo valve to obtain the optimized control signal curve of the proportional servo valve includes the following: The proportional servo valve control signal curve is directly input into the proportional servo valve of the test bench for open-loop control, and the speed of the closed system motor of the test bench is collected. By adjusting and optimizing the proportional servo valve control signal curve, the deviation between the speed curve of the closed system motor of the test bench under open-loop control and the inertial load speed curve is within a preset range, and the optimized proportional servo valve control signal curve is saved.

5. The inertial load simulation control method for a large inertia closed system according to claim 1, characterized in that: After optimizing the closed system of the test bench, the process of verifying its performance based on the optimized proportional servo valve control signal curve includes the following: After optimizing the closed system of the test bench, the optimized proportional servo valve control signal curve is input into the proportional servo valve of the test bench. The performance of the optimized closed system is verified by collecting the maximum braking pressure and braking distance of the optimized closed system.

6. The inertial load simulation control method for a large inertia closed system according to claim 1, characterized in that: Also included are the following: The brake side pressure of the closed system during actual braking of the large inertia device is collected to obtain the actual brake pressure curve. The brake side pressure of the closed system of the test bench during closed-loop control is collected to obtain a simulated brake pressure curve. The simulated brake pressure curve is compared with the actual brake pressure curve, and the consistency between the closed system of the test bench and the closed system of the large inertia device is judged based on the comparison results.

7. An inertia load simulation control system for a large inertia closed system, using the inertia load simulation control method for a large inertia closed system as claimed in any one of claims 1 to 6, characterized in that: include: The speed acquisition module is used to collect the speed of the closed system motor during actual braking of large inertia equipment to obtain the inertia load speed curve; A closed-loop control module is used to perform closed-loop control of the inertial load based on the inertial load speed curve and obtain a control signal curve of the proportional servo valve during closed-loop control; An open-loop control module, used for open-loop control of the inertial load based on a control signal curve of the proportional servo valve, to obtain an optimized control signal curve of the proportional servo valve; The performance verification module is used to verify the performance of the closed system of the test bench based on the optimized proportional servo valve control signal curve after the closed system of the test bench is optimized.

8. A test bench for simulating the inertial load of a hydraulic closed system of a large inertia device, characterized in that: An inertial load simulation control system of a large inertia closed system as claimed in claim 7 is adopted.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and the processor executes the steps of the method according to any one of claims 1 to 6 by calling the computer program stored in the memory.

10. A computer-readable storage medium for storing a computer program for performing inertial load simulation control of a large inertia closed system, characterized in that: When the computer program is run on a computer, the computer program executes the steps of the method according to any one of claims 1 to 6.

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