Lorentz force-based control method and system for electromagnetic proportional valve with elastic sheet beam structure

Abstract

The invention belongs to the field of proportional valve control, and particularly relates to a Lorentz force-based control method and system for an electromagnetic proportional valve with an elastic sheet beam structure, and the method comprises the steps: obtaining nonlinear factors in the electromagnetic proportional valve with the elastic sheet beam structure, and collecting the state data of the control system in real time; constructing a feed-forward control model based on nonlinear factors in the elastic sheet beam structure electromagnetic proportional valve, and obtaining a feed-forward signal based on the feed-forward control model; obtaining a feedforward correction signal based on the state data of the control system; respectively constructing a proportional valve control model, a sensor control model and a feedback control model of the control system based on the state data of the control system, and obtaining a feedback control signal based on the feedback control model; obtaining a transfer function of the control system based on a feedforward control model, a proportional valve control model, a sensor control model and a feedback control model; and combining the feed-forward compensation signal, the feed-forward correction signal and the feedback control signal, and adopting an adaptive control method to obtain a final control signal.

Description

Technical Field

[0001] The present invention belongs to the field of proportional valve control, and in particular relates to a control method and system for a spring-bar structure electromagnetic proportional valve based on Lorentz force. Background Art

[0002] In the field of modern industrial automation and precision control, the performance of electromagnetic proportional valves, as core fluid control components, is directly related to the response speed, stability and control accuracy of the entire system. During the control process of electromagnetic proportional valves, there are many nonlinear factors, such as the nonlinear dynamics between the electromagnetic field and the permanent magnetic field, the nonlinear vibration of the spring beam and the valve disc spring, etc. These factors will cause a deviation between the system output and the expected value, thereby affecting the tracking accuracy of the proportional flow valve, and further affecting the control effect of the entire system. Summary of the invention

[0003] The present invention provides a control method and system for a spring-loaded beam structure electromagnetic proportional valve based on Lorentz force. By constructing a feedforward control model, the nonlinear factors in the spring-loaded beam structure electromagnetic proportional valve are used to improve the linear output characteristics of the electromagnetic proportional valve, accurately control the fluid power system, improve the response speed and control accuracy, and enhance the stability of the system. The final control signal is obtained by combining the feedforward control signal and the feedback control signal to reduce the lag and instability of the control system.

[0004] A control method of a spring-bar structure electromagnetic proportional valve based on Lorentz force, comprising: Obtain the nonlinear factors in the electromagnetic proportional valve with spring beam structure, and collect the status data of the control system in real time; Based on the nonlinear factors in the electromagnetic proportional valve with spring beam structure, a feedforward control model is constructed, and a feedforward compensation signal is obtained based on the feedforward control model; Based on the state data of the control system, a feedforward correction signal is obtained; Based on the state data of the control system, a proportional valve control model, a sensor control model and a feedback control model of the control system are respectively constructed, and a feedback control signal is obtained based on the feedback model; Based on the feedforward control model, proportional valve control model, sensor control model and feedback control model, the transfer function of the control system is obtained; Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, an adaptive control method is used to obtain the final control signal for controlling the control system.

[0005] By constructing a feedforward control model, the nonlinear factors in the electromagnetic proportional valve with a spring beam structure are used to improve the linear output characteristics of the electromagnetic proportional valve, accurately control the fluid power system, improve the response speed and control accuracy, and enhance the stability of the system; the final control signal is obtained by combining the feedforward control signal and the feedback control signal to reduce the lag and instability of the control system.

[0006] Furthermore, the method of obtaining the nonlinear factors in the electromagnetic proportional valve with a spring beam structure and collecting the state data of the control system in real time includes: Obtaining nonlinear factors in the electromagnetic proportional valve with a spring beam structure; the nonlinear factors include nonlinear dynamic factors between the electromagnetic field and the permanent magnetic field, nonlinear vibration factors between the spring beam and the valve disc spring, and nonlinear hysteresis factors of ferromagnetic materials; The state data of the control system is collected in real time; the state data includes the actual output signal, valve disc speed, and valve disc acceleration.

[0007] Furthermore, the feedforward control model is constructed based on the nonlinear factors in the electromagnetic proportional valve with a spring beam structure, and a feedforward compensation signal is obtained based on the feedforward control model, including: Based on the nonlinear factors in the electromagnetic proportional valve with a spring beam structure, nonlinear models are constructed respectively; the nonlinear models include a nonlinear dynamic model obtained based on nonlinear dynamic factors, a nonlinear vibration model obtained based on nonlinear vibration factors, and a nonlinear hysteresis model obtained based on nonlinear hysteresis factors; Based on the nonlinear model, an inverse model of the nonlinear model is constructed and used as a feedforward control model; the inverse model of the nonlinear model includes a nonlinear dynamic inverse model obtained based on the nonlinear dynamic model, a nonlinear vibration inverse model obtained based on the nonlinear vibration model, and a nonlinear hysteresis inverse model obtained based on the nonlinear hysteresis model; Based on the feedforward control model, the feedforward compensation signal is calculated by combining the expected input signal and the actual input signal; The expression of the feedforward compensation signal is: ; In the formula, represents the feedforward compensation signal; represents the expected input signal; Indicates the actual input signal.

[0008] A nonlinear model is constructed through nonlinear factors, and an inverse model of the nonlinear model is constructed based on the nonlinear model as a feedforward control model for feedforward compensation, which can effectively eliminate the pressure hysteresis of the proportional valve and enable the output signal to change rapidly according to the input signal.

[0009] Furthermore, the feedforward correction signal includes: The speed correction signal is expressed as: = ; In the formula, Indicates speed correction signal; Indicates speed compensation gain; Indicates speed feedback; Represents the position feedback deviation, that is ; represents the expected output signal; Indicates the actual output signal; The acceleration correction signal is expressed as: = ; In the formula, represents the acceleration correction signal; Indicates acceleration compensation gain; Indicates acceleration feedback.

[0010] By calculating the feedforward correction signal based on the position feedback deviation and deviation change rate of the control system and adopting the ideas of speed compensation and acceleration compensation, the tracking accuracy of the electromagnetic proportional valve can be improved, thereby solving the problem of the nonlinear characteristics of the one-way electromagnetic proportional valve affecting the system position control accuracy and dynamic response speed.

[0011] Furthermore, based on the state data of the control system, a proportional valve control model, a sensor control model, and a feedback control model of the control system are respectively constructed, and a feedback control signal is obtained based on the feedback control model, including: Based on the state data of the control system, a proportional valve control model is constructed; Build a sensor control model based on the state data of the control system; Based on the state data of the control system, a feedback control model is constructed, and a feedback control signal is obtained based on the feedback control model; The expression of the feedback control signal is: ; In the formula, represents the feedback control signal; Represents the error between the actual output signal and the expected output signal; , , Represent the adaptively adjusted proportional, integral and derivative gains respectively.

[0012] By constructing a feedback control model, the control parameters can be adjusted according to the control system state, thereby overcoming the influence of dead zone nonlinearity and ensuring that the solenoid proportional valve has good control performance in the entire working range.

[0013] Furthermore, the transfer function of the control system is obtained based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model, including: Based on the feedforward control model, a transfer function of the feedforward control model is obtained; The transfer function expression of the feedforward control model is: ; In the formula, represents the transfer function of the feedforward control model; represents the feedforward gain; represents the overall feedforward control transfer function; represents the feedforward transfer function of the nonlinear dynamic model, that is, ; represents the feedforward transfer function of the nonlinear vibration model, that is, ; represents the feedforward transfer function of the nonlinear hysteresis model, that is, ; The Laplace transform form of the output force; Represents the Laplace transform form of the current; Represents the Laplace transform form of the output displacement; Represents the Laplace transform form of the input external force; represents a complex frequency variable; Based on the proportional valve control model, the transfer function of the proportional valve control model is obtained; The transfer function of the proportional valve control model is expressed as: ; In the formula, Represents the transfer function of the proportional valve control model; Indicates proportional valve gain; Indicates the time constant of the proportional valve; Based on the sensor control model, a transfer function of the sensor control model is obtained; The expression of the transfer function of the sensor control model is: ; In the formula, represents the transfer function of the sensor control model; Indicates the gain of the sensor; represents the time constant of the sensor; Based on the feedback control model, a transfer function of the feedback control model is obtained; The expression of the transfer function of the feedback control model is: ; In the formula, represents the transfer function of the feedback control model; , , Represent the proportional, integral and differential gains respectively; The transfer function of the control system is obtained by combining the transfer function of the feedforward control model, the transfer function of the proportional valve control model, the transfer function of the sensor control model, and the transfer function of the feedback control model; The expression of the transfer function of the control system is: ; In the formula, represents the closed-loop transfer function of the control system.

[0014] By integrating the transfer functions under different nonlinear factors, the relationship between time response, magnetic field strength and current can be considered at the same time, and the hysteresis effect can be simplified, so that the constructed transfer function can be used to predict and compensate for known nonlinear factors in the control system; combining the transfer function of the proportional valve control model, the transfer function of the sensor control model, and the transfer function of the feedback control model, it can be used to adjust the input signal according to the measured value of the sensor to keep the control system at the desired operating point, thereby effectively compensating for the impact of nonlinear factors and improving the control accuracy and stability of the control system.

[0015] Furthermore, the feedforward compensation signal, the feedforward correction signal, and the feedback control signal are combined to obtain a final control signal using an adaptive control method for controlling the control system, including: Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal to obtain an adjusted control signal, and inputting the adjusted control signal into the control system; The final control signal is expressed as: ; In the formula, Represents the final control signal; represents the feedforward compensation signal; represents the feedback control signal; Obtaining the actual output signal and the expected output signal of the control system, and calculating the deviation between the actual output signal and the expected output signal; Based on the deviation signal, an adaptive control method is used to dynamically adjust the control system parameters until the control system meets the preset performance targets.

[0016] A system for controlling a spring-bar structure electromagnetic proportional valve based on Lorentz force, comprising: A data acquisition module, which is used to obtain nonlinear factors in the electromagnetic proportional valve of the spring beam structure and to collect state data of the control system in real time; A feedforward signal acquisition module, which is used to construct a feedforward control model based on the nonlinear factors in the electromagnetic proportional valve of the spring beam structure, and obtain a feedforward compensation signal based on the feedforward control model; and obtain a feedforward correction signal based on the state data of the control system; A feedback signal acquisition module is used to construct a proportional valve control model, a sensor control model, and a feedback control model of the control system based on the state data of the control system, and obtain a feedback control signal based on the feedback control model; A transfer function acquisition module, which is used to obtain the transfer function of the control system based on a feedforward control model, a proportional valve control model, a sensor control model, and a feedback control model; The control signal calculation module is used to combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and adopts an adaptive control method to obtain the final control signal for controlling the control system.

[0017] An electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the above method when executing the computer program.

[0018] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0019] The beneficial effects of the present invention are: The present invention constructs a feedforward control model for the nonlinear factors in the electromagnetic proportional valve with a spring beam structure, thereby improving the linear output characteristics of the electromagnetic proportional valve, accurately controlling the fluid power system, improving the response speed and control accuracy, and enhancing the stability of the system; and the final control signal is obtained by combining the feedforward control signal and the feedback control signal to reduce the hysteresis and instability of the control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a flow chart of the present invention; Figure 2 It is a schematic diagram of the system structure of the present invention; Figure 3 A schematic diagram of the structure of a computer device. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0023] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples, and a person of ordinary skill in the art can understand the specific meanings of the above terms in this application under specific circumstances.

[0024] Example 1 Figure 1 The control method of the electromagnetic proportional valve with spring beam structure based on Lorentz force is shown. By constructing a feedforward control model, it is used for the nonlinear factors in the electromagnetic proportional valve with spring beam structure, thereby improving the linear output characteristics of the electromagnetic proportional valve, accurately controlling the fluid power system, improving the response speed and control accuracy, and enhancing the stability of the system; the final control signal is obtained by combining the feedforward control signal and the feedback control signal to reduce the hysteresis and instability of the control system. Including: S1: Obtain the nonlinear factors in the electromagnetic proportional valve with spring beam structure and collect the state data of the control system in real time; S11: Obtaining nonlinear factors in the electromagnetic proportional valve with spring beam structure; In this embodiment, the nonlinear factors include the nonlinear dynamic factors between the electromagnetic field and the permanent magnetic field, the nonlinear vibration factors of the spring beam and the valve disc spring, and the nonlinear hysteresis factors of the ferromagnetic material.

[0025] S12: Real-time acquisition of control system status data; In this embodiment, the status data includes actual output signal, valve flap speed, valve flap acceleration, flow rate, etc., and the status data is acquired in real time through a pressure sensor and a flow sensor.

[0026] S2: Based on the nonlinear factors in the electromagnetic proportional valve with a spring beam structure, a feedforward control model is constructed, and a feedforward compensation signal is obtained based on the feedforward control model; S21: Based on the nonlinear factors in the electromagnetic proportional valve with spring beam structure, nonlinear models are constructed respectively; S211: Nonlinear dynamic model based on nonlinear dynamic factors between electromagnetic field and permanent magnetic field; In this embodiment, the interaction force between the electromagnetic field and the permanent magnetic field is described by the Lorentz force, that is, when the charge passes through the magnetic field, the charge is subjected to a force perpendicular to its velocity and the direction of the magnetic field, and the Lorentz force can be considered as a force applied to the wire, that is, it is proportional to the current in the wire and proportional to the magnetic field strength.

[0027] Among them, in an electromagnetic system consisting of a conductor in a uniform constant magnetic field, the expression of the nonlinear dynamic model is: ; In the formula, It represents the force acting on the conductor in the electromagnetic system, that is, the output signal; Represents the current flowing in the conductor, i.e., the input signal; represents a uniform and steady magnetic field, which is a constant; represents the effective length of the conductor, which is a constant; represents the gain constant, that is ; S212: nonlinear vibration model obtained based on nonlinear vibration factors of spring beam and valve disc spring; When there is a nonlinear damper between the two springs, the behavior of the single spring is linear, and the two springs are connected in series or in parallel, the spring stiffness is calculated in combination with Hooke's law, and the system motion equation is constructed according to Newton's second law; the expression of the system motion equation is: ; In the formula, Indicates quality; Represents displacement with respect to time The second derivative of is the acceleration; represents the damping coefficient; Represents displacement with respect to time The first derivative of is the velocity; represents the nonlinear damping term; represents the stiffness coefficient of the first spring; represents the stiffness coefficient of the second spring; Indicates about time Displacement; Indicates external force; When the moving stroke is small, the nonlinear damping term can be approximated as linear, that is, At this time, the linearized form of the system's motion equation, that is, the expression of the nonlinear vibration model is: ; S213: Nonlinear hysteresis model based on nonlinear hysteresis factors of ferromagnetic materials; In this embodiment, a spring beam structure constructed by a triangular frame connected by two springs is used to ensure that the magnetic element moves approximately linearly under the action of the Lorentz force. In specific applications, the Prandtl-Ishlinskii model is used to approximate the hysteresis phenomenon, that is, the hysteresis is regarded as a collection of a series of tiny elastic springs and plastic sliders, and each slider has its own threshold and restoring force, and the actual hysteresis loop is fitted by adjusting the elastic spring or slider parameters.

[0028] Among them, the expression of the Prandtl-Ishlinskii model, that is, the PI model, is: ; In the formula, Indicates the output signal; Indicates The weight of the slider; Indicates The threshold value of the slider; represents an index; , Indicates the total number of sliders; represents a symbolic function, and when When the value of is greater than 0, The value is 1, when When the value of is less than 0, The value is -1. When the value of is equal to 0, The value is 0.

[0029] Based on the solenoid valve, when operating in a specific current range or magnetic field strength range, it is assumed that the hysteresis effect is linear within this range. The linearized expression of the Prandtl-Ishlinskii model is: ; In the formula, Indicates the magnetic field strength Magnetic induction intensity under Indicates the magnetic field strength Magnetic induction intensity under Indicates the working point The slope of the lower , Represent two different magnetic field intensities respectively; Combined with the time response of the electromagnetic proportional valve, and assuming that there is a linear relationship between the displacement of the electromagnetic proportional valve and the electromagnetic force, the dynamic equation, that is, the expression of the nonlinear hysteresis model is constructed as follows: ; In the formula, represents electromagnetic force; represents the elastic spring stiffness; S22: Based on the nonlinear model, an inverse model of the nonlinear model is constructed and used as a feedforward control model; S221: Based on the nonlinear dynamic model, construct the inverse model of the nonlinear dynamic model; Among them, the expression of the nonlinear dynamic inverse model is: ; In the formula, represents the inverse model function; S222: Based on the nonlinear vibration model, construct a nonlinear vibration inverse model; Among them, the expression of the nonlinear vibration inverse model is: ; S223: Based on the nonlinear hysteresis model, a nonlinear hysteresis inverse model is constructed; Among them, the expression of the nonlinear hysteresis inverse model is: ; S23: Based on the feedforward control model, the feedforward compensation signal is calculated by combining the expected input signal and the actual input signal; Among them, the expression of the feedforward compensation signal is: ; In the formula, represents the feedforward compensation signal; represents the expected input signal; Indicates the actual input signal.

[0030] In this embodiment, the feedforward compensation signal includes a feedforward compensation signal corresponding to a nonlinear dynamic model, a feedforward compensation signal corresponding to a nonlinear vibration model, and a feedforward compensation signal corresponding to a nonlinear hysteresis model; Among them, the feedforward compensation signal corresponding to the nonlinear dynamic model is expressed as: ; In the formula, Represents the feedforward compensation signal corresponding to the nonlinear dynamic model; represents the desired input current; Indicates the actual input current; Among them, the feedforward compensation signal corresponding to the nonlinear vibration model is expressed as: ; In the formula, Represents the feedforward compensation signal corresponding to the nonlinear vibration model; represents the expected input external force; Represents the actual input external force; Among them, the feedforward compensation signal corresponding to the nonlinear hysteresis model is expressed as: ; In the formula, Represents the feedforward compensation signal corresponding to the nonlinear hysteresis model; Indicates the expected input voltage; Indicates the actual input voltage; S3: obtaining a feedforward correction signal based on the state data of the control system; S31: Calculating the position feedback deviation based on the actual output signal and the expected output signal of the control system; Among them, the expression of position feedback deviation is: ; In the formula, Indicates position feedback deviation; represents the expected output signal; Indicates the actual output signal; S32: Calculate the speed feedback based on the position feedback deviation, and obtain a speed compensation signal based on the speed feedback; The expression of speed feedback is: ; In the formula, represents speed feedback, which is used to provide immediate information on the control system response; Among them, the speed correction signal is expressed as: = ; In the formula, Indicates speed correction signal; Indicates speed compensation gain; S33: Calculating acceleration feedback based on the position feedback deviation, and obtaining an acceleration compensation signal based on the acceleration feedback; Among them, the expression of acceleration feedback is: ; In the formula, Represents acceleration feedback, which is used to provide control accuracy and response speed of the control system; Among them, the acceleration correction signal is expressed as: = ; In the formula, represents the acceleration correction signal; Indicates acceleration compensation gain; S4: Based on the state data of the control system, a proportional valve control model, a sensor control model, and a feedback control model of the control system are respectively constructed, and a feedback control signal is obtained based on the feedback control model; S41: constructing a proportional valve control model based on the state data of the control system; S42: Building a sensor control model based on the state data of the control system; S43: constructing a feedback control model based on the state data of the control system, and obtaining a feedback control signal based on the feedback control model; Among them, the feedback control model adopts the adaptive PID control algorithm, and the expression of the feedback control signal is: ; In the formula, represents the feedback control signal; Represents the error between the actual output signal and the expected output signal; , , Represent the adaptively adjusted proportional, integral and derivative gains respectively.

[0031] S5: Based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model, a transfer function of the control system is obtained; S51: Based on the feedforward control model, a transfer function of the feedforward control model is obtained; S511: Based on the nonlinear dynamic model, Laplace transform processing is performed on it to obtain a feedforward transfer function of the nonlinear dynamic model in the frequency domain; Based on the nonlinear dynamic model, it is converted to the frequency domain, that is, the Laplace transform is applied, and the expression of the nonlinear dynamic model in the frequency domain is obtained as follows: ; In the formula, The Laplace transform form that represents the forces acting on a conductor in an electromagnetic system; The Laplace transform form of the current flowing in the conductor; express Based on the nonlinear dynamic model in the frequency domain, the feedforward transfer function of the nonlinear dynamic model in the frequency domain is obtained; the expression of the feedforward transfer function of the nonlinear dynamic model in the frequency domain is: ; In the formula, Represents the transfer function in the frequency domain; Represents the Lorentz force in an electromagnetic system The Laplace transform of The current in the coil The Laplace transform of represents a complex frequency variable; S512: Based on the nonlinear vibration model, Laplace transform processing is performed on it to obtain a feedforward transfer function of the nonlinear vibration model in the frequency domain; Based on the nonlinear vibration model, it is converted to the frequency domain, that is, the Laplace transform is applied, and the expression of the nonlinear vibration model in the frequency domain is obtained as follows: ; In the formula, Indicates about time Displacement The Laplace transform form of ; Represents external force The Laplace transform form of ; Based on the nonlinear vibration model in the frequency domain, the transfer function of the nonlinear vibration model in the frequency domain is obtained; the expression of the transfer function of the nonlinear vibration model in the frequency domain is: ; In the formula, Represents external force Under the action, the system displacement The frequency domain response of S513: Based on the nonlinear hysteresis model, Laplace transform processing is performed on it to obtain a feedforward transfer function of the nonlinear hysteresis model in the frequency domain; Based on the nonlinear hysteresis model, due to the electromagnetic force With magnetic induction intensity Proportional to the magnetic induction intensity With magnetic field strength Proportional to the magnetic field strength With current Proportional to it, that is, convert it to the frequency domain, that is, apply Laplace transform, and the expression of the nonlinear hysteresis model in the frequency domain is: ; In the formula, Represents the Laplace transform form of the current; Based on the nonlinear hysteresis model in the frequency domain, the transfer function of the nonlinear hysteresis model in the frequency domain is obtained; the expression of the nonlinear hysteresis model in the frequency domain, that is, the inverse model of the PI model is: ; In the formula, Indicates current Under the action, the system displacement The frequency domain response of S514: combining the feedforward transfer function of the nonlinear dynamic model, the feedforward transfer function of the nonlinear vibration model, and the feedforward transfer function of the nonlinear hysteresis model to obtain a total transfer function; Among them, the expression of the overall feedforward transfer function is: ; In the formula, represents the overall feedforward transfer function; S515: Calculating a transfer function of a feedforward control model based on the total feedforward transfer function; Among them, the expression of the transfer function of the feedforward control model is: ; In the formula, represents the transfer function of the feedforward control model; represents the feedforward gain; S52: Based on the proportional valve control model, obtaining a transfer function of the proportional valve control model; Among them, the transfer function of the proportional valve control model is expressed as: ; In the formula, Represents the transfer function of the proportional valve control model; Indicates proportional valve gain; Indicates the time constant of the proportional valve; S53: Based on the sensor control model, a transfer function of the sensor control model is obtained; Among them, the expression of the transfer function of the sensor control model is: ; In the formula, represents the transfer function of the sensor control model; Indicates the gain of the sensor; represents the time constant of the sensor; S54: Based on the feedback control model, a transfer function of the feedback control model is obtained; Among them, the expression of the transfer function of the feedback control model is: ; In the formula, represents the transfer function of the feedback control model; , , Represent the proportional, integral and differential gains respectively; S55: combining the transfer function of the feedforward control model, the transfer function of the proportional valve control model, the transfer function of the sensor control model, and the transfer function of the feedback control model to obtain a transfer function of the control system; Among them, the expression of the transfer function of the control system is: ; In the formula, represents the closed-loop transfer function of the control system.

[0032] It should be noted that the calculation of the transfer function of the control system in this embodiment is a combination of feedforward control and closed-loop control, so as to realize the linear characteristics of the output of the electromagnetic proportional valve in the closed-loop control system. In practical applications, it also includes the combination of feedforward control and open-loop control. It combines the feedforward control model, the proportional valve model, and the sensor model to obtain the open-loop transfer function of the control system, and uses the predicted control system to respond to changes in the input signal, and reduces the lag and instability of the control system by adjusting the input signal in advance.

[0033] Among them, the expression of the open-loop transfer function of the control system is: ; In the formula, represents the open-loop transfer function of the control system.

[0034] S6: Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, an adaptive control method is used to obtain a final control signal for controlling the control system.

[0035] S61: Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal to obtain an adjusted control signal, and inputting the adjusted control signal into the control system; Among them, the expression of the final control signal is: ; In the formula, Represents the final control signal; represents the feedforward compensation signal; represents the feedback control signal; S62: Obtaining an actual output signal and an expected output signal of the control system, and calculating a deviation between the actual output signal and the expected output signal; S63: Based on the deviation signal, an adaptive control method is used to dynamically adjust the control system parameters until the control system meets the preset performance target.

[0036] S631: Based on the PI model, select a suitable parameter identification algorithm to build a parameter identification model; Among them, the expression of the parameter identification model is: ; In the formula, Indicates the output signal; represents the input signal; represents the kernel function of the PI model; S632: Based on the parameter identification model, discretize it to obtain a discretized parameter identification model; Among them, the expression of the discretized parameter identification model is: ; In the formula, represents the model parameters to be identified; ; ; , Respectively represent the model parameter numbers, , Respectively represent the total number of parameters of the two models; S633: updating the model parameters of the discretized parameter identification model using a recursive least squares method according to the collected input signal and output signal data to obtain updated model parameters; Among them, the expression of the model parameters of the discretized parameter identification model updated by recursive least squares method is: ; ; ; In the formula, represents the estimated values ​​of model parameters; represents the gain matrix; represents the error covariance matrix; A vector representing the input data; represents transpose; S634: solving an inverse model of the PI model based on the model parameters updated in real time; Among them, the expression of PI inverse model is: ; In the formula, represents the expected input signal; represents the expected output signal; Represents model parameters that are updated in real time; S635: Calculating a duty cycle of the PWM signal based on the expected input signal and the output signal of the PI inverse model; Among them, the duty cycle of the PWM signal is expressed as: ; In the formula, Indicates the duty cycle of the PWM signal; Indicates the maximum voltage value of the PWM signal; S636: Generate a PWM signal according to the duty cycle of the PWM signal, and input the PWM signal into the control system to drive the coil of the electromagnetic proportional valve to achieve nonlinear characteristic compensation of the electromagnetic proportional valve; S637: Monitor the control system output signal and input signal in real time, and adjust the duty cycle of the PWM signal in real time according to the monitoring result to achieve real-time compensation of the electromagnetic proportional valve.

[0037] In this embodiment, based on the actual output signal, the effect of the nonlinear compensation process is evaluated by evaluating the stability and response speed of the system. When the compensation effect meets the expected target, the current strategy of the nonlinear compensation process is maintained; when the compensation effect does not meet the expected target, the control system parameters are readjusted.

[0038] Example 2 Based on the same technical concept, Figure 2 As shown, this embodiment also provides a control system for a spring-bar structure electromagnetic proportional valve based on Lorentz force, including a data acquisition module, a feedforward signal acquisition module, a feedback signal acquisition module, a transfer function acquisition module, and a control signal calculation module.

[0039] Specifically, the data acquisition module is used to obtain nonlinear factors in the electromagnetic proportional valve of the spring beam structure and to collect the state data of the control system in real time; Specifically, the feedforward signal acquisition module is used to construct a feedforward control model based on the nonlinear factors in the electromagnetic proportional valve of the spring beam structure, and obtain a feedforward compensation signal based on the feedforward control model; and obtain a feedforward correction signal based on the state data of the control system; Specifically, the feedback signal acquisition module is used to construct a proportional valve control model, a sensor control model, and a feedback control model of the control system based on the state data of the control system, and obtain a feedback control signal based on the feedback control model; Specifically, a transfer function acquisition module is used to obtain the transfer function of the control system based on a feedforward control model, a proportional valve control model, a sensor control model, and a feedback control model; Specifically, the control signal calculation module is used to combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and adopts an adaptive control method to obtain the final control signal for controlling the control system.

[0040] Example 3 Based on the same technical concept, the embodiment of the present application also provides a computer device, including a memory 1 and a processor 2, such as Figure 3As shown, the memory 1 stores a computer program, and the processor 2 implements any of the above-mentioned methods when executing the computer program.

[0041] Among them, the memory 1 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (for example, an SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 1 can be an internal storage unit of a control system of a spring beam structure electromagnetic proportional valve based on Lorentz force, such as a hard disk. In other embodiments, the memory 1 can also be an external storage device of a control system of a spring beam structure electromagnetic proportional valve based on Lorentz force, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 1 can also include both an internal storage unit of a control system of a spring beam structure electromagnetic proportional valve based on Lorentz force and an external storage device. The memory 1 can not only be used to store application software and various types of data installed in a control system of a spring beam structure electromagnetic proportional valve based on Lorentz force, such as the code of a control system program of a spring beam structure electromagnetic proportional valve based on Lorentz force, but can also be used to temporarily store data that has been output or is to be output.

[0042] In some embodiments, the processor 2 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, which is used to run the program code or process data stored in the memory 1, such as executing the control system program of the spring beam structure electromagnetic proportional valve based on the Lorentz force.

[0043] The disclosed embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by a processor to perform the steps of the method described in the above method embodiment. The storage medium can be a volatile or non-volatile computer-readable storage medium.

[0044] The computer program product of the control method of the spring beam structure electromagnetic proportional valve based on the Lorentz force provided in the disclosed embodiment of the present invention includes a computer-readable storage medium storing program code, and the instructions included in the program code can be used to execute the steps of the method described in the above method embodiment. For details, please refer to the above method embodiment, which will not be repeated here.

[0045] The disclosed embodiment of the present invention further provides a computer program, which implements any one of the methods of the aforementioned embodiments when executed by a processor. The computer program product can be implemented in hardware, software, or a combination thereof. In an optional embodiment, the computer program product is specifically embodied as a computer storage medium, and in another optional embodiment, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0046] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0047] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0048] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention belong.

[0049] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0050] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0051] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0052] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0054] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control method for a spring beam structure electromagnetic proportional valve based on Lorentz force, characterized in that: include: Obtain the nonlinear factors in the electromagnetic proportional valve with spring beam structure, and collect the status data of the control system in real time; Based on the nonlinear factors in the electromagnetic proportional valve with spring beam structure, a feedforward control model is constructed, and a feedforward compensation signal is obtained based on the feedforward control model; Based on the state data of the control system, a feedforward correction signal is obtained; Based on the state data of the control system, a proportional valve control model, a sensor control model and a feedback control model of the control system are respectively constructed, and a feedback control signal is obtained based on the feedback model; Based on the feedforward control model, proportional valve control model, sensor control model and feedback control model, the transfer function of the control system is obtained; Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, an adaptive control method is used to obtain the final control signal for controlling the control system.

2. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 1 is characterized in that: The method of obtaining the nonlinear factors in the electromagnetic proportional valve with a spring beam structure and collecting the state data of the control system in real time includes: Obtaining nonlinear factors in the electromagnetic proportional valve with a spring beam structure; the nonlinear factors include nonlinear dynamic factors between the electromagnetic field and the permanent magnetic field, nonlinear vibration factors between the spring beam and the valve disc spring, and nonlinear hysteresis factors of ferromagnetic materials; The state data of the control system is collected in real time; the state data includes the actual output signal, valve disc speed, and valve disc acceleration.

3. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 2 is characterized in that: The method of constructing a feedforward control model based on the nonlinear factors in the electromagnetic proportional valve with a spring beam structure and obtaining a feedforward compensation signal based on the feedforward control model includes: Based on the nonlinear factors in the electromagnetic proportional valve with a spring beam structure, nonlinear models are constructed respectively; the nonlinear models include a nonlinear dynamic model obtained based on nonlinear dynamic factors, a nonlinear vibration model obtained based on nonlinear vibration factors, and a nonlinear hysteresis model obtained based on nonlinear hysteresis factors; Based on the nonlinear model, an inverse model of the nonlinear model is constructed and used as a feedforward control model; the inverse model of the nonlinear model includes a nonlinear dynamic inverse model obtained based on the nonlinear dynamic model, a nonlinear vibration inverse model obtained based on the nonlinear vibration model, and a nonlinear hysteresis inverse model obtained based on the nonlinear hysteresis model; Based on the feedforward control model, the feedforward compensation signal is calculated by combining the expected input signal and the actual input signal; The expression of the feedforward compensation signal is: ； In the formula, represents the feedforward compensation signal; represents the expected input signal; Indicates the actual input signal.

4. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 3 is characterized in that: The feedforward correction signal comprises: The speed correction signal is expressed as: = ； In the formula, Indicates speed correction signal; Indicates speed compensation gain; Indicates speed feedback; Represents the position feedback deviation, that is ; represents the expected output signal; Indicates the actual output signal; The acceleration correction signal is expressed as: = ； In the formula, represents the acceleration correction signal; Indicates acceleration compensation gain; Indicates acceleration feedback.

5. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 4 is characterized in that: Based on the state data of the control system, a proportional valve control model, a sensor control model, and a feedback control model of the control system are respectively constructed, and a feedback control signal is obtained based on the feedback control model, including: Based on the state data of the control system, a proportional valve control model is constructed; Build a sensor control model based on the state data of the control system; Based on the state data of the control system, a feedback control model is constructed, and a feedback control signal is obtained based on the feedback control model; The expression of the feedback control signal is: ； In the formula, represents the feedback control signal; Represents the error between the actual output signal and the expected output signal; , , Respectively represent the adaptively adjusted proportional, integral and derivative gains.

6. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 5 is characterized in that: The transfer function of the control system is obtained based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model, including: Based on the feedforward control model, a transfer function of the feedforward control model is obtained; The transfer function expression of the feedforward control model is: ； In the formula, represents the transfer function of the feedforward control model; represents the feedforward gain; represents the overall feedforward control transfer function; represents the feedforward transfer function of the nonlinear dynamic model, that is, ; represents the feedforward transfer function of the nonlinear vibration model, that is, ; represents the feedforward transfer function of the nonlinear hysteresis model, that is, ; The Laplace transform form of the output force; Represents the Laplace transform form of the current; Represents the Laplace transform form of the output displacement; Represents the Laplace transform form of the input external force; represents a complex frequency variable; Based on the proportional valve control model, the transfer function of the proportional valve control model is obtained; The transfer function of the proportional valve control model is expressed as: ； In the formula, Represents the transfer function of the proportional valve control model; Indicates proportional valve gain; Indicates the time constant of the proportional valve; Based on the sensor control model, a transfer function of the sensor control model is obtained; The expression of the transfer function of the sensor control model is: ； In the formula, represents the transfer function of the sensor control model; Indicates the gain of the sensor; represents the time constant of the sensor; Based on the feedback control model, a transfer function of the feedback control model is obtained; The expression of the transfer function of the feedback control model is: ； In the formula, represents the transfer function of the feedback control model; , , Represent the proportional, integral and differential gains respectively; The transfer function of the control system is obtained by combining the transfer function of the feedforward control model, the transfer function of the proportional valve control model, the transfer function of the sensor control model, and the transfer function of the feedback control model; The expression of the transfer function of the control system is: ； In the formula, represents the closed-loop transfer function of the control system.

7. The control method of the electromagnetic proportional valve of the spring beam structure based on the Lorentz force according to claim 5 is characterized in that: The method combines the feedforward compensation signal, the feedforward correction signal, and the feedback control signal to obtain a final control signal using an adaptive control method for controlling the control system, including: Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal to obtain an adjusted control signal, and inputting the adjusted control signal into the control system; The final control signal is expressed as: ； In the formula, Represents the final control signal; represents the feedforward compensation signal; represents the feedback control signal; Obtaining the actual output signal and the expected output signal of the control system, and calculating the deviation between the actual output signal and the expected output signal; Based on the deviation signal, an adaptive control method is used to dynamically adjust the control system parameters until the control system meets the preset performance targets.

8. A system for controlling the electromagnetic proportional valve of the spring beam structure based on Lorentz force according to claim 1, characterized in that: include: A data acquisition module, which is used to obtain nonlinear factors in the electromagnetic proportional valve of the spring beam structure and to collect state data of the control system in real time; A feedforward signal acquisition module, which is used to construct a feedforward control model based on the nonlinear factors in the electromagnetic proportional valve of the spring beam structure, and obtain a feedforward compensation signal based on the feedforward control model; and obtain a feedforward correction signal based on the state data of the control system; A feedback signal acquisition module is used to construct a proportional valve control model, a sensor control model, and a feedback control model of the control system based on the state data of the control system, and obtain a feedback control signal based on the feedback control model; A transfer function acquisition module, which is used to obtain the transfer function of the control system based on a feedforward control model, a proportional valve control model, a sensor control model, and a feedback control model; The control signal calculation module is used to combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and adopt an adaptive control method to obtain the final control signal for controlling the control system.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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