Overflow fluid pulsation active control method, device and system based on mean value adaptation

Abstract

The present disclosure provides a mean value adaptive overflow fluid pulsation active control method, device and system. The method comprises: a construction module extracts the pulsation frequency in the original pressure signal, generates mutually orthogonal sinusoidal signals at the frequency as reference signal input to a notch filter, a processing module obtains a non-linear characteristic suppression parameter and generates a control signal, which is output to a control valve to complete the active control process. A mean value estimation module updates the mean value component of the reference control error with the error signal of the previous time, and the target control error of the fluid pulsation is used for notch filter weight coefficient iteration. The device comprises a control valve, a pressure sensor and an active controller. One end of the control valve is connected to the pipeline, and the other end is connected to the oil tank. The control valve overflows the pipeline flow according to the control signal, causes the pipeline flow to change, and realizes pulsation control. The method and device can suppress pulsation for a variable pressure fluid system, identify and track system pressure changes, and improve fluid pulsation suppression effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic control, and in particular to a mean value adaptive overflow type fluid pulsation active control method, device and system. BACKGROUND

[0002] In the fluid pulsation active control scheme based on the bypass overflow principle, a bypass branch can be arranged on the main pipeline between the hydraulic pump and the actuator, and a control valve is installed on the bypass branch, and then the control valve generates a secondary pulsation wave to offset the original pressure wave in the main pipeline, so as to reduce the fluid pulsation in the main pipeline and achieve the purpose of fluid pulsation suppression.

[0003] In related technologies, the pulsation frequency of the fluid can be obtained, a reference signal is constructed according to the pulsation frequency of the fluid, and then a control signal of the control valve is determined according to the reference signal and the identification excitation signal, and the control signal of the control valve is used to control the control valve to generate a secondary pulsation wave. However, the pulsation suppression effect and control stability of the existing control method still have a large room for improvement. SUMMARY

[0004] According to an aspect of the present application, a mean value adaptive fluid pulsation active control method is provided, comprising:

[0005] obtaining a first reference signal and a second reference signal based on a target frequency of fluid pulsation, the first reference signal and the second reference signal being orthogonal;

[0006] determining a fluid pulsation active control signal based on the first reference signal and the second reference signal;

[0007] obtaining a target control error of fluid pulsation based on the fluid pulsation active control signal and a mean component parameter of a reference control error;

[0008] inputting the first reference signal and the second reference signal into the secondary channel estimation model to obtain a reference signal filtered by the secondary channel estimation model;

[0009] updating the first weight coefficient of the notch filter and the second weight coefficient of the notch filter based on the target control error of fluid pulsation and the reference signal filtered by the secondary channel estimation model.

[0010] According to another aspect of the present application, a fluid pulsation active control device is provided, comprising:

[0011] a construction module configured to obtain a first reference signal and a second reference signal based on a target frequency of fluid pulsation, the first reference signal and the second reference signal being orthogonal;

[0012] a notch filter configured to determine a fluid pulsation active control signal based on the first reference signal and the second reference signal;

[0013] a processing module configured to input the first reference signal and the second reference signal into the secondary channel estimation model to obtain a reference signal filtered by the secondary channel estimation model, and update the first weight coefficient of the notch filter and the second weight coefficient of the notch filter based on the target control error of the fluid pulsation and the reference signal filtered by the secondary channel estimation model.

[0014] According to another aspect of the present disclosure, an electronic device is provided, including:

[0015] According to another aspect of the present disclosure, an electronic device is provided, including:

[0016] a processor; and

[0017] a memory storing a program,

[0018] wherein the program includes instructions that, when executed by the processor, cause the processor to perform the method according to the exemplary embodiments of the present disclosure.

[0019] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions for causing a computer to perform the method according to the exemplary embodiments of the present disclosure is provided.

[0020] According to another aspect of the present disclosure, a computer program product including a computer program that, when executed by a processor, implements the method according to the exemplary embodiments of the present disclosure is provided.

[0021] One or more technical solutions provided in the exemplary embodiments of the present disclosure can determine a fluid pulsation active control signal based on the first reference signal and the second reference signal, and can introduce a mean component parameter introduced by a reference control error into a reference control correction of the fluid pulsation to obtain a target control error of the fluid pulsation. In this case, the target control error of the fluid pulsation can exclude the interference of the mean component, and therefore, updating the first weight coefficient of the notch filter and the second weight coefficient of the notch filter based on the target control error of the fluid pulsation and the reference signal filtered by the secondary channel estimation model can ensure the stability of the fluid pulsation active control signal. BRIEF DESCRIPTION OF DRAWINGS

[0022] More details, features and advantages of the present disclosure will be disclosed in the following description of exemplary embodiments in conjunction with the accompanying drawings, in which:

[0023] Figure 1 An example schematic diagram of a fluid pulsation active control system is shown, which shows a bypass overflow principle;

[0024] Figure 2 An example flow chart of a fluid pulsation active control method according to an exemplary embodiment of the present disclosure is shown;

[0025] Figure 3 An example schematic diagram of a fluid pulsation active control system according to an exemplary embodiment of the present disclosure is shown;

[0026] Figure 4 An example time-pressure relationship diagram before and after oil pulsation active control according to an exemplary embodiment of the present disclosure is shown;

[0027] Figure 5 An example frequency-amplitude relationship diagram before oil pulsation active control according to an exemplary embodiment of the present disclosure is shown;

[0028] Figure 6 An example frequency-amplitude relationship diagram after oil pulsation active control according to an exemplary embodiment of the present disclosure is shown;

[0029] Figure 7 An example schematic diagram of a fluid pulsation active control system is shown, which shows another bypass overflow principle;

[0030] Figure 8 An example functional module schematic block diagram of a fluid pulsation active control device according to an exemplary embodiment of the present disclosure is shown;

[0031] Figure 9 An example schematic block diagram of a chip according to an exemplary embodiment of the present disclosure is shown;

[0032] Figure 10 An example structural block diagram of an electronic device that can be used to implement embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0033] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be interpreted as being limited to the embodiments set forth herein, but rather these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for exemplary purposes only and are not intended to limit the scope of protection of the present disclosure.

[0034] It should be understood that the steps described in the method embodiments of this disclosure may be performed in different orders and / or in parallel. Furthermore, the method embodiments may include additional steps and / or omit the steps shown. The scope of this disclosure is not limited in this respect.

[0035] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". Definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc., used in this disclosure are only used to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0036] It should be noted that the terms "a" and "a plurality of" used in this disclosure are illustrative rather than restrictive, and those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0037] Figure 1 An example schematic diagram of an active control system for fluid pulsation based on the bypass overflow principle is shown. Figure 1 As shown, the fluid pulsation active control system 100 may include an oil tank 101, a plunger pump 102, a motor 103, an overflow valve 104, a control valve 105, a throttle valve 106, a pressure sensor 107, and a controller 108. The motor 103 is connected to the plunger pump 102. The outlet of the oil tank 101 is connected to the inlet of the plunger pump 102. The outlet of the plunger pump 102 is connected to both the inlet of the overflow valve 104 and the inlet of the control valve 105. The outlet of the control valve 105 is connected to the inlet of the oil tank 101 via the throttle valve 106. Here, the outlet of the plunger pump 102 can be connected to both an overflow line and a hydraulic line. The overflow valve 104 is located on the overflow line, while the control valve 105 and the throttle valve 106 are located on the hydraulic lines. The pressure sensor 107 can be located in the hydraulic line between the control valve 105 and the throttle valve 106. The outlet of the control valve 105 is also connected to a bypass line, which is connected to the inlet of the oil tank 101. The controller 108 is electrically connected to the pressure sensor 107 and the control valve 105 respectively.

[0038] In specific implementation, such as Figure 1As shown, under the drive of the motor 103, the plunger pump 102 rotates, so that the plunger pump 102 sucks low-pressure oil from the oil tank 101 and sends the low-pressure oil into the hydraulic pipeline, and the low-pressure oil returns to the oil tank 101 through the throttle valve 106; the relief valve 104 can control the pressure in the hydraulic pipeline to not exceed the set pressure, and plays a safety protection role; the controller 108 can obtain the pressure signal at the position through the pressure sensor 107, take it as the control error of the fluid pulsation, update the parameters required in the fluid pulsation active control process, so that when the fluid pulsation active control signal controls the control valve 105, the control valve 105 can be used as an actuator for active control, and the oil flow in the bypass pipeline is controlled.

[0039] The above-mentioned control valve can be a piezoelectric ceramic control valve, or other control valves. Taking the piezoelectric ceramic control valve as an example, the pulsation frequency of the oil can be obtained, a reference signal is constructed according to the pulsation frequency of the oil, then the control signal of the piezoelectric ceramic control valve is determined according to the reference signal and the identification excitation signal, and then the secondary pulsation wave is generated by using the control signal of the piezoelectric ceramic control valve to control the piezoelectric ceramic control valve.

[0040] The inventor finds that the pressure signal of the fluid pulsation collected by the pressure sensor is actually a reference control error of the fluid pulsation, which contains a mean component. When the weight coefficients of the notch filter, i.e., the first weight coefficient and the second weight coefficient, are updated based on the reference control error of the fluid pulsation, the mean component will cause the weight coefficients of the notch filter to jitter intensively, and then affect the suppression effect of the fluid pulsation. In view of the above problem, the fluid pulsation active control method provided by the example embodiments of the present disclosure can be executed by a controller or a chip of the controller. The method reduces the blocking possibility of the fluid pulsation active control signal by introducing the nonlinear characteristic suppression parameter of the secondary channel, thereby improving the pulsation suppression effect and the pulsation control stability.

[0041] Figure 2 The flowchart of the fluid pulsation active control method provided by the example embodiments of the present disclosure is shown. As shown in the figure, Figure 2 The fluid pulsation active control method provided by the example embodiments of the present disclosure can include the following steps:

[0042] Step 201: Obtain a first reference signal and a second reference signal based on a target frequency of fluid pulsation, and the first reference signal and the second reference signal are orthogonal.

[0043] In practical applications, the example embodiments of the present disclosure can acquire pressure signals of multiple sampling points of fluid pulsation in a non-suppressed state within a preset period, then determine a target frequency of fluid pulsation based on the pressure signals of multiple sampling points of fluid pulsation in a non-suppressed state, the target frequency of fluid pulsation being a fluid pulsation frequency corresponding to a maximum fluid pulsation amplitude in the amplitude-frequency spectrum of fluid pulsation.

[0044] For example, when fluid pulsation is in a non-suppressed state, the control valve does not control fluid pulsation, in which case, pressure signals of multiple sampling points (such as 4096) are acquired by using a pressure sensor within a preset period, then Fast Fourier Transform (FFT) is performed on multiple historical signals to obtain an amplitude-frequency spectrum of fluid pulsation. The amplitude-frequency spectrum of fluid pulsation can essentially represent the correspondence between fluid pulsation amplitude and fluid pulsation frequency, thus, the target frequency of fluid pulsation can be obtained by analyzing the amplitude-frequency spectrum of fluid pulsation.

[0045] When the target frequency of fluid pulsation is the fluid pulsation frequency corresponding to the maximum fluid pulsation amplitude, the fluid pulsation active control signal determined based on the target frequency of fluid pulsation can better actively control fluid pulsation, thereby improving the fluid pulsation control effect.

[0046] When the target frequency of fluid pulsation is f, the first reference signal x1(n) of the nth fluid pulsation sampling point is cos(2πfnΔt), the second reference signal x2(n) of the nth fluid pulsation sampling point is sin(2πfnΔt), n represents the fluid pulsation sampling sequence number, and Δt represents the sampling period.

[0047]

[0048] Step 202: determining a fluid pulsation active control signal based on the first reference signal and the second reference signal. Here, a first weighted signal can be determined based on the first weight coefficient of the notch filter and the first reference signal, a second weighted signal can be determined based on the second weight coefficient of the notch filter and the second reference signal, and then the fluid pulsation active control signal can be determined based on the first weighted signal and the second weighted signal. Here, the process is essentially a process of weighted summation of the first reference signal and the second reference signal by using the first weight coefficient and the second weight coefficient.

[0049] ​The inventor finds that in fluid pulsation active suppression based on the principle of overflow, the secondary channel actually contains nonlinear characteristics. This means that when the fluid pulsation active control signal is less than 0, the fluid pulsation active control signal output signal will be blocked, and therefore the nonlinear characteristics of the secondary channel affect the pulsation suppression effect and the pulsation control stability. Based on this, the embodiment of the present application determines the fluid pulsation active control signal based on the first reference signal and the second reference signal, including:

[0050] determining a first weighted signal based on the first weight coefficient of the wave trap and the first reference signal, determining a second weighted signal based on the second weight coefficient of the wave trap and the second reference signal, and determining the fluid pulsation active control signal based on the first weighted signal, the second weighted signal and the nonlinear characteristic suppression parameter of the secondary channel. In this case, the nonlinear characteristic suppression parameter of the secondary channel can weaken the influence of the nonlinear characteristics of the secondary channel on the fluid pulsation active control signal, so that the exemplary embodiment of the present disclosure can not only better suppress fluid pulsation by using the fluid pulsation active control signal, but also ensure the stability of fluid pulsation suppression.

[0051] When the fluid pulsation active control signal is used to control the control valve, the opening parameter of the control valve can be controlled to achieve the purpose of adjusting the flow of the control valve. The nonlinear characteristic suppression parameter of the secondary channel can be determined by the first weight coefficient and the second weight coefficient of the wave trap. For example, the nonlinear characteristic suppression parameter w(n) of the secondary channel satisfies: w1(n) represents the first weight coefficient of the wave trap at the nth fluid pulsation sampling point, w2(n) represents the second weight coefficient of the wave trap at the nth fluid pulsation sampling point, and n represents the fluid pulsation sampling sequence number. For example, the fluid pulsation active control signal y(n) at the nth fluid pulsation sampling point can be represented as formula one:

[0052]

[0053] According to formula two, formula one is transformed as follows:

[0054]

[0055] In formula two, represents the phase of the sinusoidal signal determined by the first two terms of the fluid pulsation control signal, and w represents the angular frequency of the fluid pulsation. Since Therefore, formula one satisfies formula three:

[0056]

[0057] It can be seen that when the fluid pulsation active control signal y(n)≥0, the control valve is controlled by the fluid pulsation active control signal, so that the fluid pulsation can be well inhibited, and the stability of the fluid pulsation inhibition can be ensured.

[0058] In step 203, the target control error of the fluid pulsation is obtained based on the fluid pulsation active control signal and the mean component parameter of the reference control error.

[0059] In actual application, the fluid pulsation active control signal can be input into the secondary channel to obtain the reference control error of the fluid pulsation. However, the reference control error contains a mean component, which mainly comes from the mean component of the original pressure signal in the reference control error. The existence of the mean component can cause the notch filter weight coefficient to be more jittered. Therefore, the reference control error of the fluid pulsation can be corrected by using the mean component parameter of the reference control error to obtain the target control error of the fluid pulsation, so that the target control error of the fluid pulsation can exclude the interference of the mean component, and the stability of the fluid pulsation active control signal can be ensured.

[0060] For example, the mean component of the reference control error can be determined based on the mean component parameter of the reference control error, and then the mean component of the reference control error is subtracted from the reference control error of the fluid pulsation to obtain the target control error of the fluid pulsation.

[0061] For example, the fluid pulsation active control signal y(n) of the nth fluid pulsation sampling point is input into the secondary channel to obtain the response signal y'(n) of the secondary channel at the nth fluid pulsation sampling point. The reference control error e(n) of the fluid pulsation at the nth fluid pulsation sampling point is determined based on the response signal y'(n) of the secondary channel at the nth fluid pulsation sampling point and the original pressure signal d(n) of the fluid pulsation at the nth fluid pulsation sampling point, where e(n)=d(n)-y'(n). Finally, the target control error g(n) of the fluid pulsation at the nth fluid pulsation sampling point is determined based on the reference control error e(n) of the fluid pulsation at the nth fluid pulsation sampling point and the mean component parameter of the reference control error at the nth fluid pulsation sampling point, where g(n)=e(n)-e(n). For example, the fluid pulsation active control signal y(n) of the nth fluid pulsation sampling point is input into the secondary channel to obtain the response signal y'(n) of the secondary channel at the nth fluid pulsation sampling point. The reference control error e(n) of the fluid pulsation at the nth fluid pulsation sampling point is determined based on the response signal y'(n) of the secondary channel at the nth fluid pulsation sampling point and the original pressure signal d(n) of the fluid pulsation at the nth fluid pulsation sampling point, where e(n)=d(n)-y'(n). Finally, the target control error g(n) of the fluid pulsation at the nth fluid pulsation sampling point is determined based on the reference control error e(n) of the fluid pulsation at the nth fluid pulsation sampling point and the mean component parameter of the reference control error at the nth fluid pulsation sampling point, where g(n)=e(n)-e(n).

[0062]

[0063] The mean component parameter of the reference control error also changes when the original pressure signal of the fluid pulsation changes, and therefore the mean component parameter of the reference control error in the embodiments of the present application can be iteratively updated. For example, the mean component parameter of the reference control error can be updated based on the active control signal of the fluid pulsation at the previous sampling point and the mean component parameter of the reference control error at the previous sampling point, so that the mean component parameter of the reference control error can be adaptively adjusted.

[0064] Exemplarily, the exemplary embodiments of the present disclosure can also introduce a mean estimator to update the mean component parameter of the reference control error. The mean estimator can be an adaptive filter which can update the mean component parameter of the reference control error using an adaptive law. The adaptive law can be expressed as Equation Four:

[0065]

[0066] wherein, represents the mean component parameter of the reference control error at the nth fluid pulsation sampling point, represents the mean component parameter of the reference control error at the (n+1)th fluid pulsation sampling point, and μ1 represents a first step factor.

[0067] Step 204: inputting the first reference signal and the second reference signal into the secondary channel estimation model to obtain a reference signal filtered by the secondary channel estimation model.

[0068] In actual applications, the reference signal filtered by the secondary channel estimation model can include a first reference signal filtered by the secondary channel estimation model and a second reference signal filtered by the secondary channel estimation model. For example, the first reference signal can be input into the secondary channel estimation model to obtain the first reference signal filtered by the secondary channel estimation model, and the second reference signal can be input into the secondary channel estimation model to obtain the second reference signal filtered by the secondary channel estimation model.

[0069] Step 205: updating the first weight coefficient of the notch filter and the second weight coefficient of the notch filter based on the target control error of the fluid pulsation and the reference signal filtered by the secondary channel estimation model.

[0070] The exemplary embodiments of the present disclosure can use an adaptive filter algorithm to update the first weight coefficient of the notch filter and the second weight coefficient of the notch filter. In this case, the first weight coefficient of the notch filter can be expressed as Equation Five, and the second weight coefficient of the notch filter can be expressed as Equation Six:

[0071]

[0072] wherein w1(n) represents the first weight coefficient of the notch filter at the n-th fluid pulsation sampling point, w1(n+1) represents the first weight coefficient of the notch filter at the (n+1)-th fluid pulsation sampling point, w2(n) represents the second weight coefficient of the notch filter at the n-th fluid pulsation sampling point, w2(n+1) represents the second weight coefficient of the notch filter at the (n+1)-th fluid pulsation sampling point, and μ2 represents the second step factor, represents the first reference signal filtered by the secondary channel estimation model at the n-th fluid pulsation sampling point, represents the second reference signal filtered by the secondary channel estimation model at the n-th fluid pulsation sampling point.

[0073] When the first weight coefficient of the notch filter and the second weight coefficient of the notch filter are updated by using the target control error of the fluid pulsation, it can be ensured that the output fluid pulsation active control signal can more accurately control the fluid pulsation.

[0074] Figure 3 A schematic diagram of the fluid pulsation active control principle of an exemplary embodiment of the present disclosure is shown. As shown in Figure 3 The weight coefficients of the notch filter include the first weight coefficient w1 of the notch filter and the second weight coefficient w2 of the notch filter. The weight coefficients of the notch filter corresponding to the n-th fluid pulsation sampling point include the first weight coefficient w1(n) of the notch filter at the n-th fluid pulsation sampling point and the second weight coefficient w2(n) of the notch filter at the n-th fluid pulsation sampling point.

[0075] After the first reference signal x1(n) of the n-th fluid pulsation sampling point and the second reference signal x2(n) of the n-th fluid pulsation sampling point are constructed by using the target frequency of the n-th fluid pulsation sampling point, the first reference signal x1(n) of the n-th fluid pulsation sampling point can be weighted by using the first weight coefficient w1(n) of the notch filter at the n-th fluid pulsation sampling point to obtain the first weighted signal of the n-th fluid pulsation sampling point, the second reference signal x2(n) of the n-th fluid pulsation sampling point can be weighted by using the second weight coefficient w2(n) of the notch filter at the n-th fluid pulsation sampling point to obtain the second weighted signal of the n-th fluid pulsation sampling point, and then the first weighted signal of the n-th fluid pulsation sampling point, the second weighted signal of the n-th fluid pulsation sampling point, and the nonlinear characteristic suppression parameter of the secondary channel of the n-th fluid pulsation sampling point are combined to determine the fluid pulsation active control signal y(n) of the n-th fluid pulsation sampling point. determines the fluid pulsation active control signal y(n) of the n-th fluid pulsation sampling point.

[0076] The exemplary embodiments of the present disclosure can input the fluid pulsation active control signal y(n) of the nth fluid pulsation sampling point into the secondary path S(n), obtain the response signal y'(n) of the secondary path of the nth fluid pulsation sampling point, determine the reference control error e(n) of the fluid pulsation of the nth fluid pulsation sampling point based on the response signal y'(n) of the secondary path of the nth fluid pulsation sampling point and the original pressure signal d(n) of the fluid pulsation of the nth fluid pulsation sampling point, where e(n)=d(n)-y'(n), and finally determine the target control error g(n) of the fluid pulsation of the nth fluid pulsation sampling point based on the reference control error e(n) of the fluid pulsation of the nth fluid pulsation sampling point and the mean component parameter of the reference control error signal of the nth fluid pulsation sampling point The exemplary embodiments of the present disclosure can input the fluid pulsation active control signal y(n) of the nth fluid pulsation sampling point into the secondary path S(n), obtain the response signal y'(n) of the secondary path of the nth fluid pulsation sampling point, determine the reference control error e(n) of the fluid pulsation of the nth fluid pulsation sampling point based on the response signal y'(n) of the secondary path of the nth fluid pulsation sampling point and the original pressure signal d(n) of the fluid pulsation of the nth fluid pulsation sampling point, where e(n)=d(n)-y'(n), and finally determine the target control error g(n) of the fluid pulsation of the nth fluid pulsation sampling point based on the reference control error e(n) of the fluid pulsation of the nth fluid pulsation sampling point and the mean component parameter of the reference control error signal of the nth fluid pulsation sampling point

[0077] The exemplary embodiments of the present disclosure can update the weight coefficients of the notch filter through the first adaptive filter. For example, the first reference signal x1(n) of the nth fluid pulsation sampling point and the second reference signal x2(n) of the nth fluid pulsation sampling point can be input into the secondary path estimation model The first estimation signal of the secondary path of the nth fluid pulsation sampling point And the second estimation signal of the secondary path of the nth fluid pulsation sampling point Then the first adaptive filter determines the first weight coefficient w1(n) of the nth fluid pulsation sampling point based on the first estimation signal of the secondary path of the nth fluid pulsation sampling point The target control error g(n) of the fluid pulsation of the nth fluid pulsation sampling point, and determines the first weight coefficient w1(n+1) of the (n+1)th fluid pulsation sampling point, while the first adaptive filter determines the second weight coefficient w2(n+1) of the (n+1)th fluid pulsation sampling point based on the second estimation signal of the secondary path of the nth fluid pulsation sampling point The target control error g(n) of the fluid pulsation of the nth fluid pulsation sampling point, and determines the second weight coefficient w2(n+1) of the (n+1)th fluid pulsation sampling point. In this case, the weight coefficients of the notch filter corresponding to the (n+1)th fluid pulsation sampling point are obtained by using the first weight coefficient w1(n+1) of the (n+1)th fluid pulsation sampling point and the second weight coefficient w2(n+1) of the (n+1)th fluid pulsation sampling point.

[0078] The exemplary embodiments of the present disclosure can update the mean component parameter of the reference control error estimated by the mean estimator through the second adaptive filter. For example, the second adaptive filter can determine the mean component parameter of the reference control error of the (n+1)th fluid pulsation sampling point based on the target control error g(n) of the fluid pulsation of the nth fluid pulsation sampling point and the mean component parameter of the reference control error of the nth fluid pulsation sampling point The mean component parameter of the reference control error of the (n+1)th fluid pulsation sampling point The mean component parameter of the reference control error of the (n+1)th fluid pulsation sampling point

[0079] In Figure 1 The displacement of the plunger pump is 11.6 mL / r, the rotation speed of the plunger pump is 700 rpm, and the system pressure is 5 MPa. The fluid pulsation active control signal generated by the method of the example embodiment of the present disclosure is used to perform oil pulsation active control, Figure 4 The time-pressure relationship diagram before and after the oil pulsation active control of the example embodiment of the present disclosure is shown. As Figure 4 As shown in the figure, without oil pulsation active control, the oil pulsation pressure jitter is relatively large, and with oil pulsation active control, the oil pulsation pressure jitter is relatively small.

[0080] Figure 5 The frequency-amplitude relationship diagram before the oil pulsation active control of the example embodiment of the present disclosure is shown. As Figure 5 As shown in the figure, before the oil pulsation active control, the amplitude of the oil pulsation is 0.141 MPa when the frequency is 158.4 Hz. Figure 6 The frequency-amplitude relationship diagram after the oil pulsation active control of the example embodiment of the present disclosure is shown. As Figure 6 As shown in the figure, before the oil pulsation active control, the amplitude of the oil pulsation is 0.006765 MPa when the frequency is 158.8 Hz. Comparing Figure 5 and Figure 6 It can be seen that after the oil pulsation active control, more than 95% of the amplitude attenuation is achieved at the target frequency point of 158 Hz.

[0081] Figure 7 The example principle diagram of the fluid pulsation active control system of another bypass overflow principle is shown. As Figure 7 As shown in the figure, the fluid pulsation active control system of the example embodiment of the present disclosure can include a control valve 701, a pressure sensor 702, and an active controller 703. The first end of the control valve 701 is connected to a pipeline 704, and the second end of the control valve 701 is connected to an oil tank 705. The pressure sensor 702 and the control valve 701 are both in communication connection with the active controller 703. It should be understood that the pipeline 704 can be in communication with a hydraulic pump 706.

[0082] As Figure 7 shown, the active controller 703 of the example embodiment of the present disclosure can be used to execute the method of the example embodiment of the present disclosure to control the control valve 701, thereby causing the flow change of the pipeline 704 and realizing pulsation active control. The control valve can only reduce the flow of the pipeline 704, which corresponds to the secondary channel involved in active control, and is equivalent to the existence of nonlinear characteristics of the secondary channel.

[0083] For example, as Figure 7As shown, the active controller 703 of this exemplary embodiment may include a construction module 7031, a notch filter 7032, a processing module 7033, and a control module 7034. The construction module 7031 has time-domain-frequency-domain conversion and target frequency identification functions. This construction module 7031 can acquire the pressure signal under the non-suppressed state collected by the pressure sensor 702 and generate a first reference signal and a second reference signal. The notch filter 7032 can generate a fluid pulsation active control signal based on the first and second reference signals and send the fluid pulsation active control signal to the active controller 703. The active controller can control based on the fluid pulsation active control signal. At the same time, the processing module 7033 can acquire the pressure signal under the suppressed state and update the nonlinear characteristic suppression parameter and the mean component parameter of the mean estimation module using the acquired pressure signal under the suppressed state. This updates the first weight coefficient and the second weight coefficient of the notch filter 7032 using the nonlinear characteristic suppression parameter and the mean estimation module, thereby ensuring that the fluid pulsation active control signal generated by the notch filter can stably control the opening of the control valve 701.

[0084] The foregoing primarily describes the solutions provided by the embodiments of this disclosure from the perspective of the server. It is understood that, in order to implement the above functions, the server includes the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, this disclosure can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0085] This disclosure embodiment can divide the server into functional units according to the above method example. For example, it can divide each function into a separate functional module, or it can integrate two or more functions into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this disclosure embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0086] In the case of dividing each functional module according to its respective function, an exemplary embodiment of this disclosure provides a device for determining a fluid pulsation active control signal. The device for determining the fluid pulsation active control signal can be a server or a chip applied to a server. Figure 8 A schematic block diagram of the functional modules of a device for determining an active control signal for fluid pulsation according to an exemplary embodiment of the present disclosure is shown. Figure 8As shown, the determination apparatus 800 of the fluid pulsation active control signal comprises:

[0087] a construction module 801 configured to acquire a first reference signal and a second reference signal based on a target frequency of the fluid pulsation, the first reference signal and the second reference signal being orthogonal;

[0088] a notch filter 802 configured to determine the fluid pulsation active control signal based on the first reference signal and the second reference signal;

[0089] a processing module 803 configured to input the first reference signal and the second reference signal into the secondary channel estimation model to obtain a reference signal filtered by the secondary channel estimation model, and update a first weight coefficient of the notch filter and a second weight coefficient of the notch filter based on a target control error of the fluid pulsation and the reference signal filtered by the secondary channel estimation model.

[0090] As a possible implementation manner, the processing module 803 is configured to determine a first weighted signal based on the first weight coefficient of the notch filter and the first reference signal, determine a second weighted signal based on the second weight coefficient of the notch filter and the second reference signal, and determine the fluid pulsation active control signal based on the first weighted signal, the second weighted signal and a nonlinear characteristic suppression parameter of the secondary channel.

[0091] As a possible implementation manner, the nonlinear characteristic suppression parameter of the secondary channel is determined by the first weight coefficient of the notch filter and the second weight coefficient of the notch filter, and the nonlinear characteristic suppression parameter w(n) of the secondary channel satisfies:

[0092] w1(n) represents the first weight coefficient of the notch filter, w2(n) represents the second weight coefficient of the notch filter, and n represents a sampling serial number of the target frequency of the fluid pulsation.

[0093] As a possible implementation manner, the processing module 803 is further configured to update the mean component parameter of the reference control error based on a mean component parameter of a reference control error of the fluid pulsation at a previous sampling point and an active control signal of the fluid pulsation at the previous sampling point.

[0094] As a possible implementation manner, the processing module 803 is configured to input the fluid pulsation active control signal into the secondary channel to obtain a reference control error of the fluid pulsation, correct the reference control error of the fluid pulsation by using the mean component parameter of the reference control error, and obtain a target control error of the fluid pulsation.

[0095] As a possible implementation, the processing module 803 is further configured to acquire pressure signals of the fluid pulsation at a plurality of sampling points in a non-suppressed state within a preset time period, determine an amplitude-frequency spectrum of the fluid pulsation based on the pressure signals of the fluid pulsation at the plurality of sampling points in the non-suppressed state, and determine a target frequency of the fluid pulsation based on the amplitude-frequency spectrum of the fluid pulsation, the target frequency of the fluid pulsation being a fluid pulsation frequency corresponding to a maximum fluid pulsation amplitude in the amplitude-frequency spectrum of the fluid pulsation.

[0096] Figure 9 A schematic block diagram of a chip according to an example embodiment of the present disclosure is shown. As shown in the figure, the chip 900 includes one or more than two (including two) processors 901 and a communication interface 902. The communication interface 902 can perform the data transceiving steps in the above method, and the processor 901 can perform the data processing steps in the above method. Figure 9

[0097] Optionally, as shown in the figure, the chip 900 further includes a memory 903, which can include read-only memory and random access memory, and provides operation instructions and data to the processor. A part of the memory can also include non-volatile random access memory (NVRAM). Figure 9

[0098] In some embodiments, as shown in the figure, the processor 901 performs corresponding operations by invoking operation instructions stored in the memory (which can be stored in an operating system). The processor 901 controls the processing operations of any of the terminal devices, and the processor can also be referred to as a central processing unit (CPU). The memory 903 can include read-only memory and random access memory, and provides instructions and data to the processor 901. A part of the memory 903 can also include NVRAM. For example, the memory, the communication interface, and the memory are coupled together through a bus system, which can include a data bus, a power supply bus, a control bus, and a state signal bus, etc. in addition to the data bus. However, for the sake of clarity, all kinds of buses are marked as a bus system 904 in the figure. Figure 9 Figure 9

[0099] ​​​​The method disclosed in the embodiments of the present disclosure can be applied to a processor or implemented by the processor. The processor can be an integrated circuit chip having a signal processing capability. In the implementation process, the steps of the above method can be completed by the integrated logic electric circuit in the processor or the instruction form of the software. The processor can be a general processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present disclosure can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, or other mature storage medium in the art. The storage medium is located in the storage, and the processor reads the information in the storage, and combines the hardware to complete the steps of the above method.

[0100] The exemplary embodiments of the present disclosure further provide an electronic device, including at least one processor, and a memory connected with the at least one processor in communication. The memory stores a computer program capable of being executed by the at least one processor, and the computer program is used for causing the electronic device to execute the method according to the embodiments of the present disclosure when being executed by the at least one processor.

[0101] The exemplary embodiments of the present disclosure further provide a non-transitory computer readable storage medium storing a computer program, wherein the computer program is used for causing a computer to execute the method according to the embodiments of the present disclosure when being executed by a processor of the computer.

[0102] The exemplary embodiments of the present disclosure further provide a computer program product, including a computer program, wherein the computer program is used for causing a computer to execute the method according to the embodiments of the present disclosure when being executed by a processor of the computer.

[0103] Reference Figure 10The present invention describes a structural block diagram of an electronic device 1000 that can serve as a server or client of the present disclosure, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0104] like Figure 10 As shown, the electronic device 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. The RAM 1003 may also store various programs and data required for the operation of the device 1000. The computing unit 1001, ROM 1002, and RAM 1003 are interconnected via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0105] like Figure 10 As shown, multiple components in electronic device 1000 are connected to I / O interface 1005, including: input unit 1006, output unit 1007, storage unit 1008, and communication unit 1009. Input unit 1006 can be any type of device capable of inputting information to electronic device 1000. Input unit 1006 can receive input digital or character information and generate key signal inputs related to user settings and / or function control of electronic device. Output unit 1007 can be any type of device capable of presenting information and may include, but is not limited to, a display, speaker, video / audio output terminal, vibrator, and / or printer. Storage unit 1008 may include, but is not limited to, disk and optical disk. Communication unit 1009 allows electronic device 1000 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks, and may include, but is not limited to, modems, network cards, infrared communication devices, wireless communication transceivers, and / or chipsets, such as Bluetooth™ devices, WiFi devices, WiMax devices, cellular communication devices, and / or the like.

[0106] like Figure 10As shown, the computing unit 1001 can be various general purpose and / or special purpose processing components having processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, or the like. The computing unit 1001 performs various methods and processes described above. For example, in some embodiments, the methods of the example embodiments of the present disclosure can be implemented as a computer software program tangibly embodied in a machine readable medium, such as the storage unit 1008. In some embodiments, portions or all of the computer program can be loaded and / or installed onto the electronic device 1000 via the ROM 1002 and / or the communication unit 1009. In some embodiments, the computing unit 1001 can be configured to perform the methods of the example embodiments of the present disclosure by way of other any suitable means, such as by way of firmware.

[0107] Program code for carrying out methods of the present disclosure can be written in any combination of one or more programming languages. The program code can be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the program code, when executed by the processor or controller, produces the functions / operations specified in the flowcharts and / or the block diagrams. The program code can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0108] In the context of the present disclosure, a machine-readable medium can be a tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include but is not limited to an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of the machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0109] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus and / or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal that can be used to provide machine instructions and / or data to a programmable processor.

[0110] To provide for interaction with a user, the systems and techniques described here can be implemented on a computer having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the computer. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0111] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0112] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0113] <23P12021CN>

[0114] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present disclosure are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, a terminal, user equipment or other programmable apparatus. The computer programs or instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, for example, a floppy disk, a hard disk, a magnetic tape; or an optical medium, for example, a digital video disc (digital video disc, DVD); or a semiconductor medium, for example, a solid state drive (solid state drive, SSD).

[0115] Although the present disclosure is described in conjunction with specific features and embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art in light of the foregoing description. Accordingly, it is intended to embrace all alternatives, modifications and variations that fall within the scope of the present disclosure. Obviously, various modifications and changes are possible in the present disclosure without departing from the spirit and scope of the present disclosure. Accordingly, the present disclosure intends to include all such modifications and changes in the scope of the present disclosure. Obviously, those skilled in the art can make various modifications and changes to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and changes of the present disclosure fall within the scope of the claims of the present disclosure and their equivalent technologies, the present disclosure also intends to include these modifications and changes.

Claims

1. A fluid pulsation active control method based on mean adaptive control, characterized in that, include: A first reference signal and a second reference signal are obtained based on the target frequency of fluid pulsation, and the first reference signal and the second reference signal are orthogonal. Based on the first reference signal and the second reference signal, a fluid pulsation active control signal is determined; Based on the mean component parameters of the fluid pulsation active control signal and the reference control error, the target control error of the fluid pulsation is obtained. The first reference signal and the second reference signal are input into the secondary channel estimation model to obtain the reference signal after filtering by the secondary channel estimation model; Based on the target control error of the fluid pulsation and the reference signal filtered by the secondary channel estimation model, update the first weight coefficient and the second weight coefficient of the notch filter; The step of determining the active control signal for fluid pulsation based on the first reference signal and the second reference signal includes: The first weighted signal is determined based on the first weighting coefficient of the notch filter and the first reference signal; The second weighted signal is determined based on the second weighting coefficient of the notch filter and the second reference signal; The fluid pulsation active control signal is determined based on the first weighted signal, the second weighted signal, and the nonlinear characteristic suppression parameter of the secondary channel.

2. The method according to claim 1, characterized in that, The nonlinear characteristic suppression parameters of the secondary channel are determined by the first weighting coefficient and the second weighting coefficient of the notch filter. satisfy: , This represents the first weighting coefficient of the notch filter. This represents the second weighting coefficient of the notch filter. n This indicates the sampling sequence number of the fluid pulsation.

3. The method according to claim 1, characterized in that, The method further includes: Based on the active control signal of the fluid pulsation at the previous sampling point and the mean component parameters of the reference control error at the previous sampling point, the mean component parameters of the reference control error are updated.

4. The method according to claim 1, characterized in that, The process of obtaining the target control error of the fluid pulsation based on the mean component parameters of the fluid pulsation active control signal and the reference control error includes: The active control signal for fluid pulsation is input into the secondary channel to obtain the reference control error for fluid pulsation. The reference control error of the fluid pulsation is corrected by using the mean component parameter of the reference control error to obtain the target control error of the fluid pulsation.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Within a preset time period, pressure signals from multiple sampling points of fluid pulsation in an unsuppressed state are acquired; Based on the pressure signals from multiple sampling points of the fluid pulsation in the unsuppressed state, the amplitude spectrum of the fluid pulsation is determined. Based on the amplitude spectrum of the fluid pulsation, the target frequency of the fluid pulsation is determined. The target frequency of the fluid pulsation is the fluid pulsation frequency corresponding to the maximum fluid pulsation amplitude in the amplitude spectrum of the fluid pulsation.

6. A fluid pulsation active control system, characterized in that, include: The system includes a control valve, a pressure sensor, and an active controller. The first end of the control valve is connected to a pipeline, and the second end of the control valve is connected to an oil tank. Both the pressure sensor and the control valve are communicatively connected to the active controller, which is used to execute the method according to any one of claims 1 to 5.

7. An electronic device, characterized in that, include: processor; as well as, Memory for stored programs; The program includes instructions that, when executed by the processor, cause the processor to perform the method according to any one of claims 1 to 5.

8. A non-transitory computer-readable storage medium, characterized in that, The non-transitory computer-readable storage medium stores computer instructions for causing the computer to perform the method according to any one of claims 1 to 5.

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