Control Method and System of an Electromagnetic Proportional Valve with a Shrapnel Beam Structure Based on Lorentz Force

Abstract

The present invention belongs to the field of proportional valve control, and particularly relates to a control method and system for an electromagnetic proportional valve with a leaf spring beam structure based on Lorentz force, including: obtaining the non-linear factors in the electromagnetic proportional valve with a leaf spring beam structure and real-time collecting the state data of the control system; constructing a feed-forward control model based on the non-linear factors in the electromagnetic proportional valve with a leaf spring beam structure, and obtaining a feed-forward signal based on the feed-forward control model; obtaining a feed-forward 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 the transfer function of the control system based on the feed-forward control model, the proportional valve control model, the sensor control model, and the feedback control model; combining the feed-forward compensation signal, the feed-forward correction signal, and the feedback control signal, and obtaining the final control signal by using an adaptive control method.

Description

Technical Field

[0001] The present invention belongs to the field of control of proportional valves, and particularly relates to a control method and system for an electromagnetic proportional valve with a leaf spring beam structure based on Lorentz force. Background Art

[0002] In the fields of modern industrial automation and precision control, as a core fluid control component, the performance of an electromagnetic proportional valve directly affects the response speed, stability, and control accuracy of the entire system. During the control process of the electromagnetic proportional valve, due to the existence of various nonlinear factors, such as the nonlinear dynamics between the electromagnetic field and the permanent magnetic field, the nonlinear vibration of the leaf spring beam and the valve flap 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 aims to provide a control method and system for an electromagnetic proportional valve with a leaf spring beam structure based on Lorentz force. By constructing a feedforward control model to address the nonlinear factors in the electromagnetic proportional valve with a leaf spring beam structure, the linear output characteristics of the electromagnetic proportional valve are improved, the fluid power system is accurately controlled, the response speed and control accuracy are increased, and the stability of the system is enhanced; by combining the feedforward control signal and the feedback control signal to obtain the final control signal, the hysteresis and instability of the control system are reduced.

[0004] A control method for an electromagnetic proportional valve with a leaf spring beam structure based on Lorentz force includes:

[0005] Obtaining the nonlinear factors in the electromagnetic proportional valve with a leaf spring beam structure and the state data of the control system collected in real time;

[0006] Based on the nonlinear factors in the electromagnetic proportional valve with a leaf spring beam structure, constructing a feedforward control model and obtaining a feedforward compensation signal based on the feedforward control model;

[0007] Obtaining a feedforward correction signal based on the state data of the control system;

[0008] 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, and obtaining a feedback control signal based on the feedback model;

[0009] Obtaining the transfer function of the control system based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model;

[0010] Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and using an adaptive control method to obtain the final control signal for controlling the control system.

[0011] By constructing a feedforward control model for the nonlinear factors in the electromagnetic proportional valve with a shrapnel beam structure, the linear output characteristics of the electromagnetic proportional valve are improved, the hydrodynamic system is accurately controlled, the response speed and control accuracy are increased, and the stability of the system is enhanced; by combining the feedforward control signal and the feedback control signal to obtain the final control signal, the hysteresis and instability of the control system are reduced.

[0012] Further, the obtaining of the nonlinear factors in the electromagnetic proportional valve with a shrapnel beam structure and the real-time acquisition of the state data of the control system include:

[0013] Obtaining the nonlinear factors in the electromagnetic proportional valve with a shrapnel beam structure; the nonlinear factors include the nonlinear dynamic factors between the electromagnetic field and the permanent magnetic field, the nonlinear vibration factors of the shrapnel beam and the valve flap spring, and the nonlinear hysteresis factors of the ferromagnetic material.

[0014] Real-time acquisition of the state data of the control system; the state data includes the actual output signal, the valve flap speed, and the valve flap acceleration.

[0015] Further, based on the nonlinear factors in the electromagnetic proportional valve with a shrapnel beam structure, a feedforward control model is constructed, and a feedforward compensation signal is obtained based on the feedforward control model, including:

[0016] Based on the nonlinear factors in the electromagnetic proportional valve with a shrapnel beam structure, nonlinear models are respectively constructed; the nonlinear models include a nonlinear dynamic model obtained based on the nonlinear dynamic factors, a nonlinear vibration model obtained based on the nonlinear vibration factors, and a nonlinear hysteresis model obtained based on the nonlinear hysteresis factors.

[0017] Based on the nonlinear models, an inverse model of the nonlinear models is constructed and used as the feedforward control model; the inverse model of the nonlinear models 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.

[0018] Based on the feedforward control model, by combining the desired input signal and the actual input signal, a feedforward compensation signal is calculated.

[0019] The expression of the feedforward compensation signal is:

[0020] ;

[0021] In the formula, represents the feedforward compensation signal; represents the desired input signal; represents the actual input signal.

[0022] By constructing a non - linear model through non - linear factors and building the inverse model of the non - linear model as a feed - forward control model for feed - forward compensation, the pressure hysteresis phenomenon of the proportional valve can be effectively eliminated, enabling the output signal to change rapidly according to the input signal.

[0023] Further, the feed - forward correction signal includes:

[0024] The speed correction signal, whose expression is:

[0025] = ;

[0026] In the formula, represents the speed correction signal; represents the speed compensation gain; represents the speed feedback; represents the position feedback deviation, that is ; represents the desired output signal; represents the actual output signal;

[0027] The acceleration correction signal, whose expression is:

[0028] = ;

[0029] In the formula, represents the acceleration correction signal; represents the acceleration compensation gain; represents the acceleration feedback.

[0030] By calculating the feed - forward 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, and further the problems of the non - linear characteristics of the one - way electromagnetic proportional valve on the system position control accuracy and dynamic response speed can be solved.

[0031] Further, 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:

[0032] Based on the state data of the control system, a proportional valve control model is constructed;

[0033] Based on the state data of the control system, a sensor control model is constructed;

[0034] 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;

[0035] The expression of the feedback control signal is as follows:

[0036] ;

[0037] In the formula, represents the feedback control signal; represents the error between the actual output signal and the desired output signal; , , respectively represent the proportional, integral, and differential gains of adaptive adjustment.

[0038] By constructing a feedback control model, the control parameters can be adjusted according to the state of the control system, thereby overcoming the influence of dead-zone nonlinearity and ensuring good control performance of the electromagnetic proportional valve within the entire working range.

[0039] Furthermore, 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, including:

[0040] Based on the feedforward control model, the transfer function of the feedforward control model is obtained;

[0041] The expression of the transfer function of the feedforward control model is:

[0042] ;

[0043] In the formula, represents the transfer function of the feedforward control model; represents the feedforward gain; represents the total 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 ; represents 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 the complex frequency variable;

[0044] Based on the proportional valve control model, the transfer function of the proportional valve control model is obtained;

[0045] The expression of the transfer function of the proportional valve control model is:

[0046] ;

[0047] In the formula, represents the transfer function of the proportional valve control model; represents the proportional valve gain; represents the time constant of the proportional valve;

[0048] Based on the sensor control model, the transfer function of the sensor control model is obtained;

[0049] The expression of the transfer function of the sensor control model is:

[0050] ;

[0051] In the formula, represents the transfer function of the sensor control model; represents the gain of the sensor; represents the time constant of the sensor;

[0052] Based on the feedback control model, the transfer function of the feedback control model is obtained;

[0053] The expression of the transfer function of the feedback control model is:

[0054] ;

[0055] In the formula, represents the transfer function of the feedback control model; , , respectively represent the proportional, integral and differential gains;

[0056] 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 transfer function of the control system is obtained;

[0057] The expression of the transfer function of the control system is:

[0058] ;

[0059] In the formula, represents the closed-loop transfer function of the control system.

[0060] By synthesizing the transfer functions under different non - linear factors, the relationship between time response, magnetic field intensity and current can be considered simultaneously, and the hysteresis effect can be simplified. The resulting transfer function is used to predict and compensate for the known non - linear factors in the control system. Combining the transfer functions of the proportional valve control model, the sensor control model, and the feedback control model 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 influence caused by non - linear factors and improving the control accuracy and stability of the control system.

[0061] Furthermore, by combining the feed - forward compensation signal, the feed - forward correction signal, and the feedback control signal, and using an adaptive control method to obtain the final control signal for controlling the control system, it includes:

[0062] Combine the feed - forward compensation signal, the feed - forward correction signal, and the feedback control signal to obtain an adjusted control signal and input it into the control system;

[0063] The expression of the final control signal is:

[0064] ;

[0065] In the formula, represents the final control signal; represents the feed - forward compensation signal; represents the feedback control signal;

[0066] Obtain the actual output signal and the desired output signal of the control system, and calculate the deviation between the actual output signal and the desired output signal;

[0067] Based on the deviation signal, use an adaptive control method to dynamically adjust the control system parameters until the control system meets the preset performance target.

[0068] A control method system for an electromagnetic proportional valve with a shrapnel beam structure based on the Lorentz force includes:

[0069] A data acquisition module, which is used to obtain the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure and real - time collect the state data of the control system;

[0070] A feed - forward signal acquisition module, which is used to construct a feed - forward control model based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure and obtain a feed - forward compensation signal based on the feed - forward control model; and obtain a feed - forward correction signal based on the state data of the control system;

[0071] A feedback signal acquisition module, which is used to construct a proportional valve control model, a sensor control model, and a feedback control model of the control system respectively based on the state data of the control system and obtain a feedback control signal based on the feedback control model;

[0072] A transfer function acquisition module, which is used to obtain the transfer function of the control system based on the feedforward control model, proportional valve control model, sensor control model, and feedback control model;

[0073] A control signal calculation module, which is used to combine the feedforward compensation signal, feedforward correction signal, and feedback control signal, and use the adaptive control method to obtain the final control signal for controlling the control system.

[0074] An electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method described above is implemented.

[0075] A computer-readable storage medium, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0076] The beneficial effects of the present invention are:

[0077] By constructing a feedforward control model for the non-linear factors in the electromagnetic proportional valve of the shrapnel beam structure, the present invention improves the linear output characteristics of the electromagnetic proportional valve, accurately controls the fluid power system, improves the response speed and control accuracy, and enhances the stability of the system; by combining the feedforward control signal and the feedback control signal to obtain the final control signal, the present invention reduces the hysteresis and instability of the control system. Description of the Drawings

[0078] Figure 1 is a flowchart of the present invention;

[0079] Figure 2 is a schematic structural diagram of the system of the present invention;

[0080] Figure 3 is a schematic structural diagram of a computer device. Detailed Embodiments

[0081] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0082] Note that the following description relates to various aspects of embodiments within the scope of the appended claims. 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 this disclosure, those skilled in the art should understand that one 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 the aspects set forth herein can be used to implement an apparatus and / or practice a method. Additionally, this apparatus and / or method can be implemented using other structures and / or functionality in addition to one or more of the aspects set forth herein.

[0083] In addition, in the following description, specific details are provided to facilitate a thorough understanding of the examples. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0084] Embodiment 1

[0085] Figure 1 Shown is a control method for an electromagnetic proportional valve with a shrapnel beam structure based on the Lorentz force. By constructing a feedforward control model for the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, the linear output characteristics of the electromagnetic proportional valve are improved, the fluid power system is precisely controlled, the response speed and control accuracy are increased, and the stability of the system is enhanced. By combining the feedforward control signal and the feedback control signal to obtain the final control signal, the hysteresis and instability of the control system are reduced. It includes:

[0086] S1: Obtain the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, and collect the state data of the control system in real - time;

[0087] S11: Obtain the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure;

[0088] In this embodiment, the non - linear factors include the non - linear dynamic factors between the electromagnetic field and the permanent magnetic field, the non - linear vibration factors of the shrapnel beam and the valve flap spring, and the non - linear hysteresis factors of ferromagnetic materials.

[0089] S12: Collect the state data of the control system in real - time;

[0090] In this embodiment, the state data includes the actual output signal, valve flap speed, valve flap acceleration, flow rate, etc., and the state data is obtained in real - time through a pressure sensor and a flow sensor.

[0091] S2: Based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, construct a feedforward control model, and obtain a feedforward compensation signal based on the feedforward control model;

[0092] S21: Based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, construct non - linear models respectively;

[0093] S211: The non - linear dynamic model obtained based on the non - linear dynamic factors between the electromagnetic field and the permanent magnetic field;

[0094] In this embodiment, the interaction force between the electromagnetic field and the permanent magnetic field is described by the Lorentz force. That is, when a charge passes through a magnetic field, the force perpendicular to its velocity and the magnetic field direction is received, and this Lorentz force can be considered as the force applied to the wire, that is, it is proportional to the current in the wire and proportional to the magnetic field intensity.

[0095] Among them, in the electromagnetic system constructed by a conductor located in a uniform and constant magnetic field, the expression of the non - linear dynamic model is:

[0096] ;

[0097] In the formula, represents the force acting on the conductor in the electromagnetic system, that is, the output signal; represents the current flowing through the conductor, that is, the input signal; represents the uniform and constant magnetic field, which is a constant; represents the effective length of the conductor, which is a constant; represents the gain constant, that is ;

[0098] S212: The non - linear vibration model obtained based on the non - linear vibration factors of the shrapnel beam and the valve flap spring;

[0099] When there is a non - linear damper between two springs, and the single - spring behavior is linear, and the two springs are in series or parallel, calculate the spring stiffness combined with Hooke's law, and construct the system motion equation according to Newton's second law; the expression of the system motion equation is:

[0100] ;

[0101] In the formula, represents the mass; represents the second - order derivative of the displacement with respect to time , that is, the acceleration; represents the damping coefficient; represents the first - order derivative of the displacement with respect to time , that is, the velocity; represents the non - linear damping term; represents the stiffness coefficient of the first spring; represents the stiffness coefficient of the second spring; represents the displacement with respect to time ; Denote the external force;

[0102] When the moving stroke is small, the non-linear 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 non-linear vibration model is:

[0103] ;

[0104] S213: Non-linear hysteresis model obtained based on the non-linear hysteresis factor of ferromagnetic materials;

[0105] In this embodiment, a leaf spring beam structure constructed by a triangular framework connected by two leaf 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 set composed of a series of tiny elastic springs and plastic sliders, and each slider has its own threshold and restoring force, and by adjusting the parameters of the elastic springs or sliders, the actual hysteresis loop is fitted.

[0106] Among them, the expression of the Prandtl-Ishlinskii model, that is, the PI model, is:

[0107] ;

[0108] In the formula, Denote the output signal; Denote the weight of the th slider; Denote the threshold of the th slider; , Denote the total number of sliders; Denote the sign function, and when is greater than 0, takes the value of 1, when is less than 0, takes the value of -1, when is equal to 0, takes the value of 0.

[0109] Based on the solenoid valve, when operating within 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:

[0110] ;

[0111] In the formula, Denote the magnetic induction intensity under the magnetic field strength Indicates the magnetic field strength The magnetic induction intensity under; Indicates the operating point The slope under; 、 Respectively represent two different magnetic field strengths;

[0112] Combined with the time response of the electromagnetic proportional valve, and assuming a linear relationship between the displacement and electromagnetic force of the electromagnetic proportional valve, the dynamic equation, that is, the expression of the non - linear hysteresis model is constructed as:

[0113] ;

[0114] In the formula, Indicates the electromagnetic force; Indicates the elastic spring stiffness;

[0115] S22: Based on the non - linear model, construct the inverse model of the non - linear model and use it as the feed - forward control model;

[0116] S221: Based on the non - linear dynamic model, construct the inverse model of the non - linear dynamic model;

[0117] Among them, the expression of the non - linear dynamic inverse model is:

[0118] ;

[0119] In the formula, Indicates the inverse model function;

[0120] S222: Based on the non - linear vibration model, construct the inverse model of the non - linear vibration;

[0121] Among them, the expression of the non - linear vibration inverse model is:

[0122] ;

[0123] S223: Based on the non - linear hysteresis model, construct the inverse model of the non - linear hysteresis;

[0124] Among them, the expression of the non - linear hysteresis inverse model is:

[0125] ;

[0126] S23: Based on the feed - forward control model, combine the desired input signal and the actual input signal to calculate the feed - forward compensation signal;

[0127] Among them, the expression of the feed - forward compensation signal is:

[0128] ;

[0129] Wherein, represents the feedforward compensation signal; represents the desired input signal; represents the actual input signal.

[0130] In this embodiment, the feedforward compensation signal includes the feedforward compensation signal corresponding to the nonlinear dynamic model, the feedforward compensation signal corresponding to the nonlinear vibration model, and the feedforward compensation signal corresponding to the nonlinear hysteresis model;

[0131] Among them, the expression of the feedforward compensation signal corresponding to the nonlinear dynamic model is:

[0132] ;

[0133] Wherein, represents the feedforward compensation signal corresponding to the nonlinear dynamic model; represents the desired input current; represents the actual input current;

[0134] Among them, the expression of the feedforward compensation signal corresponding to the nonlinear vibration model is:

[0135] ;

[0136] Wherein, represents the feedforward compensation signal corresponding to the nonlinear vibration model; represents the desired input external force; represents the actual input external force;

[0137] Among them, the expression of the feedforward compensation signal corresponding to the nonlinear hysteresis model is:

[0138] ;

[0139] Wherein, represents the feedforward compensation signal corresponding to the nonlinear hysteresis model; represents the desired input voltage; represents the actual input voltage;

[0140] S3: Obtain the feedforward correction signal based on the state data of the control system;

[0141] S31: Calculate the position feedback deviation based on the actual output signal and the desired output signal of the control system;

[0142] Among them, the expression of the position feedback deviation is:

[0143] ;

[0144] Wherein, represents the position feedback deviation; represents the expected output signal; represents the actual output signal;

[0145] S32: Calculate the speed feedback based on the position feedback deviation, and obtain the speed compensation signal based on the speed feedback;

[0146] Among them, the expression of the speed feedback is:

[0147] ;

[0148] In the formula, represents the speed feedback, which is used to provide instant information on the response of the control system;

[0149] Among them, the speed correction signal, its expression is:

[0150] = ;

[0151] In the formula, represents the speed correction signal; represents the speed compensation gain;

[0152] S33: Calculate the acceleration feedback based on the position feedback deviation, and obtain the acceleration compensation signal based on the acceleration feedback;

[0153] Among them, the expression of the acceleration feedback is:

[0154] ;

[0155] In the formula, represents the Laplace transform form of the current;

[0156] Based on the nonlinear hysteresis model in the frequency domain, obtain the transfer function of the nonlinear hysteresis model in the frequency domain; the expression of the nonlinear hysteresis model in the frequency domain, that is, the inverse model of the PI model, is:

[0157] ;

[0158] In the formula, represents the current under the action of, the system displacement of the frequency domain response;

[0159] S514: Combine 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 the total transfer function;

[0160] Among them, the expression of the total feedforward transfer function is:

[0161] ;

[0162] In the formula, represents the total feedforward transfer function;

[0163] S415: Calculate the transfer function of the feedforward control model based on the total feedforward transfer function;

[0164] Among them, the expression of the transfer function of the feedforward control model is:

[0165] ;

[0166] In the formula, represents the transfer function of the feedforward control model; represents the feedforward gain;

[0167] S52: Obtain the transfer function of the proportional valve control model based on the proportional valve control model;

[0168] Among them, the expression of the transfer function of the proportional valve control model is:

[0169] ;

[0170] In the formula, represents the transfer function of the proportional valve control model; represents the proportional valve gain; represents the time constant of the proportional valve;

[0171] S53: Obtain the transfer function of the sensor control model based on the sensor control model;

[0172] Among them, the expression of the transfer function of the sensor control model is:

[0173] ;

[0174] In the formula, represents the transfer function of the sensor control model; represents the gain of the sensor; represents the time constant of the sensor;

[0175] S54: Obtain the transfer function of the feedback control model based on the feedback control model;

[0176] Among them, the expression of the transfer function of the feedback control model is:

[0177] ;

[0178] In the formula, represents the transfer function of the feedback control model; , , respectively represent the proportional, integral, and derivative gains;

[0179] S55: Combine 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 the transfer function of the control system;

[0180] Among them, the expression of the transfer function of the control system is:

[0181] ;

[0182] In the formula, represents the closed-loop transfer function of the control system.

[0183] It should be noted that in this embodiment, the calculation of the transfer function of the control system combines feedforward control and closed-loop control to realize the linear characteristic of the output of the electromagnetic proportional valve in the closed-loop control system. In actual applications, it also includes the combination of feedforward control and open-loop control, which obtains the open-loop transfer function of the control system by combining the feedforward control model, the proportional valve model, and the sensor model, uses the predictive control system to respond to the change of the input signal, and reduces the hysteresis and instability of the control system by adjusting the input signal in advance.

[0184] Among them, the expression of the open-loop transfer function of the control system is:

[0185] ;

[0186] In the formula, represents the open-loop transfer function of the control system.

[0187] S6: Combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and use the adaptive control method to obtain the final control signal for controlling the control system.

[0188] S61: Combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal to obtain the adjusted control signal and input it into the control system;

[0189] Among them, the expression of the final control signal is:

[0190] ;

[0191] In the formula, represents the final control signal; represents the feedforward compensation signal; represents the feedback control signal;

[0192] S62: Obtain the actual output signal and the desired output signal of the control system, and calculate the deviation between the actual output signal and the desired output signal;

[0193] S63: Based on the deviation signal, adopt an adaptive control method to dynamically adjust the control system parameters until the control system meets the preset performance target.

[0194] S631: Based on the PI model, select a suitable parameter identification algorithm to construct a parameter identification model;

[0195] Among them, the expression of the parameter identification model is:

[0196] ;

[0197] In the formula, represents the output signal; represents the input signal; represents the kernel function of the PI model;

[0198] S632: Based on the parameter identification model, perform discretization processing on it to obtain a discretized parameter identification model;

[0199] Among them, the expression of the discretized parameter identification model is:

[0200] ;

[0201] In the formula, represents the model parameter to be identified; ; ; , respectively represent the model parameter serial numbers, , respectively represent the total numbers of two model parameters;

[0202] S633: According to the collected input signal and output signal data, adopt the recursive least squares method to update the model parameters of the discretized parameter identification model to obtain updated model parameters;

[0203] Among them, the expression for updating the model parameters of the discretized parameter identification model using the recursive least squares method is:

[0204] ;

[0205] ;

[0206] ;

[0207] In the formula, represents the estimated value of the model parameter; represents the gain matrix; represents the error covariance matrix; represents the vector of input data; Denotes transpose;

[0208] S634: Solve the inverse model of the PI model based on the real-time updated model parameters;

[0209] Among them, the expression of the PI inverse model is:

[0210] ;

[0211] In the formula, denotes the desired input signal; denotes the desired output signal; denotes the real-time updated model parameters;

[0212] S635: Calculate the duty cycle of the PWM signal based on the desired input signal and the output signal of the PI inverse model;

[0213] Among them, the duty cycle of the PWM signal is expressed as:

[0214] ;

[0215] In the formula, denotes the duty cycle of the PWM signal; denotes the maximum voltage value of the PWM signal;

[0216] S636: Generate a PWM signal according to the duty cycle of the PWM signal and input it into the control system to drive the coil of the electromagnetic proportional valve to achieve non-linear characteristic compensation of the electromagnetic proportional valve;

[0217] S637: Real-time monitor the output signal and input signal of the control system 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.

[0218] In this embodiment, based on the actual output signal, the effect of the non-linear compensation process is evaluated by evaluating the stability and response speed of the system. When the compensation effect meets the expected target, the strategy of the current non-linear compensation process is maintained; when the compensation effect does not meet the expected target, the control system parameters are readjusted.

[0219] Embodiment 2

[0220] Based on the same technical concept, as Figure 2 shown, this embodiment also provides a control system for an electromagnetic proportional valve with a shrapnel beam structure 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.

[0221] Specifically, a data acquisition module is configured to obtain the non-linear factors in the electromagnetic proportional valve with a shrapnel beam structure and collect the state data of the real-time acquisition control system;

[0222] Specifically, a feedforward signal acquisition module is configured to construct a feedforward control model based on the non-linear factors in the electromagnetic proportional valve with a shrapnel 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;

[0223] Specifically, a feedback signal acquisition module is configured to construct a proportional valve control model, a sensor control model, and a feedback control model of the control system respectively based on the state data of the control system, and obtain a feedback control signal based on the feedback control model;

[0224] Specifically, a transfer function acquisition module is configured to obtain the transfer function of the control system based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model;

[0225] Specifically, a control signal calculation module is configured to combine the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and obtain a final control signal by using an adaptive control method to control the control system.

[0226] Embodiment 3

[0227] Based on the same inventive concept, an embodiment of the present application further provides a computer device, including a memory 1 and a processor 2, as Figure 3 shown, the memory 1 stores a computer program, and when the processor 2 executes the computer program, the method described in any one of the above is implemented.

[0228] Among them, the memory 1 at least includes one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disc, etc. The memory 1 can be an internal storage unit of the control system of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force in some embodiments, such as a hard disk. The memory 1 can also be an external storage device of the control system of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force in other embodiments, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. Further, the memory 1 can also include both an internal storage unit and an external storage device of the control system of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force. The memory 1 can not only be used to store application software installed in the control system of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force and various types of data, such as the code of the control system program of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force, etc., but also be used to temporarily store data that has been output or will be output.

[0229] The processor 2 can be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chips in some embodiments, and is used to run the program code stored in the memory 1 or process data, such as executing the control system program of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force, etc.

[0230] The disclosed embodiments of the present invention also provide a computer-readable storage medium, on which a computer program is stored, and when the computer program is run by a processor, it executes the steps of the method described in the above method embodiments. Among them, the storage medium can be a volatile or non-volatile computer-readable storage medium.

[0231] The computer program product of the control method of the electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force provided by the disclosed embodiments 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 embodiments. For details, please refer to the above method embodiments and will not be elaborated here.

[0232] The disclosed embodiments of the present invention also provide a computer program, which, when executed by a processor, implements any of the methods in the foregoing embodiments. The computer program product can be specifically implemented in a manner of hardware, software, or a combination thereof. In an alternative embodiment, the computer program product is specifically embodied as a computer storage medium. In another alternative embodiment, the computer program product is specifically embodied as a software product, such as a Software Development Kit (SDK), and so on.

[0233] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be referred to the same or similar content in other embodiments.

[0234] 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 "plural" refers to at least two.

[0235] Any process or method description shown in a flowchart or described in other ways herein can be understood as representing a module, segment, or part of code including one or more executable instructions for implementing a specific logical function or process. The scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in a reverse order according to the involved functions, rather than in the order shown or discussed, which should be understood by those skilled in the technical field of the embodiments of the present invention.

[0236] It should be understood that each part of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above 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, any one or a combination of the following well-known technologies in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application-specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0237] Those of ordinary skill in the art of this technology can understand that all or part of the steps carried out to implement the methods in the above embodiments can be completed by instructing relevant hardware through a program. The program can be stored in a computer-readable storage medium, and when executed, it includes one or a combination of the steps of the method embodiments.

[0238] In addition, in each embodiment of the present invention, each functional unit can be integrated into a processing module, or each unit can exist physically alone, or two or more units can be integrated into one module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0239] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, or the like.

[0240] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection 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 can be combined in a suitable manner in any one or more embodiments or examples.

[0241] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A control method for an electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force, characterized in that, Including: Obtaining the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure and the state data of the real - time acquisition control system; Based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, constructing a feed - forward control model and obtaining a feed - forward compensation signal based on the feed - forward control model; Based on the state data of the control system, obtaining a feed - forward 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, and obtaining a feedback control signal based on the feedback model; Based on the feed - forward control model, proportional valve control model, sensor control model, and feedback control model, obtaining the transfer function of the control system; Combining the feed - forward compensation signal, feed - forward correction signal, and feedback control signal, and using an adaptive control method to obtain the final control signal for controlling the control system; The step of constructing a feed - forward control model based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure and obtaining a feed - forward compensation signal based on the feed - forward control model includes: Based on the non - linear factors in the electromagnetic proportional valve with a shrapnel beam structure, respectively constructing non - linear models; the non - linear models include a non - linear dynamic model based on non - linear dynamic factors, a non - linear vibration model based on non - linear vibration factors, and a non - linear hysteresis model based on non - linear hysteresis factors; Based on the non - linear models, constructing the inverse models of the non - linear models and using them as the feed - forward control models; the inverse models of the non - linear models include a non - linear dynamic inverse model based on the non - linear dynamic model, a non - linear vibration inverse model based on the non - linear vibration model, and a non - linear hysteresis inverse model based on the non - linear hysteresis model; Based on the feed - forward control model, combining the desired input signal and the actual input signal, and calculating to obtain the feed - forward compensation signal; The expression of the feed - forward compensation signal is: ； wherein, represents a feedforward compensation signal; represents a desired input signal; represents an actual input signal.

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

3. The control method of an electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force according to claim 1, characterized in that, The feed - forward correction signal includes: The speed correction signal, whose expression is: = ； wherein, represents a speed correction signal; represents a speed compensation gain; represents a speed feedback; represents the error between the actual output signal and the desired output signal, that is ; represents the desired output signal; represents the actual output signal; The acceleration correction signal, whose expression is: = ； In the formula, represents the acceleration correction signal; represents the acceleration compensation gain; represents the acceleration feedback.

4. The control method of an electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force according to claim 3, characterized in that, The step of 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 includes: Based on the state data of the control system, constructing a proportional valve control model; Based on the state data of the control system, constructing a sensor control model; Based on the state data of the control system, constructing a feedback control model and obtaining a feedback control signal 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 desired output signal; , , respectively represent the proportional, integral, and differential gains of adaptive adjustment.

5. The control method of an electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force according to claim 4, characterized in that, The step of obtaining the transfer function of the control system based on the feed - forward control model, proportional valve control model, sensor control model, and feedback control model includes: Based on the feedforward control model, the transfer function of the feedforward control model is obtained; 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; represents the total 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 ; represents 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 the complex frequency variable; Based on the proportional valve control model, the transfer function of the proportional valve control model is obtained; The expression of the transfer function of the proportional valve control model is: ； In the formula, represents the transfer function of the proportional valve control model; represents the proportional valve gain; represents the time constant of the proportional valve; Based on the sensor control model, the 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; represents the gain of the sensor; represents the time constant of the sensor; Based on the feedback control model, the 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 derivative gains respectively; Combining the transfer functions of the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model, the transfer function of the control system is obtained; The expression of the transfer function of the control system is: ； In the formula, represents the closed-loop transfer function of the control system.

6. The control method of an electromagnetic proportional valve with a shrapnel beam structure based on Lorentz force according to claim 4, characterized in that, Combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, the final control signal is obtained by 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, the adjusted control signal is obtained and input into the control system; The expression of the final control signal is: ； wherein, represents the final control signal; represents the feedforward compensation signal; represents the feedback control signal; Obtain the actual output signal and the desired output signal of the control system, and calculate the deviation between the actual output signal and the desired output signal; Based on the deviation signal, the parameters of the control system are dynamically adjusted by using an adaptive control method until the control system meets the preset performance target.

7. A system for the control method of the electromagnetic proportional valve with a shrapnel beam structure based on the Lorentz force according to claim 1, characterized in that, Including: A data acquisition module for obtaining the non-linear factors in the electromagnetic proportional valve of the shrapnel beam structure and for real-time collecting the state data of the control system; A feedforward signal acquisition module for constructing a feedforward control model based on the non-linear factors in the electromagnetic proportional valve of the shrapnel beam structure and obtaining a feedforward compensation signal based on the feedforward control model; and obtaining a feedforward correction signal based on the state data of the control system; A feedback signal acquisition module for 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; A transfer function acquisition module for obtaining the transfer function of the control system based on the feedforward control model, the proportional valve control model, the sensor control model, and the feedback control model; A control signal calculation module for combining the feedforward compensation signal, the feedforward correction signal, and the feedback control signal, and obtaining the final control signal by using an adaptive control method for controlling the control system.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, the method according to any one of claims 1 to 6 is implemented.

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