Hydraulic turntable fuzzy control method and system based on trajectory planning

Abstract

The invention discloses a hydraulic turntable fuzzy control method and system based on trajectory planning, and belongs to the technical field of turntable control, and the control method comprises the following steps: transmitting hydraulic turntable position information collected by an angle encoder in real time to a valve control motor control system for position and speed closed-loop processing; according to the current speed signal and the speed instruction signal of the hydraulic rotary table, trajectory planning is conducted on the speed; fuzzy self-adaptive setting is carried out on PID parameters of the controller in the speed loop; controller parameters in the position ring are set, and coarse and fine double-loop control is designed to control the hydraulic rotary table. The invention discloses a hydraulic turntable fuzzy control method based on trajectory planning and a system thereof, which can improve the motion stability and positioning precision of a hydraulic turntable through trajectory planning and improve the control precision of the turntable.

Description

Technical Field

[0001] The invention belongs to the technical field of turntable control, and in particular relates to a hydraulic turntable fuzzy control method based on trajectory planning and a system thereof. Background Art

[0002] As a key equipment in the fields of motion simulation, inertial navigation testing, radar control, etc., the performance of the hydraulic turntable is directly related to the realism and confidence of the simulation test. With the development of science and technology, the performance requirements for weapon systems such as radar are constantly increasing, which also puts higher requirements on the overall performance indicators of the hydraulic turntable.

[0003] During the movement of the hydraulic turntable, due to the influence of factors such as internal leakage in the motor and nonlinear changes in friction torque, the change in external force is difficult to estimate, resulting in poor stability during high-speed operation and easy creeping during low-speed operation, which in turn affects the control accuracy of the turntable. Adopting an effective control strategy is of great significance to improving the control accuracy and stability of the turntable.

[0004] The large inertia hydraulic turntable system will cause impact on the structure and cause system jitter when there are large changes in speed and acceleration, affecting the turntable's motion stability and positioning accuracy. For large inertia systems, it is necessary to plan and design the position, speed, and acceleration trajectory of the turntable during motion control. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and to provide a hydraulic turntable fuzzy control method and system based on trajectory planning.

[0006] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0007] In a first aspect, the present invention provides a fuzzy control method for a hydraulic turntable based on trajectory planning, comprising the following steps:

[0008] The hydraulic turntable position information collected in real time by the angle encoder is transmitted to the valve-controlled motor control system for position and speed closed-loop processing;

[0009] Plan the speed trajectory according to the current speed signal and speed command signal of the hydraulic turntable;

[0010] Perform fuzzy adaptive tuning on the controller PID parameters in the speed loop;

[0011] The controller parameters in the position loop are adjusted and the coarse and fine dual-loop control is designed to control the hydraulic turntable.

[0012] Furthermore, an absolute multi-turn encoder is installed on the hydraulic turntable to collect the encoder value in real time, and the valve-controlled motor + encoder closed-loop control is used to control the continuous rotation, forward and reverse rotation, and positioning stop of the turntable; pressure sensors are set in the two chambers of the motor connected to the turntable to monitor the load of the motor in real time, with the motor torque output as the inner loop and the encoder feedback as the outer loop control;

[0013] The valve-controlled motor control system includes a hardware system and control software. The hardware system includes an embedded control module, a signal isolation module, and a relay module. The control software runs in the embedded control module and is used for status monitoring function, parameter management speed function, uniform speed function, positioning function, and fan scanning control.

[0014] Furthermore, position and speed closed-loop processing includes:

[0015] In positioning mode, the collected position information is compared with the position command signal as the input signal of the position closed loop;

[0016] In speed mode, the collected position information is processed to obtain the speed feedback value and complete the speed closed loop.

[0017] Furthermore, the turntable speed trajectory planning includes:

[0018] (1) Turntable start-up acceleration process: The turntable starts at zero speed. After receiving a speed command, it needs to accelerate to the command speed.

[0019] (2) Turntable deceleration and stop process: The turntable is running at a certain speed. When it receives a stop command, it needs to respond by decelerating to zero speed.

[0020] (3) Turntable speed change process: The turntable is running at a certain speed and suddenly receives a speed command, requiring it to switch to other low-speed or high-speed states.

[0021] Furthermore, the process of the hydraulic turntable starting and stopping and running to the highest and lowest speeds includes the start-up acceleration stage, the uniform speed running stage, the deceleration stage, and finally the stage of reducing the minimum running speed to the zero speed stop stage. The speed planner v(t) is expressed as follows:

[0022]

[0023] Where a1 is the acceleration value in the acceleration phase (a1>0), v max is the maximum allowable operating speed of the turntable, and a2 is the acceleration value of the deceleration stage (a2<0). The turntable accelerates at an acceleration of a1, and after t1 time, the turntable reaches the maximum speed v maxAfter running at a constant speed for a period of time, it decelerates with an acceleration of a2 at time t2, drops to the minimum running speed v0 at time t3, and receives a stop command at time t4, and the turntable stops;

[0024] Or, the hydraulic turntable speed switching process includes switching from low speed v m Towards high speed v n switching, and by high-speed v n′ To low speed v m′ Switch, using the speed planner v(t) expression as follows:

[0025] v(t)=v m +a m t(t>t m );

[0026] v(t)=v' n -a' m t(t>t' m );

[0027] In the formula, t is time, a is m is the acceleration of switching from low speed to high speed, a m ′(a m ′>0) is the acceleration of switching from high speed to low speed.

[0028] Further, the method of performing fuzzy adaptive tuning includes:

[0029] On the basis of PID algorithm, the speed error e and speed error change rate ec of the current system are calculated as the input of the fuzzy controller, and the input is fuzzified.

[0030] According to the magnitude of the speed error e and the speed error change rate ec detected at each moment, the fuzzy reasoning is performed according to the degree of output magnitude obtained by the fuzzy reasoning table;

[0031] Defuzzify the result of fuzzy reasoning and output three parameters of PID controller: proportional coefficient k p , integration coefficient k i , differential coefficient k d , thereby achieving adaptive tuning of PID controller parameters.

[0032] Furthermore, the method for adjusting the controller parameters in the position loop includes:

[0033] Design coarse and fine dual-loop control in the position closed loop:

[0034] When the position deviation is large, the coarse control loop uses a trapezoidal speed planner and a fuzzy controller to achieve fast tracking and zeroing;

[0035] When the position error is small, the start-up fine loop control adopts a variable speed integral PID controller with integral anti-saturation effect.

[0036] Furthermore, when the turntable is in coarse loop control, trapezoidal position planning or triangular position planning is selected according to the size of the positioning error;

[0037] First, select the judgment condition:

[0038] θ error =θ target -θ;

[0039] In the formula, θ target is the positioning target value, θ is the current value of the turntable;

[0040] Secondly, according to the maximum allowable acceleration and maximum speed limit of the hydraulic turntable, the threshold S0 is calculated as follows:

[0041]

[0042] In the formula, v max is the maximum allowable operating speed of the hydraulic turntable, v0 is the minimum operating speed of the turntable, a max is the maximum permissible acceleration of the turntable and a max >0;

[0043] Furthermore, when the turntable positioning error θ error When the absolute value of is less than or equal to the threshold S0, triangle position planning is adopted, otherwise trapezoidal position planning is adopted.

[0044] Furthermore, the integral term expression of the variable speed integral PID controller is as follows:

[0045]

[0046] The relationship between the coefficient f and the current value of the deviation |θ(k)| can be linear or nonlinear, set as:

[0047]

[0048] The value of f changes in the interval [0,1]. When the difference of |θ(k)| is greater than the given separation interval A+B, f=0, and the current value |θ(k)| is no longer accumulated. When the deviation |θ(k)| is less than B, the current value θ(k) is added, and the integral action reaches the highest speed. When the deviation |θ(k)| is between B and A+B, part of the current value is accumulated, and its value varies between 0 and |θ(k)| with the size of |θ(k)|.

[0049] The variable speed integral PID controller formula is expressed as:

[0050]

[0051] In a second aspect, the present invention provides a hydraulic turntable fuzzy control system based on trajectory planning, which is used to execute the hydraulic turntable fuzzy control method based on trajectory planning as described in any one of the first aspects, wherein an absolute value multi-turn encoder is installed on the hydraulic turntable to collect the encoder value in real time, and the valve-controlled motor + encoder closed-loop control is used to control the continuous rotation, forward and reverse rotation and positioning stop of the turntable; pressure sensors are set in the two chambers of the motor connected to the turntable to monitor the load of the motor in real time, with the motor torque output as the inner loop and the encoder feedback as the outer loop control;

[0052] The valve-controlled motor control system includes a hardware system and control software. The hardware system includes an embedded control module, a signal isolation module, and a relay module. The control software runs in the embedded control module and is used for status monitoring function, parameter management speed function, uniform speed function, positioning function, and fan sweep control.

[0053] The system includes the following modules:

[0054] The acquisition and processing module is used to transmit the hydraulic turntable position information acquired in real time by the angle encoder to the valve-controlled motor control system for position and speed closed-loop processing;

[0055] The trajectory planning module is used to plan the velocity trajectory according to the current velocity signal and velocity command signal of the hydraulic turntable;

[0056] The tuning control module is used to perform fuzzy adaptive tuning on the controller PID parameters in the speed loop; as well as to tune the controller parameters in the position loop and design coarse and fine dual-loop control for hydraulic turntable control.

[0057] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: the hydraulic turntable fuzzy control method and system based on trajectory planning provided by the present invention adopts coarse-fine dual-loop control in the position loop, which solves the problem of a pair of conflicting indicators: rapid positioning and stable positioning accuracy; trajectory planning is embedded in both the position loop and the speed loop control loop to reduce motion impact, enhance system stability, and extend system service life; the controller adopts fuzzy PID to solve the problem of poor turntable stability during high-speed operation and easy creeping during low-speed operation due to the influence of internal leakage in the motor and nonlinear changes in friction torque. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 This is a diagram of the hydraulic turntable system.

[0059] Figure 2 Block diagram of hydraulic turntable system.

[0060] Figure 3Hardware block diagram of hydraulic turntable servo control system.

[0061] Figure 4 Human-computer interaction interface.

[0062] Figure 5 is the transfer function of the hydraulic turntable system.

[0063] Figure 6 This is a schematic diagram of the start-stop speed curve of the hydraulic turntable.

[0064] Figure 7 Schematic diagram of the hydraulic turntable speed switching curve.

[0065] Figure 8 It is a fuzzy adaptive PID control structure.

[0066] Fig. 9 This is the double-loop control block diagram of the hydraulic turntable position.

[0067] Fig.10 This is the steady-state speed curve of the hydraulic turntable at 0.25rpm for the rotation accuracy test.

[0068] Fig.11 This is the speed switching curve of the hydraulic turntable for the speed switching test.

[0069] Fig.12 The test curves for the positioning function test of the hydraulic turntable are counterclockwise and clockwise positioning.

[0070] Fig.13 The fan sweep position curve of the hydraulic turntable is used to test the fan sweep function.

[0071] In the figure, 1. Support frame; 2. Hydraulic system; 3. Control cabinet; 4. Motor control valve; 5. Servo control cabinet; 6. Refrigerant unit. DETAILED DESCRIPTION

[0072] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0073] Example

[0074] The embodiment of the present invention provides a fuzzy control method for a hydraulic turntable based on trajectory planning. The structure and module composition of the hydraulic turntable and the control system used in the method can be seen as follows: Figure 1 , Figure 2 , Figure 3 and Figure 4 shown.

[0075] like Figure 1As shown, it is the overall block diagram of the system. The oil tank, motor and valve group are installed on the supporting frame 1 to form a hydraulic system 2 to provide power for the system; the hydraulic pump station control cabinet 3 is used to adjust the pressure, flow and other parameters of the hydraulic system 2; the motor control valve 4 is used to adjust the action of the motor; the servo control cabinet 5 is used to control the action of the power components; the auxiliary components such as the refrigerant unit 6 enable the system to work normally.

[0076] like Figure 2 As shown in the figure, the composition of the hydraulic turntable and its control system is demonstrated. An absolute multi-turn encoder is installed on the turntable. The encoder value is collected in real time during the control process. Through the valve-controlled motor + encoder closed-loop control, the turntable's continuous rotation, forward and reverse rotation, and positioning stop can be achieved.

[0077] Pressure sensors are set in the two chambers of the motor to monitor the motor load in real time. The motor torque output is used as the inner loop and the encoder feedback is used as the outer loop control to improve the stability and controllability of the motor in a larger speed range.

[0078] The hydraulic turntable servo control system includes hardware system and control software.

[0079] Among them, the hardware system consists of embedded control module, signal isolation module, relay module, etc. Figure 3 shown.

[0080] The control software runs in the embedded control module, which mainly includes five functions, namely, status monitoring function, parameter management speed function, uniform speed function, positioning function, fan scanning control function, and realizes user interaction through the human-computer interaction interface, such as Figure 4 shown.

[0081] The fuzzy controller provided by the technical solution of the present invention can solve the problem that the hydraulic turntable is affected by the internal leakage of the motor and the nonlinear change of the friction torque, resulting in poor stability during high-speed operation and easy crawling during low-speed operation, which in turn affects the control accuracy of the turntable. At the same time, for the large load occasions of the hydraulic turntable, when there are large speed and acceleration changes, the turntable structure will be impacted and cause system jitter. The present invention can improve the stability of the hydraulic turntable movement and the positioning accuracy through trajectory planning.

[0082] The hydraulic turntable uses the hydraulic turntable fuzzy control method based on trajectory planning proposed by the present invention, and the specific steps are as follows:

[0083] Step 1: Figure 5 As shown, a valve-controlled motor control system is designed to collect the position information of the hydraulic turntable in real time through an angle encoder and transmit the collected position information to the control system.

[0084] Step 2: Plan the velocity trajectory based on the current velocity signal of the turntable and the velocity command signal.

[0085] The turntable speed trajectory planning can be divided into the following basic situations and their combinations:

[0086] The first case is the turntable starting acceleration process. The turntable's initial speed is zero. After receiving a certain speed command, it needs to accelerate to the command speed.

[0087] The second situation is that the turntable is running at a certain speed and receives a stop command, and needs to respond by decelerating to zero speed;

[0088] The third situation is that the turntable is running at a certain speed and suddenly receives a speed command, requiring it to switch to other low-speed or high-speed states.

[0089] like Figure 6 The figure shows the speed process curve of the turntable starting and stopping and running to the highest and lowest speeds. The specific process is as follows:

[0090] When the turntable is in a stopped state and receives an instruction to run to the maximum speed of the turntable, the turntable plans the process and when the speed reaches the maximum speed, it runs at a constant speed at that speed.

[0091] After a period of time, the turntable receives an instruction to run at the minimum speed and starts to decelerate. When the stop instruction is received, the turntable stops.

[0092] The above process can be divided into the starting acceleration stage, the uniform speed running stage, the deceleration stage, and finally the stage where the minimum running speed v0 is reduced to the zero speed stop stage.

[0093] The above process speed planner v(t) is expressed as follows:

[0094]

[0095] Where a1 is the acceleration value in the acceleration phase (a1>0), v max is the maximum allowable operating speed of the turntable, and a2 is the acceleration value of the deceleration stage (a2<0). The turntable accelerates at an acceleration of a1, and after t1 time, the turntable reaches the maximum speed v max After running at a constant speed for a period of time, it decelerates with an acceleration a2 at time t2, drops to the minimum running speed v0 at time t3, and receives a stop command at time t4, and the turntable stops.

[0096] like Figure 7 The figure shows the speed planning process curve for the high and low speed switching of the hydraulic turntable.

[0097] The hydraulic turntable speed switching process includes the low speed v m Towards high speed nswitching, and by high-speed v n ′To low speed v m ′ switching, the speed planner expression is as shown below, where a m is the acceleration of switching from low speed to high speed, a m ′(a m ′>0) is the acceleration of switching from high speed to low speed.

[0098] v(t)=v m +a m t(t>t m );

[0099] v(t)=v' n -a' m t(t>t' m ).

[0100] Step 3: Perform fuzzy adaptive tuning on the speed controller PID parameters.

[0101] Figure 8 This is the fuzzy adaptive PID control structure diagram.

[0102] (3-1) Fuzzy processing.

[0103] The domain is determined according to the speed accuracy requirements of the hydraulic turntable, and the fuzzy set of e is taken as {NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large)}. The maximum speed is 12rpm (1±5%), the domain is determined to be [-0.6, 0.6], and the corresponding fuzzy domain is {-0.6, -0.4, -0.2, 0, 0.2, 0.4, 0.6}. The proportional coefficient k is taken p , integration coefficient k i , differential coefficient k d The fuzzy set is {NB (negative large), NM (negative medium), NS (negative small), ZO (zero), PS (positive small), PM (positive medium), PB (positive large)}, and the domain is [-0.3, 0.3];

[0104] (3-2) Fuzzy reasoning.

[0105] According to the speed error e and speed error change rate ec detected at each moment, the output size is obtained according to the fuzzy inference table. The inference table is shown in Tables 1 to 3 below.

[0106] KP parameter adjustment rules table 1

[0107]

[0108]

[0109] Ki parameter adjustment rules Table 2

[0110]

[0111] Table 3 Kd parameter adjustment rules

[0112]

[0113] (3-3) Deblurring:

[0114] Taking the proportional coefficient kp as an example, the center of gravity method takes μ c (k p_fuzzy ) is the clear value of kp, that is:

[0115]

[0116] In the formula, k preal is the clarity after deblurring, k p_fuzzy is the blur amount.

[0117] Step 4: Design the position loop, position dual loop control block diagram, see Fig. 9 ;

[0118] Select the coarse and fine loops according to the position command and the feedback position signal;

[0119] When the turntable is in coarse loop control, trapezoidal position planning or triangular position planning is selected according to the size of the positioning error;

[0120] θ error =θ target -θ;

[0121] In the formula, θ target is the positioning target value, and θ is the current value of the turntable.

[0122] The threshold S0 can be calculated based on the maximum allowable acceleration and maximum speed limit of the turntable as follows:

[0123]

[0124] In the formula, v max is the maximum allowable operating speed of the hydraulic turntable, v0 is the minimum operating speed of the turntable, a max is the maximum permissible acceleration of the turntable (a max >0).

[0125] When the turntable positioning error θ error When the absolute value of is less than or equal to the threshold S0, triangle position planning is adopted, otherwise trapezoidal position planning is adopted.

[0126] The expression of the trapezoidal position planner is as follows:

[0127]

[0128] The rough loop position controller adopts fuzzy adaptive tuning PID controller, and its design method is the same as that of the speed loop controller.

[0129] In this embodiment, when the turntable is in fine loop control, a variable speed integral PID controller is used.

[0130] The integral term expression of the variable speed integral controller is as follows:

[0131]

[0132] The relationship between the coefficient f and the current value of the deviation |θ(k)| can be linear or nonlinear, set as:

[0133]

[0134] The coefficient f value varies in the interval [0,1]. When the difference |θ(k)| is greater than the given separation interval A+B, f=0, and the current value |θ(k)| is no longer accumulated. When the deviation |θ(k)| is less than B, the current value θ(k)| is added, and the integral action reaches the highest speed. When the deviation |θ(k)| is between B and A+B, part of the current value is accumulated, and its value varies between 0 and |θ(k)| with the size of |θ(k)|.

[0135] Among them, the variable speed integral controller algorithm is expressed as:

[0136]

[0137] like Fig.10 , which is the verification result of the 0.25rpm low-speed mode test. There is no sudden change or creeping in speed, and the steady-state speed accuracy of the hydraulic servo turntable meets the index requirement of ±5%.

[0138] Under a load of 10t, the speed is input through the human-machine interface to control the turntable from a stopped state to a speed of 6rpm. After running for a period of time, 0 speed is input on the human-machine interface to slow down the turntable. The test results are as follows: Fig.11 ,The turntable speed switching process is stable and controllable, which meets the speed planning trajectory design requirements.

[0139] Under a load of 10t, the positioning function mode was selected through the human-computer interaction interface, and the clockwise and counterclockwise positioning function tests were performed with a step angle of 30°. The test results are as follows: Fig.12 As shown, the positioning position was tested 10 times and the curves had high coincidence, good repeatability and positioning accuracy of ±0.1°.

[0140] Under a load of 10t, the fan scanning mode is selected through the upper computer interface, the fan scanning angle is input, and the fan scanning action is started with one key. The fan scanning center 270°, fan scanning swing angle ±30°, and fan scanning center 90° and fan scanning swing angle ±30° are input respectively; the position data of the fan scanning process is recorded through the human-computer interaction interface, and the curve is drawn as follows Fig.13 shown.

[0141] The test results show that the position curve of the swing angle center switching from 270° to 90° is smooth and stable; the position change of the fan scanning function is continuous, smooth and impact-free.

[0142] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A fuzzy control method for a hydraulic turntable based on trajectory planning, characterized in that: The steps include: The hydraulic turntable position information collected in real time by the angle encoder is transmitted to the valve-controlled motor control system for position and speed closed-loop processing; Plan the speed trajectory according to the current speed signal and speed command signal of the hydraulic turntable; Perform fuzzy adaptive tuning on the controller PID parameters in the speed loop; The controller parameters in the position loop are adjusted and the coarse and fine dual-loop control is designed to control the hydraulic turntable.

2. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: An absolute multi-turn encoder is installed on the hydraulic turntable to collect the encoder value in real time, and the valve-controlled motor + encoder closed-loop control is used to control the continuous rotation, forward and reverse rotation, and positioning stop of the turntable; pressure sensors are installed in the two chambers of the motor connected to the turntable to monitor the load of the motor in real time, with the motor torque output as the inner loop and the encoder feedback as the outer loop control; The valve-controlled motor control system includes a hardware system and control software. The hardware system includes an embedded control module, a signal isolation module, and a relay module. The control software runs in the embedded control module and is used for status monitoring function, parameter management speed function, uniform speed function, positioning function, and fan scanning control.

3. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: Position and speed closed-loop processing includes: In positioning mode, the collected position information is compared with the position command signal as the input signal of the position closed loop; In speed mode, the collected position information is processed to obtain the speed feedback value and complete the speed closed loop.

4. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: The turntable speed trajectory planning includes: (1) Turntable start-up acceleration process: The turntable starts at zero speed. After receiving a speed command, it needs to accelerate to the command speed. (2) Turntable deceleration and stop process: The turntable is running at a certain speed. When it receives a stop command, it needs to respond by decelerating to zero speed. (3) Turntable speed change process: The turntable is running at a certain speed and suddenly receives a speed command, requiring it to switch to other low-speed or high-speed states.

5. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: The process of the hydraulic turntable starting and stopping and running to the highest and lowest speeds includes the start-up acceleration stage, the uniform speed running stage, the deceleration stage, and finally the stage of reducing the minimum running speed to the zero speed stop stage. The speed planner v(t) is expressed as follows: Where a1 is the acceleration value in the acceleration phase (a1>0), v max is the maximum allowable operating speed of the turntable, and a2 is the acceleration value of the deceleration stage (a2<0). The turntable accelerates at an acceleration of a1, and after t1 time, the turntable reaches the maximum speed v max After running at a constant speed for a period of time, it decelerates with an acceleration of a2 at time t2, drops to the minimum running speed v0 at time t3, and receives a stop command at time t4, and the turntable stops; Or, the hydraulic turntable speed switching process includes switching from low speed v m Towards high speed v n switching, and by high-speed v n ′To low speed v m′ Switch, using the speed planner v(t) expression as follows: v(t)=v m +a m t(t>t m ); v(t)=v' n -a' m t(t>t' m ); In the formula, t is time, a is m is the acceleration of switching from low speed to high speed, a m ′(a m ′>0) is the acceleration of switching from high speed to low speed.

6. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: Methods for fuzzy adaptive tuning include: On the basis of PID algorithm, the speed error and e of the current system and the speed error change rate ec are calculated as the input of the fuzzy controller, and the input is fuzzified. According to the magnitude of the speed error e and the speed error change rate ec detected at each moment, the fuzzy reasoning is performed according to the degree of output magnitude obtained by the fuzzy reasoning table; Defuzzify the result of fuzzy reasoning and output three parameters of PID controller: proportional coefficient k p , integration coefficient k i , differential coefficient k d , thereby achieving adaptive tuning of PID controller parameters.

7. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 1 is characterized in that: Methods for tuning controller parameters in the position loop include: Design coarse and fine dual-loop control in the position closed loop: When the position deviation is large, the coarse control loop uses a trapezoidal speed planner and a fuzzy controller to achieve fast tracking and zeroing; When the position error is small, the start-up fine loop control adopts a variable speed integral PID controller with integral anti-saturation effect.

8. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 7 is characterized in that: When the turntable is in coarse loop control, trapezoidal position planning or triangular position planning is selected according to the size of the positioning error; First, select the judgment condition: i error =θ target -θ; In the formula, θ target is the positioning target value, θ is the current value of the turntable; Secondly, according to the maximum allowable acceleration and maximum speed limit of the hydraulic turntable, the threshold S0 is calculated as follows: In the formula, v max is the maximum allowable operating speed of the hydraulic turntable, v0 is the minimum operating speed of the turntable, a max is the maximum permissible acceleration of the turntable and a max >0; Furthermore, when the turntable positioning error θ error When the absolute value of is less than or equal to the threshold S0, triangle position planning is adopted, otherwise trapezoidal position planning is adopted.

9. The fuzzy control method of hydraulic turntable based on trajectory planning according to claim 8, characterized in that: The integral term expression of the variable speed integral PID controller is as follows: The relationship between the coefficient f and the current value of the deviation |θ(k)| can be linear or nonlinear, set as: The f value changes in the interval [0,1]. When the difference |θ(k)| is greater than the given separation interval A+B, f=0, and the current value |θ(k)| is no longer accumulated. When the deviation |θ(k)| is less than B, the current value θ(k) is added, and the integral action reaches the highest speed. When the deviation |θ(k)| is between B and A+B, part of the current value is accumulated and its value varies with the size of |θ(k)| between 0 and |θ(k)|. The variable speed integral PID controller formula is expressed as:

10. The fuzzy control system of hydraulic turntable based on trajectory planning is characterized by: Used to execute the fuzzy control method of a hydraulic turntable based on trajectory planning as described in any one of claims 1 to 9, wherein an absolute value multi-turn encoder is installed on the hydraulic turntable to collect the encoder value in real time, and the valve-controlled motor + encoder closed-loop control is used to control the continuous rotation, forward and reverse rotation and positioning stop of the turntable; pressure sensors are set in the two chambers of the motor connected to the turntable to monitor the load of the motor in real time, with the motor torque output as the inner loop and the encoder feedback as the outer loop control; The valve-controlled motor control system includes a hardware system and control software. The hardware system includes an embedded control module, a signal isolation module, and a relay module. The control software runs in the embedded control module and is used for status monitoring function, parameter management speed function, uniform speed function, positioning function, and fan sweep control. The system includes the following modules: The acquisition and processing module is used to transmit the hydraulic turntable position information acquired in real time by the angle encoder to the valve-controlled motor control system for position and speed closed-loop processing; The trajectory planning module is used to plan the velocity trajectory according to the current velocity signal and velocity command signal of the hydraulic turntable; The tuning control module is used to perform fuzzy adaptive tuning on the controller PID parameters in the speed loop; as well as to tune the controller parameters in the position loop and design coarse and fine dual-loop control for hydraulic turntable control.

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