A gate valve pressure balance control method, device, electronic device and storage medium

Abstract

The present invention provides a gate valve pressure balance control method, device, electronic device and storage medium, relating to the technical field of gate valve pressure control. The method includes the steps of: monitoring the gate valve control signal and the pressure difference between both sides of the gate valve; calculating the change rate of the gate valve control signal according to the gate valve control signal, and setting a control signal amplitude threshold and a change rate threshold; predicting the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold and the change rate threshold; based on the predicted gate valve switching action, judging the number of balance channels to be opened when the pressures on both sides of the gate valve reach pressure balance according to the pressure difference between both sides of the gate valve; and pre-controlling the controller to open the corresponding number of balance channels to balance the pressures on both sides of the gate valve. The gate valve pressure balance control method of the present invention solves the problem of insufficient response speed in the aspect of gate valve pressure balance control in the prior art, and achieves the effects of significantly improving the pressure balance response speed and effectively suppressing hydraulic shock and vibration.

Description

Technical Field

[0001] The present invention relates to the technical field of gate valve pressure control, and in particular, to a gate valve pressure balance control method, device, electronic device, and storage medium. Background Art

[0002] In the wave of modern industrial automation, industrial robots have become a key driving force for improving production efficiency and product quality. Hydraulic systems, with their excellent power density, rapid response speed, and precise control capabilities, play a crucial role in the field of industrial robot drives. In the hydraulic system of an industrial robot, the gate valve, as a core commutation component, especially a gate valve with multiple balance channels inside (the balance channels are used to make the pressure difference distribution on both sides of the gate valve more uniform, aiming to reduce the fluid resistance and pressure difference during opening and closing), is widely used to control the movement of hydraulic cylinders, thereby achieving rapid and precise movements of the robot arm.

[0003] To meet the increasing work efficiency requirements of industrial robots, the commutation frequency of the gate valve continues to climb. Especially in operation scenarios that require frequent rapid actions, the gate valve is often in a high-frequency switching working condition. However, during the high-frequency switching process of the gate valve, frequent and rapid actions will cause instantaneous pressure differences on both sides of the valve inlet and outlet. This instantaneous pressure difference is the root cause of hydraulic system shock and vibration, which will not only significantly reduce the positioning accuracy and running stability of the robot, but also, in the long run, accelerate the wear of hydraulic components, shorten the service life of the system, and even may cause potential safety hazards.

[0004] Although traditional hydraulic systems are also equipped with pressure balance mechanisms to alleviate pressure difference shocks, the response speed of the pressure balance mechanisms in the prior art is relatively lagging, and it is difficult to effectively meet the application requirements of high-frequency switching of industrial robots. Therefore, how to significantly improve the response speed of the gate valve pressure balance mechanism under high-frequency switching working conditions on the premise of meeting the requirements of the industrial robot hydraulic system, so as to quickly balance the pressures on both sides of the valve, effectively suppress hydraulic shock, and ensure the motion performance of the robot has become the core technical bottleneck that urgently needs to be broken through in the field of industrial robot hydraulics. Summary of the Invention

[0005] The purpose of the present invention is to provide a gate valve pressure balance control method, device, electronic device, and storage medium, which solves the problem of insufficient response speed in the prior art for gate valve pressure balance control, and achieves the effect of significantly improving the pressure balance response speed and effectively suppressing hydraulic shock and vibration.

[0006] In a first aspect, the present invention provides a gate valve pressure balance control method for pressure balance control of a gate valve in an industrial robot hydraulic system. Multiple balance channels are provided inside the gate valve, and all balance channels are controlled by a controller, including the following steps:

[0007] S1. Monitor the gate valve control signal and the pressure difference on both sides of the gate valve;

[0008] S2. Calculate the change rate of the gate valve control signal according to the gate valve control signal, and set the control signal amplitude threshold and the change rate threshold;

[0009] S3. Predict the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold and the change rate threshold;

[0010] S4. Based on the predicted gate valve switching action, judge the number of balance channels to be opened when the pressure on both sides of the gate valve reaches pressure balance according to the pressure difference on both sides of the gate valve;

[0011] S5. According to the number of balance channels, control the controller to open the corresponding number of balance channels in advance, establish a pressure balance path, and make the pressure on both sides of the gate valve balanced.

[0012] The gate valve pressure balance control method provided by the present invention can significantly improve the pressure balance response speed, effectively suppress hydraulic shock and vibration without significantly increasing the system complexity and cost, and ensure the positioning accuracy and operation stability of the industrial robot.

[0013] Further, the specific steps in step S2 include:

[0014] S21. Monitor the hydraulic system noise;

[0015] S22. Filter the gate valve control signal by using an adaptive filtering algorithm; wherein, the adaptive filtering algorithm dynamically adjusts the filtering parameters according to the monitored hydraulic system noise to reduce the noise interference;

[0016] S23. Calculate the change rate of the gate valve control signal according to the filtered gate valve control signal, and set the control signal amplitude threshold and the change rate threshold.

[0017] It is beneficial to ensure that the gate valve can still achieve fast and stable pressure balance control under high-frequency switching conditions, and further ensure the performance and reliability of the industrial robot hydraulic system.

[0018] Further, the specific steps in step S22 include:

[0019] S221. Analyze the noise frequency of the hydraulic system noise, and judge whether the noise frequency overlaps with the gate valve control signal frequency;

[0020] S222. If the frequencies overlap, perform the following steps:

[0021] S2221. Decompose the gate valve control signal by using wavelet transform to obtain multiple frequency band components;

[0022] S2222. For the frequency band components corresponding to the overlapping part of the gate valve control signal frequency and the noise frequency, an adaptive notch filter is used for filtering, and the center frequency and bandwidth of the notch filter are dynamically adjusted according to the monitored hydraulic system noise to reduce noise interference;

[0023] S2223. Reconstruct the filtered frequency band components and the unfiltered frequency band components to obtain the filtered gate valve control signal;

[0024] S223. If the frequencies do not overlap, directly output the gate valve control signal.

[0025] It realizes effective noise filtering under the condition of overlapping noise frequency and control signal frequency, improves the quality of the control signal, and ensures the accuracy and performance of the gate valve pressure balance control.

[0026] Further, the specific steps in step S2222 include:

[0027] A1. Monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than the preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed.

[0028] It can track the change of the noise frequency faster, improve the filtering effect, and further improve the accuracy of the gate valve switching action prediction.

[0029] Further, the specific steps in step S2222 include:

[0030] B1. Monitor the hydraulic oil temperature of the hydraulic system;

[0031] B2. After establishing the mapping relationship between the hydraulic oil temperature and the noise frequency drift of the hydraulic system, determine the noise frequency drift of the hydraulic system according to the hydraulic oil temperature;

[0032] B3. According to the frequency drift, dynamically adjust the center frequency and bandwidth of the adaptive notch filter to compensate for the noise frequency drift caused by the change of the oil temperature.

[0033] Further, the specific steps in step A1 include:

[0034] A1A1. Obtain the first error signal between the output signal and the desired signal of the adaptive notch filter at the current moment; where the desired signal is the frequency band component that has not been processed by the adaptive notch filter;

[0035] A1A2. Calculate a first step-size adjustment coefficient based on the least mean square error algorithm from the first error signal; the first step-size adjustment coefficient is proportional to the amplitude of the first error signal and is within a preset limit range;

[0036] A1A3. Adjust the step-size factor of the adaptive notch filter according to the first step-size adjustment coefficient, and the adjusted step-size factor is equal to the current step-size factor plus the first step-size adjustment coefficient.

[0037] Further, the specific steps in step A1 include:

[0038] A1B1. Calculate a second error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; where the desired signal is the frequency band component that has not been processed by the adaptive notch filter;

[0039] A1B2. Determine whether the hydraulic system noise exhibits non-stationary characteristics, and when the hydraulic system noise exhibits non-stationary characteristics, dynamically set the upper threshold and the lower threshold of the limit range according to the noise frequency change rate; otherwise, keep the preset limit range unchanged; where the noise frequency change rate is negatively correlated with the upper threshold and the noise frequency change rate is positively correlated with the lower threshold;

[0040] A1B3. Calculate a second step-size adjustment coefficient based on the least mean square error algorithm from the second error signal; the second step-size adjustment coefficient is proportional to the amplitude of the second error signal and is within the limit range;

[0041] A1B4. Adjust the step-size factor of the adaptive notch filter according to the second step-size adjustment coefficient, and the adjusted step-size factor is equal to the current step-size factor plus the second step-size adjustment coefficient.

[0042] In a second aspect, the present invention provides a gate valve pressure balance control device for controlling the pressure balance of a gate valve in an industrial robot hydraulic system. Multiple balance channels are provided inside the gate valve, and all balance channels are controlled by a controller, including:

[0043] A monitoring module for monitoring the gate valve control signal and the pressure difference across the gate valve;

[0044] A calculation module for calculating the change rate of the gate valve control signal according to the gate valve control signal and setting a control signal amplitude threshold and a change rate threshold;

[0045] A prediction module for predicting the gate valve switching action according to the gate valve control signal change rate, the control signal amplitude threshold, and the change rate threshold;

[0046] A judgment module, configured to judge the number of balance channels to be opened when the pressures on both sides of the gate valve reach pressure balance based on the predicted switching action of the gate valve and the pressure difference between both sides of the gate valve.

[0047] A control module, configured to control the controller to open the corresponding number of balance channels in advance according to the number of balance channels, and establish a pressure balance path, so that the pressures on both sides of the gate valve are balanced.

[0048] The gate valve pressure balance control device provided by the present invention can significantly improve the response speed of gate valve pressure balance control, effectively solve the problem of response lag in the traditional technology, reduce hydraulic shock, and improve the performance of the hydraulic system of industrial robots under high-frequency switching conditions.

[0049] In a third aspect, the present invention provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the gate valve pressure balance control method provided in the first aspect above are run.

[0050] In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps in the gate valve pressure balance control method provided in the first aspect above are run.

[0051] As can be seen from the above, the gate valve pressure balance control method provided by the present invention is based on an advanced control strategy predicted by a control signal change rate threshold, breaking the lag of traditional pressure balance control, and being able to achieve a rapid pressure balance response in milliseconds under high-frequency switching conditions. Combining with the gate valve design with multiple balance channels, the instantaneous pressure difference during gate valve switching is greatly reduced, thereby significantly suppressing hydraulic shock and vibration, and improving the stability and reliability of the hydraulic system.

[0052] Other features and advantages of the present invention will be described in the subsequent description, and part of them will become obvious from the description, or be understood by implementing the embodiments of the present invention. The objectives and other advantages of the present invention can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a flowchart of a gate valve pressure balance control method provided by an embodiment of the present invention.

[0054] Figure 2 It is a schematic structural diagram of a gate valve pressure balance control device provided by an embodiment of the present invention.

[0055] Figure 3 It is a schematic structural diagram of an electronic device provided by an embodiment of the present invention.

[0056] Label description:

[0057] 100, Monitoring module; 200, Calculation module; 300, Prediction module; 400, Judgment module; 500, Control module; 13, Electronic device; 1301, Processor; 1302, Memory; 1303, Communication bus. Detailed implementation

[0058] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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 the embodiments. Usually, the components of the embodiments of the present invention described and shown in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but only represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present invention.

[0059] It should be noted that: Similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings. At the same time, in the description of the present invention, terms such as "first" and "second" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0060] Refer to the attached Figure 1 , The present invention provides a gate valve pressure balance control method for controlling the pressure balance of a gate valve in a hydraulic system of an industrial robot. There are multiple balance channels inside the gate valve, and all balance channels are controlled by a controller, including the following steps:

[0061] S1. Monitor the gate valve control signal and the pressure difference on both sides of the gate valve;

[0062] S2. Calculate the change rate of the gate valve control signal according to the gate valve control signal, and set the control signal amplitude threshold and the change rate threshold;

[0063] S3. Predict the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold, and the change rate threshold;

[0064] S4. Based on the predicted gate valve switching action, judge the number of balance channels to be opened when the pressure on both sides of the gate valve reaches pressure balance according to the pressure difference on both sides of the gate valve;

[0065] S5. According to the number of balance channels, control the controller to open the corresponding number of balance channels in advance to establish a pressure balance path so that the pressure on both sides of the gate valve is balanced.

[0066] In step S1, the monitoring of the gate valve control signal and the pressure difference on both sides of the gate valve is achieved through sensors. Pressure sensors are configured on both sides of the inlet and outlet of the gate valve to detect the pressure difference in real time; the gate valve control signal is obtained from the controller of the industrial robot hydraulic system, reflecting the control instruction of the gate valve.

[0067] In step S2, the calculation of the control signal change rate is executed by a data processing unit, such as a programmable logic controller or a microcontroller. The change rate threshold and the control signal amplitude threshold are preset parameters, and these parameters can be adjusted according to the specific working conditions of the hydraulic system and the characteristics of the gate valve.

[0068] In step S3, the prediction of the gate valve switching action is based on the set thresholds (i.e., the change rate threshold and the control signal amplitude threshold) and the calculated change rate. For example, when it is detected that the change rate of the control signal exceeds the change rate threshold and the amplitude of the control signal exceeds the amplitude threshold, the system predicts that the gate valve is about to perform a switching action.

[0069] In step S4, the judgment of the number of balance channels is based on the predicted gate valve switching action and combines the measured pressure difference on both sides of the gate valve. A mapping relationship between the pressure difference and the number of balance channels is established in advance, for example, obtained through experiments or simulations. The greater the pressure difference, the more balance channels need to be opened.

[0070] In step S5, the controller issues a control instruction in advance according to the number of balance channels determined in step S4, driving the balance channel valves to open the corresponding number of balance channels, so as to establish a pressure balance path in advance before the gate valve performs a switching action, realizing the pre - balance of the pressure on both sides of the gate valve.

[0071] This technical solution aims to solve the technical problems that in the industrial robot hydraulic system, when the gate valve is under high - frequency switching conditions, the response speed of pressure balance control is insufficient, which is likely to cause hydraulic shock.

[0072] By monitoring the gate valve control signal and the pressure difference on both sides of the gate valve in step S1, the system can master the working state and pressure distribution of the gate valve in real time, providing a data basis for subsequent pressure balance control.

[0073] In step S2, the change rate of the gate valve control signal is calculated and thresholds are set to accurately predict the switching timing of the gate valve. The change rate of the control signal can sensitively reflect the action trend of the gate valve, and the set thresholds serve as the criteria for predicting the switching action.

[0074] In step S3, the gate valve switching action is predicted based on the change rate and thresholds, realizing the advance prediction of the gate valve action. This prediction mechanism is the key to realizing the advance pressure balance control.

[0075] After predicting the switching action of the gate valve in step S4, the number of balance channels to be opened is determined according to the pressure difference on both sides of the gate valve, ensuring the accuracy and effectiveness of the pressure balance control.

[0076] In step S5, according to the determined number of balance channels, the opening of the balance channels is controlled in advance to establish a pressure balance path before the actual action of the gate valve. Thus, at the moment of the gate valve switching, the pressure shock on both sides of the valve can be effectively reduced or eliminated, the vibration and noise of the hydraulic system can be reduced, and the smoothness and reliability of the system operation can be improved.

[0077] In summary, through predictive control and early action, this technical solution significantly improves the response speed of the gate valve pressure balance control, effectively solves the problem of response lag in traditional technologies, reduces hydraulic shock, and improves the performance of the hydraulic system of industrial robots under high-frequency switching conditions.

[0078] As an example, first, pressure sensors are installed at the oil inlet and return port of the gate valve, and the control signal is read from the motion controller of the robot. The controller sets the control signal amplitude threshold to 2V and the change rate threshold to 1V / ms. When the controller detects that the amplitude of the control signal exceeds 2V and the change rate exceeds 1V / ms, it is predicted that the gate valve will switch after 5ms. At this time, the controller reads the pressure difference on both sides of the gate valve, for example, 3MPa. According to the preset mapping relationship between the pressure difference and the number of balance channels, a pressure difference of 3MPa corresponds to the need to open 2 balance channels. The controller immediately controls the balance channel control valve of the gate valve to open 2 balance channels in advance. Before the actual switching action of the gate valve occurs, the balance channels are established, and the pressures on both sides of the gate valve tend to be balanced. In practical applications, after adopting this control method, the pressure shock during the gate valve switching is reduced by about 60%, the vibration and noise of the hydraulic system are significantly reduced, and the positioning accuracy and running smoothness of the robot arm are improved.

[0079] In some embodiments, the specific steps in step S2 include:

[0080] S21. Monitor the noise of the hydraulic system;

[0081] S22. Filter the gate valve control signal using an adaptive filtering algorithm; wherein, the adaptive filtering algorithm dynamically adjusts the filtering parameters according to the monitored noise of the hydraulic system to reduce noise interference;

[0082] S23. Calculate the change rate of the gate valve control signal based on the filtered gate valve control signal (it should be noted that as long as the gate valve control signal undergoes the processing in the following steps S221 - S223, even if the gate valve control signal is not filtered by the adaptive filtering algorithm, it still belongs to the filtered signal), and set the control signal amplitude threshold and the change rate threshold.

[0083] In step S21, the monitoring of the hydraulic system noise can be achieved via a noise sensor arranged near the hydraulic system. The noise sensor can be, for example, an acoustic sensor, which is used to collect the noise signals generated during the operation of the hydraulic system.

[0084] In step S22, an adaptive filtering algorithm is used to process the gate valve control signal and reduce the interference of noise on the signal. As an implementation, the least mean square error algorithm can be selected as the adaptive filtering algorithm. This algorithm continuously iteratively adjusts the filter parameters to minimize the mean square error between the output signal of the filter and the desired signal, thereby achieving noise filtering. The process of dynamically adjusting the filter parameters is that the adaptive filter will adjust its own filter parameters, such as filter coefficients or step size factors, in real time according to the characteristics of the noise signal monitored in step S21, such as noise intensity or frequency. When the monitored noise intensity increases, the adaptive filter can adjust the parameters to enhance the filtering effect; conversely, when the noise decreases, the parameters can be adjusted to avoid signal distortion caused by over-filtering.

[0085] In step S23, after the adaptive filtering process, the noise component in the gate valve control signal is effectively suppressed. At this time, by calculating the change rate of the gate valve control signal based on the filtered control signal, a more accurate change rate value can be obtained. The amplitude threshold of the control signal and the change rate threshold are pre-set parameters, which are used as the judgment basis for predicting the gate valve switching action in the subsequent steps. The amplitude threshold can be set according to the normal working range of the gate valve control signal, and the change rate threshold can be set according to the dynamic response characteristics of the gate valve and the sensitivity of the system to the change of the control signal.

[0086] Specifically, in the hydraulic system of an industrial robot, when the gate valve control signal is interfered by the hydraulic system noise, the directly calculated signal change rate may contain false changes caused by the noise component, which will reduce the accuracy of the subsequent prediction of the gate valve switching action and ultimately affect the accuracy of the pressure balance control. By first monitoring the hydraulic system noise and using the adaptive filtering algorithm to preprocess the gate valve control signal based on the monitored noise information, the noise interference can be effectively filtered out and the signal-to-noise ratio of the control signal can be improved. The filtered gate valve control signal can more truly reflect the actual control state of the gate valve, and the change rate of the gate valve control signal calculated based on this is also more accurate and reliable. Using the accurate signal change rate, the subsequent prediction of the gate valve switching action and the pressure balance control strategy can be executed more precisely, thereby enhancing the anti-interference ability and control accuracy of the entire gate valve pressure balance control method, ensuring that the gate valve can still achieve fast and stable pressure balance control under high-frequency switching conditions, and further guaranteeing the performance and reliability of the hydraulic system of the industrial robot.

[0087] In some embodiments, the specific steps in step S22 include:

[0088] S221. Analyze the noise frequency of the hydraulic system and determine whether the noise frequency overlaps with the gate valve control signal frequency;

[0089] S222. If the frequencies overlap, then perform the following steps:

[0090] S2221. Decompose the gate valve control signal using wavelet transform to obtain multiple frequency band components;

[0091] S2222. For the frequency band components corresponding to the overlapping part of the gate valve control signal frequency and the noise frequency, use an adaptive notch filter for filtering and dynamically adjust the center frequency and bandwidth of the notch filter according to the monitored hydraulic system noise to reduce noise interference;

[0092] S2223. Reconstruct the filtered frequency band components and the unfiltered frequency band components to obtain the filtered gate valve control signal;

[0093] S223. If the frequencies do not overlap, then directly output the gate valve control signal.

[0094] In step S221, the noise frequency analysis can be achieved through tools such as a spectrum analyzer or fast Fourier transform to determine the main frequency components of the hydraulic system noise.

[0095] In step S2221, the wavelet transform specifically uses the db4 wavelet basis or sym8 wavelet basis to decompose the gate valve control signal into 3 layers, thereby obtaining multiple frequency band components such as the approximation component and the detail components.

[0096] In step S2222, the adaptive notch filter uses the least mean square error algorithm for parameter adjustment. The initial value of the center frequency of the notch filter is set to the main frequency in the result of the noise frequency analysis, and the initial value of the bandwidth is set to the width of the noise frequency range. The process of dynamically adjusting the center frequency and bandwidth of the notch filter is specifically to monitor the change of the hydraulic system noise frequency in real time and adjust the center frequency and bandwidth of the notch filter according to the change amount to ensure that the notch filter can accurately track and filter out the noise.

[0097] In step S2223, the frequency band component reconstruction is achieved through inverse wavelet transform. Perform inverse wavelet transform on the frequency band components that have undergone notch filtering and the unfiltered frequency band components to obtain the filtered gate valve control signal.

[0098] In step S223, if the noise frequency does not overlap with the gate valve control signal frequency, then directly perform subsequent processing on the gate valve control signal, avoiding unnecessary filtering operations and simplifying the control process.

[0099] Specifically, for the problem of the overlap between the hydraulic system noise frequency and the gate valve control signal frequency, this solution first analyzes the hydraulic system noise frequency to determine whether frequency overlap occurs. When the frequencies do not overlap, the original solution is followed, and the control signal change rate and the set threshold are directly calculated. When the frequencies overlap, wavelet transform is used to decompose the control signal into multiple frequency band components. For the frequency band components with overlapping frequencies, an adaptive notch filter is used for precise filtering, and the center frequency and bandwidth of the notch filter are dynamically adjusted to adapt to the noise changes. The filtered frequency band components and the unfiltered frequency band components are reconstructed to obtain the final filtered control signal, which is used for subsequent calculation of the control signal change rate and threshold setting. Thus, effective noise filtering is achieved under the condition of overlapping noise frequency and control signal frequency, the quality of the control signal is improved, and the accuracy and performance of the gate valve pressure balance control are guaranteed.

[0100] In some specific embodiments, the analysis result of the hydraulic system noise frequency shows that the main noise frequency is concentrated around 100 Hz and overlaps with the gate valve control signal frequency. At this time, the control system first uses a spectrum analyzer to monitor the hydraulic system noise in real time and determines that the noise frequency range is 90 Hz - 110 Hz. Then, the gate valve control signal is decomposed by 3 layers of wavelet using the db4 wavelet basis to obtain the detail component D3 containing the noise frequency. For the D3 component, an adaptive notch filter with an initial center frequency of 100 Hz and an initial bandwidth of 20 Hz is designed, and the least mean square error algorithm is used to dynamically adjust the filtering parameters. After filtering the D3 component through the adaptive notch filter, the filtered D3 component, the unfiltered approximation component A3, and the detail components D1 and D2 are subjected to inverse wavelet transform to reconstruct the filtered gate valve control signal. Finally, based on the filtered gate valve control signal, the control signal change rate is calculated and the threshold is set, realizing precise gate valve pressure balance control under high-noise conditions. By using the method of this embodiment, the hydraulic system noise overlapping with the control signal frequency can be effectively filtered, the signal-to-noise ratio of the control signal can be improved, and the anti-interference ability and control accuracy of the gate valve pressure balance control system can be enhanced.

[0101] In certain embodiments, the specific steps in step S2222 include:

[0102] A1. Monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than the preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed.

[0103] In order to solve the problem of slow convergence speed of adaptive notch filter, the convergence speed is monitored to provide a basis for the subsequent step factor adjustment. When the convergence speed is lower than the preset threshold, it is judged that the convergence speed is too slow and the step factor needs to be adjusted to speed up the convergence. Therefore, the step factor is adjusted through the minimum mean square error algorithm to achieve faster convergence. Specifically, the monitoring of convergence speed can be achieved in a variety of ways. For example, the error signal of the filter can be monitored. When the error signal does not decrease significantly within a period of time, it can be judged that the convergence speed has decreased. The preset convergence speed threshold can be set according to actual application requirements. For example, it can be set to the minimum decrease in the filter error signal per unit time. The minimum mean square error algorithm is a commonly used adaptive filtering algorithm. By continuously iteratively adjusting the filter parameters, the mean square error between the output signal of the filter and the expected signal is minimized. In this scheme, the minimum mean square error algorithm is used to adjust the step factor of the adaptive notch filter. The step factor determines the adjustment amplitude of the filter parameters for each iteration. The larger the step factor, the faster the convergence speed, but the stability may be reduced. The smaller the step factor, the slower the convergence speed, but the stability is higher. By dynamically adjusting the step factor using the minimum mean square error algorithm, a balance can be achieved between convergence speed and stability.

[0104] Specifically, in response to the problem that the hydraulic system noise in the hydraulic system of the industrial robot is time-varying, the convergence speed of the adaptive notch filter may slow down, resulting in untimely noise filtering, affecting the accuracy of the gate valve switching action prediction. To solve this problem, this scheme monitors the convergence speed of the adaptive notch filter and determines whether the convergence speed is lower than the preset convergence speed threshold. When the convergence speed is lower than the preset convergence speed threshold, the step size factor of the adaptive notch filter is adjusted according to the minimum mean square error algorithm to speed up the convergence speed. The minimum mean square error algorithm can dynamically adjust the step size factor according to the error signal, thereby speeding up the convergence speed. As a result, the changes in noise frequency can be tracked more quickly, the filtering effect can be improved, and the accuracy of the gate valve switching action prediction can be improved.

[0105] In some specific embodiments, the convergence speed monitoring can be performed by calculating the mean square value of the error signal between the output signal of the adaptive notch filter and the desired signal, and monitoring the change rate of the mean square value. When the change rate of the mean square value is lower than a preset threshold, it is determined that the convergence speed is lower than the preset convergence speed threshold. The preset convergence speed threshold can be set to a value dynamically adjusted according to the operating state of the hydraulic system. For example, during the startup phase of the hydraulic system, the noise changes greatly, and the preset convergence speed threshold can be set to a relatively high value to ensure that the filter can quickly track the noise changes. During the stable operation phase of the hydraulic system, the noise changes little, and the preset convergence speed threshold can be set to a relatively low value to improve the filtering accuracy. When the least mean square error algorithm adjusts the step size factor, it can adaptively adjust the value and sign of the step size factor according to the amplitude and direction of the error signal to ensure that the step size factor can be adjusted in the direction that reduces the error signal, and the adjustment amplitude is proportional to the amplitude of the error signal. Thus, the dynamic adjustment of the convergence speed of the adaptive notch filter can be achieved, improving the noise filtering effect and the gate valve control accuracy.

[0106] In some embodiments, the specific steps in step S2222 include:

[0107] B1. Monitor the hydraulic oil temperature of the hydraulic system;

[0108] B2. After establishing the mapping relationship between the hydraulic oil temperature and the noise frequency drift amount of the hydraulic system, determine the noise frequency drift amount of the hydraulic system according to the hydraulic oil temperature;

[0109] B3. According to the frequency drift amount, dynamically adjust the center frequency and bandwidth of the adaptive notch filter to compensate for the noise frequency drift caused by the change in oil temperature.

[0110] In step B1, the monitoring of the hydraulic oil temperature can be realized via a temperature sensor. The temperature sensor is arranged at a key position of the hydraulic system, such as a position close to the gate valve or the hydraulic oil tank, to collect the temperature data of the hydraulic oil in real time.

[0111] In step B2, the mapping relationship between the hydraulic oil temperature and the noise frequency drift amount of the hydraulic system can be established via experimental data analysis or theoretical modeling. For example, under different oil temperature conditions, collect the noise frequency data of the hydraulic system, analyze the relationship between the oil temperature and the noise frequency drift, and fit a mathematical model or establish a look-up table.

[0112] In step B3, the dynamic adjustment of the center frequency and bandwidth of the adaptive notch filter can be realized via a control algorithm. The control algorithm calculates the values of the center frequency and bandwidth that the adaptive notch filter needs to adjust according to the frequency drift amount determined in step B2, and updates these values to the filter parameters in real time to achieve the dynamic adaptive adjustment of the filter parameters.

[0113] Specifically, to address the problem of noise frequency drift caused by changes in the hydraulic oil temperature in the hydraulic system, this solution monitors the hydraulic oil temperature and uses the pre-established mapping relationship between the oil temperature and the noise frequency drift amount to achieve the prediction of the noise frequency drift amount. Thus, the adaptive notch filter can dynamically adjust its center frequency and bandwidth according to the predicted frequency drift amount to compensate for the noise frequency drift caused by the change in oil temperature. This frequency drift compensation mechanism based on the change in oil temperature enables the adaptive notch filter to more accurately track and filter out the noise, improving the performance of the filter and the noise suppression effect. Therefore, even in an environment where the hydraulic oil temperature changes in the hydraulic system, this solution can ensure the effectiveness and stability of the filtering process and guarantee the stable operation of the system.

[0114] In some specific embodiments, a thermocouple temperature sensor can be selected as the temperature sensor, which is installed on the outer surface of the hydraulic valve body to monitor the hydraulic oil temperature in real time. The mapping relationship between the hydraulic oil temperature and the noise frequency drift amount of the hydraulic system is pre-calibrated as a quadratic polynomial function, and the parameters of this function are obtained by fitting experimental data. The control system reads the value of the temperature sensor every 10 milliseconds, calculates the noise frequency drift amount according to the quadratic polynomial function, and adjusts the center frequency and bandwidth of the adaptive notch filter in real time according to the drift amount. For example, when the oil temperature rises and causes the noise frequency to drift towards the high-frequency direction, the control system controls the center frequency of the adaptive notch filter to also adjust towards the high-frequency direction to ensure that the filter center frequency is always aligned with the noise frequency and achieve the best filtering effect.

[0115] In certain embodiments, the specific steps in step A1 include:

[0116] A1A1. Obtain a first error signal between the output signal and the desired signal of the adaptive notch filter at the current moment; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter;

[0117] A1A2. Calculate a first step size adjustment coefficient based on the first error signal according to the least mean square error algorithm; the first step size adjustment coefficient is proportional to the amplitude of the first error signal, and the first step size adjustment coefficient is within a preset limit range;

[0118] A1A3. Adjust the step size factor of the adaptive notch filter according to the first step size adjustment coefficient, and the adjusted step size factor is equal to the current step size factor plus the first step size adjustment coefficient.

[0119] Step A1A1 is set to obtain a first error signal between the output signal of the adaptive notch filter at the current moment and the desired signal. Herein, the desired signal is defined as the frequency band component that has not been processed by the adaptive notch filter, which can be understood as the original noise signal. Thus, the first error signal can accurately reflect the current filtering effect of the adaptive notch filter.

[0120] In step A1A2, the first step size adjustment coefficient is calculated based on the least mean square error algorithm according to the first error signal, which ensures the correlation between the step size adjustment coefficient and the filtering error and realizes the dynamic adjustment based on the error. At the same time, the first step size adjustment coefficient is limited within a preset boundary range to avoid the system instability caused by too large an adjustment amplitude of the step size factor.

[0121] In step A1A3, by adding the first step size adjustment coefficient to the current step size factor, the update of the step size factor is realized, which provides a specific implementation method for the dynamic adjustment of the step size factor of the adaptive notch filter.

[0122] Through the above steps, the step size factor of the adaptive notch filter can be dynamically adjusted according to the filtering error, and the convergence speed of the filter can be accelerated.

[0123] Specifically, in this solution, the first error signal is obtained through step A1A1. This first error signal represents the filtering effect of the current filter. The larger the error signal, the worse the filtering effect and the slower the convergence speed. Then, in step A1A2, the first step size adjustment coefficient is calculated based on the first error signal by using the least mean square error algorithm. The least mean square error algorithm ensures that the step size adjustment coefficient can be adjusted in the direction of reducing the error, realizing the optimized adjustment of the step size factor. The first step size adjustment coefficient is proportional to the amplitude of the first error signal, ensuring that the larger the error, the larger the step size adjustment amplitude, thereby accelerating the convergence speed. At the same time, the first step size adjustment coefficient is limited within a preset boundary range to avoid system divergence or instability caused by too large a step size adjustment. Finally, in step A1A3, by adding the calculated first step size adjustment coefficient to the current step size factor, the update of the step size factor is realized. Thus, the step size factor of the adaptive notch filter can be dynamically adjusted according to the filtering error, realizing a faster convergence speed and improving the filtering efficiency.

[0124] In some embodiments, the specific steps in step A1 include:

[0125] A1B1. Calculate a second error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter;

[0126] A1B2. Determine whether the noise of the hydraulic system exhibits non-stationary characteristics. When the noise of the hydraulic system exhibits non-stationary characteristics, dynamically set the upper threshold and the lower threshold of the boundary range according to the noise frequency change rate; otherwise, keep the preset boundary range unchanged. Among them, the noise frequency change rate is negatively correlated with the upper threshold, and the noise frequency change rate is positively correlated with the lower threshold.

[0127] A1B3. Calculate the second step size adjustment coefficient based on the least mean square error algorithm and the second error signal. The second step size adjustment coefficient is proportional to the amplitude of the second error signal and is within the boundary range.

[0128] A1B4. Adjust the step size factor of the adaptive notch filter according to the second step size adjustment coefficient. The adjusted step size factor is equal to the current step size factor plus the second step size adjustment coefficient.

[0129] In step A1B1, the second error signal is calculated by subtracting the output signal of the adaptive notch filter at the current moment from the desired signal. The desired signal refers to the frequency band component that has not been processed by the adaptive notch filter and represents the ideal signal state. Thus, the second error signal can accurately reflect the filtering effect of the adaptive notch filter and the deviation from the ideal signal.

[0130] Step A1B2 is the key step for dynamically adjusting the boundary range. The judgment of the non-stationary characteristics of the hydraulic system noise can be achieved by monitoring the changes in the spectral characteristics or statistical characteristics of the noise signal over time. For example, a noise frequency change rate threshold can be set. When the monitored noise frequency change rate exceeds this threshold, it is determined that the noise exhibits non-stationary characteristics. When the noise exhibits non-stationary characteristics, perform the dynamic setting of the boundary range. The upper threshold and the lower threshold are dynamically set according to the noise frequency change rate. There is a negative correlation between the noise frequency change rate and the upper threshold, and a positive correlation between the noise frequency change rate and the lower threshold. This means that when the noise frequency changes faster, the upper threshold decreases, the lower threshold increases, and the boundary range narrows, and vice versa. The dynamic adjustment of the boundary range makes the adjustment of the step size factor more refined and adaptive to adapt to the characteristics of non-stationary noise.

[0131] In step A1B3, the second step size adjustment coefficient is calculated based on the least mean square error algorithm and the second error signal, ensuring that the adjustment direction of the step size factor is towards reducing the error. The second step size adjustment coefficient is proportional to the amplitude of the second error signal, meaning that the larger the error, the larger the step size adjustment amplitude, and vice versa, accelerating the convergence process. At the same time, the second step size adjustment coefficient is limited within the boundary range dynamically set in step A1B2, ensuring the stability of the adjustment process and avoiding the system from diverging due to excessive adjustment of the step size factor.

[0132] Step A1B4 describes the update method of the step size factor. The adjusted step size factor is obtained by adding the second step size adjustment coefficient to the current step size factor, realizing the iterative update of the step size factor, so that the adaptive notch filter can continuously adjust its own parameters to adapt to the noise change.

[0133] Specifically, during the operation of the hydraulic system, the monitoring module monitors the hydraulic system noise in real time, and the calculation module analyzes the noise signal to judge whether the noise exhibits non-stationary characteristics and calculates the noise frequency change rate. When the noise is determined to be non-stationary, the calculation module dynamically adjusts the preset step size factor limit range according to the noise frequency change rate. The specific adjustment strategy is: when the noise frequency change rate increases, the limit range is narrowed; otherwise, the limit range is widened or remains unchanged. The prediction module receives the filtered gate valve control signal for subsequent gate valve switching action prediction. The judgment module and the control module work together to control the opening of the balance channel according to the predicted gate valve switching action and the pressure difference on both sides of the gate valve, realizing the gate valve pressure balance control. In the adaptive filtering link, when the noise exhibits non-stationary characteristics, step A1B2 is triggered to dynamically set the limit range. For example, assuming that the preset limit range is [−0.1, 0.1], when the noise frequency change rate increases to a certain extent, the limit range may be adjusted to [−0.05, 0.05], and the adjustment range of the step size factor is narrowed, so that the filter can more stably track the changing noise frequency. Conversely, when the noise frequency change rate decreases, the limit range can be appropriately widened to accelerate the convergence speed. In step A1B3, the least mean square error algorithm is used to calculate the second step size adjustment coefficient. For example, the step size adjustment coefficient can be set as the product of the second error signal and a proportionality coefficient and limited within the dynamic limit range. In step A1B4, the step size factor is iteratively updated according to the calculated second step size adjustment coefficient, completing the parameter adjustment process of the adaptive notch filter. Thus, by dynamically adjusting the step size factor limit range, the adaptive notch filter can better adapt to the non-stationary noise environment, improve the filtering performance, and ensure the accuracy and stability of the gate valve pressure balance control.

[0134] In some specific embodiments, the judgment of the non-stationary characteristics of the hydraulic system noise is achieved by analyzing the spectral change rate of the noise signal. Specifically, the fast Fourier transform is used to analyze the spectrum of the noise signal in real time, and the spectral change rate is obtained by calculating the spectral difference metric between two adjacent spectra. The spectral difference metric can adopt methods such as spectral energy difference and spectral correlation coefficient. When the spectral change rate exceeds a preset threshold, the system determines that the noise exhibits non-stationary characteristics. The dynamic adjustment strategy of the boundary range can be preset as a piecewise function. For example, when the noise frequency change rate is in the low-speed range, the boundary range is set to [−0.1, 0.1]; when the noise frequency change rate is in the medium-speed range, the boundary range is set to [−0.05, 0.05]; when the noise frequency change rate is in the high-speed range, the boundary range is set to [−0.02, 0.02]. The initial value of the step factor can be set to a small positive number, such as 0.01. In the least mean square error algorithm, the proportionality coefficient can be determined according to the actual system noise characteristics and the desired convergence speed. Through the above specific embodiments, when the hydraulic system noise exhibits non-stationary characteristics, the adaptive notch filter can dynamically adjust the boundary range of the step factor to effectively suppress the non-stationary noise and improve the performance of the gate valve pressure balance control system.

[0135] In certain embodiments, the specific steps in step A1 include:

[0136] A1C1. Calculate the third error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter;

[0137] A1C2. Determine whether the hydraulic system noise exhibits sudden changes (it should be noted that the non-stationary characteristics of the system noise include the sudden changes of the hydraulic system noise), and when the hydraulic system noise exhibits sudden changes, set the upper threshold and the lower threshold of the boundary range according to the amplitude of the sudden change; otherwise, keep the preset boundary range unchanged; wherein, the amplitude of the sudden change is negatively correlated with the upper threshold, and the amplitude of the sudden change is positively correlated with the lower threshold;

[0138] A1C3. According to the least mean square error algorithm, calculate the third step adjustment coefficient based on the third error signal; the third step adjustment coefficient is proportional to the amplitude of the third error signal, and the third step adjustment coefficient is within the boundary range;

[0139] A1C4. Adjust the step factor of the adaptive notch filter according to the third step adjustment coefficient, and the adjusted step factor is equal to the current step factor plus the third step adjustment coefficient.

[0140] In step A1C1, the third error signal is calculated by subtracting the output signal of the adaptive notch filter from the desired signal. The desired signal, which is the frequency band component not processed by the adaptive notch filter, represents the original signal component containing noise. The output signal of the adaptive notch filter is the signal after being processed by the filter. Ideally, it should remove the noise component as much as possible. The difference between the two, namely the third error signal, reflects the current filtering effect of the filter and the direction and amplitude that need to be further adjusted.

[0141] In step A1C2, it is judged whether the hydraulic system noise shows sudden changes. Sudden changes can be understood as the drastic fluctuations of the amplitude or frequency of the noise signal in a short time. The judgment method can adopt the way of setting a threshold. For example, monitor the energy or amplitude change rate of the noise signal. When it exceeds the preset threshold, it is determined that sudden changes occur. After it is determined that sudden changes occur, the boundary range is dynamically adjusted. The boundary range is used to constrain the value range of the step size adjustment coefficient. The setting of its upper threshold and lower threshold is associated with the amplitude of the sudden change. The larger the amplitude of the sudden change, the smaller the upper threshold is set, and the larger the lower threshold is set, so that the boundary range is expanded. This dynamic adjustment makes the adjustment of the step size factor more flexible and can quickly adapt to the sudden change of the noise.

[0142] In step A1C3, the least mean square error algorithm is used to calculate the third step size adjustment coefficient. This algorithm aims to minimize the mean square value of the error signal. By iteratively adjusting the step size factor, the output signal of the filter gradually approaches the pure signal component in the desired signal. The third step size adjustment coefficient is proportional to the amplitude of the third error signal. The larger the error signal, the larger the adjustment coefficient, but the value of the adjustment coefficient is limited within the boundary range dynamically set in step A1C2.

[0143] In step A1C4, the update of the step size factor is achieved by adding the current step size factor to the third step size adjustment coefficient. The step size factor is a key parameter in the adaptive filter, which controls the amplitude of each iterative adjustment of the filter parameters. Through the above steps, the step size factor can be adaptively adjusted according to the sudden change of the hydraulic system noise, so as to optimize the performance of the filter.

[0144] Specifically, during the operation of the hydraulic system, the noise monitoring module continuously monitors the noise signal of the hydraulic system. When a sudden change in the noise signal is detected, for example, the noise amplitude suddenly increases within a very short time, the control system determines that the noise of the hydraulic system shows a sudden change. At this time, according to the amplitude of the sudden change, the boundary range of the step size adjustment coefficient of the adaptive notch filter is dynamically adjusted. For example, if the amplitude of the sudden noise is large, the boundary range is expanded to allow the step size adjustment coefficient to vary within a larger range. Subsequently, based on the third error signal and the least mean square error algorithm, the third step size adjustment coefficient is calculated, and this adjustment coefficient is constrained by the dynamic boundary range. Finally, according to the calculated third step size adjustment coefficient, the step size factor of the adaptive notch filter is adjusted. The adjusted step size factor is used for the next iteration of the filter, enabling the filter to adapt to sudden noise faster and effectively suppressing noise interference. Conversely, if the noise of the hydraulic system does not show a sudden change, the preset boundary range remains unchanged, and the adjustment of the step size factor is carried out within the original boundary range.

[0145] In some specific embodiments, when the hydraulic system is operating normally, the preset boundary range of the step size adjustment coefficient is [-0.01, 0.01]. When the noise monitoring module detects a sudden change in the noise of the hydraulic system and the amplitude of the sudden change exceeds the preset threshold, for example, the noise amplitude increases by 5 decibels within 1 millisecond, the system determines it as a sudden change. At this time, according to the amplitude of the sudden change, the boundary range is dynamically adjusted. If the amplitude of the sudden change is large, such as 5 decibels, the boundary range is expanded to [-0.05, 0.05]. The expansion of the boundary range is achieved by adjusting the upper threshold and the lower threshold. For example, the upper threshold is adjusted from 0.01 to 0.05, and the lower threshold is adjusted from -0.01 to -0.05. The adjusted boundary range is used to constrain the calculation of the subsequent step size adjustment coefficient, enabling the step size factor to be adjusted within a larger range, thereby accelerating the convergence speed of the adaptive notch filter and quickly adapting to sudden noise. In this way, even when there is a sudden change in the noise of the hydraulic system, the adaptive notch filter can still maintain fast response and effective filtering performance, ensuring the stable operation of the hydraulic system.

[0146] In certain embodiments, the specific steps in step S4 include:

[0147] S41. After establishing the mapping relationship between the gate valve switching speed and the number of opened balance channels, determining the number of opened balance channels required to achieve pressure balance at different gate valve switching speeds, dividing the gate valve switching speed into multiple speed intervals, and each speed interval corresponding to a number of opened balance channels, based on the predicted gate valve switching action, according to the mapping relationship, determine the number of opened balance channels corresponding to the speed interval where the predicted gate valve switching speed is located.

[0148] The key feature of this embodiment lies in establishing a mapping relationship between the switching speed of the gate valve and the number of opened balance channels. This mapping relationship is established by determining the number of balance channels required to achieve pressure balance at different gate valve switching speeds. The gate valve switching speed is divided into multiple speed intervals, and each interval is associated with a specific number of opened balance channels. In actual operation, based on the predicted gate valve switching action and the speed interval in which the predicted switching speed is located, the system can directly determine the corresponding number of opened balance channels from the pre-established mapping relationship.

[0149] Specifically, in the prior art, the determination of the number of pressure balance channels usually relies on the real-time detection and feedback of the pressure difference. This method has a response lag in the case of rapid switching conditions and is difficult to meet the requirements. To solve this problem, this solution proposes to pre-calibrate the correspondence between the gate valve switching speed and the number of balance channels. Specifically, during implementation, experiments or simulations can be carried out first to obtain the number of balance channels required to reach the pressure balance state at different gate valve switching speeds. For example, multiple different gate valve switching speeds can be set, and the number of opened balance channels can be gradually adjusted until the pressures on both sides of the gate valve reach balance, and the number of balance channels corresponding to each speed is recorded. Thus, a mapping relationship table or function between the gate valve switching speed and the number of opened balance channels is established. Further, to simplify the control, the gate valve switching speed can be divided into several intervals, such as a low-speed interval, a medium-speed interval, and a high-speed interval, and each interval corresponds to a preferred number of opened balance channels. During the actual control process, after predicting the switching action of the gate valve, according to the predicted gate valve switching speed, determine the speed interval in which it is located, then directly consult the mapping relationship to obtain the number of opened balance channels corresponding to this speed interval, and control the controller to open the corresponding number of balance channels in advance. This pre-calibration method avoids the delay of real-time detection of the pressure difference and calculation adjustment, and improves the response speed of the pressure balance control.

[0150] In some specific embodiments, the gate valve switching speed is divided into three intervals: the low-speed interval is from 0 to 10 Hz, the medium-speed interval is from 10 to 30 Hz, and the high-speed interval is from 30 to 50 Hz. Through experimental calibration, the low-speed interval corresponds to opening 1 balance channel, the medium-speed interval corresponds to opening 2 balance channels, and the high-speed interval corresponds to opening 3 balance channels. When the control system predicts that the gate valve is about to perform a switching action and the predicted switching speed is 25 Hz, it determines that it is in the medium-speed interval, then immediately consults the mapping relationship table to determine that 2 balance channels need to be opened. The controller then controls the gate valve to open 2 balance channels in advance to establish a pressure balance path. Thus, before the gate valve is officially switched, the pressure is initially balanced, effectively reducing the hydraulic shock. By using this method, the response speed of the pressure balance control is significantly improved, and it can better meet the application requirements of the high-frequency switching of the hydraulic system of industrial robots.

[0151] Please refer to Figure 2, Figure 2 A gate valve pressure balance control device in some embodiments of the present invention is used for the pressure balance control of a gate valve in a hydraulic system of an industrial robot. A plurality of balance channels are arranged inside the gate valve, and all the balance channels are controlled by a controller. The gate valve pressure balance control device is integrated in a backend control device in the form of a computer program, and includes:

[0152] A monitoring module 100 for monitoring the gate valve control signal and the pressure difference between both sides of the gate valve;

[0153] A calculation module 200 for calculating the change rate of the gate valve control signal according to the gate valve control signal, and setting the control signal amplitude threshold and the change rate threshold;

[0154] A prediction module 300 for predicting the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold and the change rate threshold;

[0155] A judgment module 400 for judging the number of balance channels to be opened when the pressures on both sides of the gate valve reach balance according to the pressure difference between both sides of the gate valve based on the predicted gate valve switching action;

[0156] A control module 500 for controlling the controller to open the corresponding number of balance channels in advance according to the number of balance channels, and establishing a pressure balance path to balance the pressures on both sides of the gate valve.

[0157] In some embodiments, when the calculation module 200 is used to calculate the change rate of the gate valve control signal according to the gate valve control signal, and set the control signal amplitude threshold and the change rate threshold, it executes:

[0158] S21. Monitor the hydraulic system noise;

[0159] S22. Filter the gate valve control signal by using an adaptive filtering algorithm; wherein, the adaptive filtering algorithm dynamically adjusts the filtering parameters according to the monitored hydraulic system noise to reduce the noise interference;

[0160] S23. Calculate the change rate of the gate valve control signal according to the filtered gate valve control signal, and set the control signal amplitude threshold and the change rate threshold.

[0161] In some embodiments, when the calculation module 200 is used to filter the gate valve control signal by using an adaptive filtering algorithm, it executes:

[0162] S221. Analyze the noise frequency of the hydraulic system noise, and judge whether the noise frequency overlaps with the gate valve control signal frequency;

[0163] S222. If the frequencies overlap, then execute the following steps:

[0164] S2221. Decompose the gate valve control signal using wavelet transform to obtain multiple frequency band components;

[0165] S2222. For the frequency band components corresponding to the overlapping part of the gate valve control signal frequency and the noise frequency, use an adaptive notch filter for filtering and dynamically adjust the center frequency and bandwidth of the notch filter according to the monitored hydraulic system noise to reduce noise interference;

[0166] S2223. Reconstruct the filtered frequency band components and the unfiltered frequency band components to obtain the filtered gate valve control signal;

[0167] S223. If the frequencies do not overlap, directly output the gate valve control signal.

[0168] In some embodiments, when the calculation module 200 is used to perform filtering on the frequency band components corresponding to the overlapping part of the gate valve control signal frequency and the noise frequency using an adaptive notch filter and dynamically adjust the center frequency and bandwidth of the notch filter according to the monitored hydraulic system noise to reduce noise interference, it performs:

[0169] A1. Monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than the preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed.

[0170] In some embodiments, when the calculation module 200 is used to perform filtering on the frequency band components corresponding to the overlapping part of the gate valve control signal frequency and the noise frequency using an adaptive notch filter and dynamically adjust the center frequency and bandwidth of the notch filter according to the monitored hydraulic system noise to reduce noise interference, it performs:

[0171] B1. Monitor the hydraulic oil temperature of the hydraulic system;

[0172] B2. After establishing the mapping relationship between the hydraulic oil temperature and the noise frequency drift amount of the hydraulic system, determine the noise frequency drift amount of the hydraulic system according to the hydraulic oil temperature;

[0173] B3. Dynamically adjust the center frequency and bandwidth of the adaptive notch filter according to the frequency drift amount to compensate for the noise frequency drift caused by the change in oil temperature.

[0174] In some embodiments, when the calculation module 200 is used to monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than the preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed, it performs:

[0175] A1A1. Obtain a first error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter.

[0176] A1A2. Calculate a first step size adjustment coefficient based on the least mean square error algorithm and the first error signal; the first step size adjustment coefficient is proportional to the amplitude of the first error signal, and the first step size adjustment coefficient is within a preset limit range.

[0177] A1A3. Adjust the step size factor of the adaptive notch filter according to the first step size adjustment coefficient, and the adjusted step size factor is equal to the current step size factor plus the first step size adjustment coefficient.

[0178] In some embodiments, when the calculation module 200 is used to monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than a preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step size factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed, it performs:

[0179] A1B1. Calculate a second error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter.

[0180] A1B2. Determine whether the hydraulic system noise exhibits non-stationary characteristics, and when the hydraulic system noise exhibits non-stationary characteristics, dynamically set the upper threshold and the lower threshold of the limit range according to the noise frequency change rate; otherwise, keep the preset limit range unchanged; wherein, the noise frequency change rate is negatively correlated with the upper threshold, and the noise frequency change rate is positively correlated with the lower threshold.

[0181] A1B3. Calculate a second step size adjustment coefficient based on the least mean square error algorithm and the second error signal; the second step size adjustment coefficient is proportional to the amplitude of the second error signal, and the second step size adjustment coefficient is within the limit range.

[0182] A1B4. Adjust the step size factor of the adaptive notch filter according to the second step size adjustment coefficient, and the adjusted step size factor is equal to the current step size factor plus the second step size adjustment coefficient.

[0183] In some embodiments, when the calculation module 200 is used to monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than a preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step size factor of the adaptive notch filter according to the least mean square error algorithm to accelerate the convergence speed, it performs:

[0184] A1C1. Calculate a third error signal between the output signal of the adaptive notch filter at the current moment and the desired signal; wherein, the desired signal is the frequency band component that has not been processed by the adaptive notch filter.

[0185] A1C2. Determine whether the hydraulic system noise shows a sudden change, and when the hydraulic system noise shows a sudden change, set the upper threshold and the lower threshold of the boundary range according to the amplitude of the sudden change; otherwise, keep the preset boundary range unchanged; wherein, the amplitude of the sudden change is negatively correlated with the upper threshold, and the amplitude of the sudden change is positively correlated with the lower threshold.

[0186] A1C3. Calculate a third step size adjustment coefficient based on the least mean square error algorithm and the third error signal; the third step size adjustment coefficient is proportional to the amplitude of the third error signal and is within the boundary range.

[0187] A1C4. Adjust the step size factor of the adaptive notch filter according to the third step size adjustment coefficient, and the adjusted step size factor is equal to the current step size factor plus the third step size adjustment coefficient.

[0188] In some embodiments, the determination module 400 executes when it is used to determine the number of balance channels to be opened when the pressures on both sides of the gate valve reach balance based on the predicted gate valve switching action and the pressure difference between both sides of the gate valve:

[0189] S41. After establishing the mapping relationship between the gate valve switching speed and the number of opened balance channels, determining the number of opened balance channels required to reach pressure balance at different gate valve switching speeds, dividing the gate valve switching speed into multiple speed intervals, and each speed interval corresponding to a number of opened balance channels, based on the predicted gate valve switching action, determine the number of opened balance channels corresponding to the speed interval where the predicted gate valve switching speed is located according to the mapping relationship.

[0190] Please refer to Figure 3 , Figure 3A schematic structural diagram of an electronic device provided by an embodiment of the present invention. The present invention provides an electronic device 13, including: a processor 1301 and a memory 1302. The processor 1301 and the memory 1302 are interconnected and communicate with each other through a communication bus 1303 and / or other forms of connection mechanisms (not marked). The memory 1302 stores computer-readable instructions executable by the processor 1301. When the electronic device runs, the processor 1301 executes the computer-readable instructions to execute the gate valve pressure balance control method in any optional implementation manner of the above embodiment to achieve the following functions: monitoring the gate valve control signal and the pressure difference between both sides of the gate valve; calculating the change rate of the gate valve control signal according to the gate valve control signal, and setting a control signal amplitude threshold and a change rate threshold; predicting the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold and the change rate threshold; based on the predicted gate valve switching action, judging the number of balance channels to be opened when the pressure on both sides of the gate valve reaches pressure balance according to the pressure difference between both sides of the gate valve; according to the number of balance channels, controlling the controller to open the corresponding number of balance channels in advance to establish a pressure balance path so that the pressure on both sides of the gate valve is balanced.

[0191] An embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it executes the gate valve pressure balance control method in any optional implementation manner of the above embodiment to achieve the following functions: monitoring the gate valve control signal and the pressure difference between both sides of the gate valve; calculating the change rate of the gate valve control signal according to the gate valve control signal, and setting a control signal amplitude threshold and a change rate threshold; predicting the gate valve switching action according to the change rate of the gate valve control signal, the control signal amplitude threshold and the change rate threshold; based on the predicted gate valve switching action, judging the number of balance channels to be opened when the pressure on both sides of the gate valve reaches pressure balance according to the pressure difference between both sides of the gate valve; according to the number of balance channels, controlling the controller to open the corresponding number of balance channels in advance to establish a pressure balance path so that the pressure on both sides of the gate valve is balanced.

[0192] Among them, the computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM for short), electrically erasable programmable read-only memory (EEPROM for short), erasable programmable read-only memory (EPROM for short), programmable read-only memory (PROM for short), read-only memory (ROM for short), magnetic memory, flash memory, magnetic disk or optical disc.

[0193] In the embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0194] In addition, the units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0195] Furthermore, in each embodiment of the present invention, the functional modules can be integrated together to form an independent part, or each module can exist alone, or two or more modules can be integrated to form an independent part.

[0196] In this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations.

[0197] The above are only embodiments of the present invention and are not intended to limit the protection scope of the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A gate valve pressure balance control method is used for the pressure balance control of the gate valve in the hydraulic system of an industrial robot. A plurality of balance channels are arranged inside the gate valve, and all balance channels are controlled by a controller. The method is characterized in that: The following steps are involved: S1. Monitor the gate valve control signal and the pressure difference on both sides of the gate valve; S2. Calculate the gate valve control signal change rate according to the gate valve control signal, and set the control signal amplitude threshold and change rate threshold; S3. predicting the gate valve switching action according to the gate valve control signal change rate, the control signal amplitude threshold and the change rate threshold; S4. Based on the predicted gate valve switching action and the pressure difference on both sides of the gate valve, determine the number of balancing channels that need to be opened when the pressure on both sides of the gate valve is balanced; S5. According to the number of balancing channels, the controller is controlled in advance to open the corresponding number of balancing channels and establish a pressure balancing passage to balance the pressure on both sides of the gate valve.

2. The gate valve pressure balance control method according to claim 1, characterized in that: The specific steps in step S2 include: S21. Monitor the noise of hydraulic system; S22. Adopting an adaptive filtering algorithm to filter the gate valve control signal; wherein the adaptive filtering algorithm dynamically adjusts the filtering parameters according to the monitored hydraulic system noise to reduce noise interference; S23. Calculate the gate valve control signal change rate based on the gate valve control signal after filtering, and set the control signal amplitude threshold and change rate threshold.

3. The gate valve pressure balance control method according to claim 2, characterized in that: The specific steps in step S22 include: S221. Analyze the noise frequency of the hydraulic system noise and determine whether the noise frequency overlaps with the gate valve control signal frequency; S222. If the frequencies overlap, perform the following steps: S2221. Decompose the gate valve control signal using wavelet transform to obtain multiple frequency band components; S2222. Adopt an adaptive notch filter to filter the frequency band components corresponding to the overlapping parts of the gate valve control signal frequency and the noise frequency, and dynamically adjust the center frequency and bandwidth of the notch filter according to the monitored hydraulic system noise to reduce noise interference; S2223. Reconstruct the filtered frequency band component and the unfiltered frequency band component to obtain a filtered gate valve control signal; S223. If the frequencies do not overlap, the gate valve control signal is directly output.

4. The gate valve pressure balance control method according to claim 3, characterized in that: The specific steps in step S2222 include: A1. Monitor the convergence speed of the adaptive notch filter, determine whether the convergence speed is lower than a preset convergence speed threshold, and when the convergence speed is lower than the preset convergence speed threshold, adjust the step size factor of the adaptive notch filter according to the minimum mean square error algorithm to speed up the convergence speed.

5. The gate valve pressure balance control method according to claim 3, characterized in that: The specific steps in step S2222 include: B1. Monitor the hydraulic oil temperature of the hydraulic system; B2. After establishing a mapping relationship between the hydraulic oil temperature and the hydraulic system noise frequency drift, determine the hydraulic system noise frequency drift according to the hydraulic oil temperature; B3. According to the frequency drift, dynamically adjust the center frequency and bandwidth of the adaptive notch filter to compensate for the noise frequency drift caused by oil temperature changes.

6. The gate valve pressure balance control method according to claim 4, characterized in that: The specific steps in step A1 include: A1A1. Obtaining a first error signal between the output signal of the adaptive notch filter and the desired signal at the current moment; wherein the desired signal is a frequency band component that has not been processed by the adaptive notch filter; A1A2. According to the minimum mean square error algorithm, the first step length adjustment coefficient is calculated based on the first error signal; the first step length adjustment coefficient is proportional to the amplitude of the first error signal, and the first step length adjustment coefficient is within a preset limit range; A1A3. According to the first step length adjustment coefficient, adjust the step length factor of the adaptive notch filter, and the adjusted step length factor is equal to the current step length factor plus the first step length adjustment coefficient.

7. The gate valve pressure balance control method according to claim 4, characterized in that: The specific steps in step A1 include: A1B1. Calculate the second error signal between the output signal of the adaptive notch filter and the desired signal at the current moment; wherein the desired signal is a frequency band component that has not been processed by the adaptive notch filter; A1B2. Determine whether the hydraulic system noise exhibits non-stationary characteristics, and if the hydraulic system noise exhibits non-stationary characteristics, dynamically set the upper and lower thresholds of the limit range according to the noise frequency change rate; otherwise, keep the preset limit range unchanged; wherein, the noise frequency change rate is negatively correlated with the upper threshold, and the noise frequency change rate is positively correlated with the lower threshold; A1B3. According to the minimum mean square error algorithm, a second step adjustment coefficient is calculated based on the second error signal; the second step adjustment coefficient is proportional to the amplitude of the second error signal, and the second step adjustment coefficient is within the limit range; A1B4. According to the second step size adjustment coefficient, adjust the step size factor of the adaptive notch filter, and the adjusted step size factor is equal to the current step size factor plus the second step size adjustment coefficient.

8. A gate valve pressure balance control device, used for pressure balance control of gate valves in hydraulic systems of industrial robots, wherein a plurality of balance channels are arranged inside the gate valve, and all balance channels are controlled by a controller, characterized in that: include: Monitoring module, used to monitor the gate valve control signal and the pressure difference on both sides of the gate valve; A calculation module, used for calculating the gate valve control signal change rate according to the gate valve control signal, and setting the control signal amplitude threshold and change rate threshold; A prediction module, used to predict the gate valve switching action according to the gate valve control signal change rate, the control signal amplitude threshold and the change rate threshold; A judgment module is used to judge the number of balancing channels that need to be opened when the pressure on both sides of the gate valve is balanced based on the predicted gate valve switching action and the pressure difference on both sides of the gate valve; The control module is used to control the controller to open a corresponding number of balancing channels in advance according to the number of balancing channels, and to establish a pressure balancing passage to balance the pressure on both sides of the gate valve.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the gate valve pressure balance control method according to any one of claims 1 to 7 are executed.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the gate valve pressure balance control method according to any one of claims 1 to 7 are executed.

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