An electro-hydraulic system damping compensation method, device, product and medium

Abstract

The application discloses an electro-hydraulic system damping compensation method, device, product and medium, relates to the technical field of hydraulic control, and comprises the following steps: acquiring an optimal damping ratio, gain data, electro-hydraulic system data and actuator pressure signals; constructing an inlet valve inlet pressure damping compensation model and an outlet valve outlet pressure damping compensation model; obtaining inlet valve damping compensation feedback gain based on the acquired data by adopting the inlet valve inlet pressure damping compensation model, so as to adjust the opening degree of the inlet valve and make the damping ratio of the system reach the optimal damping ratio; and obtaining outlet valve damping compensation feedback gain based on the acquired data by adopting the outlet valve outlet pressure damping compensation model, so as to adjust the opening degree of the outlet valve and make the damping ratio of the system reach the optimal damping ratio. The application can compensate the damping of the electro-hydraulic system, thereby solving the problems of impact and oscillation of the electro-hydraulic system under load interference and improving the anti-interference capability of the electro-hydraulic system.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of hydraulic control, in particular to an electro-hydraulic system damping compensation method, device, product and medium. BACKGROUND

[0002] The hydraulic system is widely used in industrial hydraulic systems and various engineering machines due to its compact structure and high power density. However, in the conventional engineering machine hydraulic control system, a directional valve is often used to control an actuator. This design has a significant defect: mechanical coupling exists between the inlet and outlet valve ports, resulting in large throttling loss of the inlet and outlet valves of the actuator, thereby reducing the energy utilization efficiency. In order to improve energy efficiency and help energy saving and emission reduction, a valve port independent control circuit is introduced. This innovative design successfully breaks the traditional coupling relationship between the inlet and outlet valve ports through the double-valve core structure of the inlet and outlet valve ports, thereby effectively reducing the throttling loss and improving the energy utilization efficiency.

[0003] In the valve port independent control circuit, although increasing the valve port opening can reduce the system energy consumption, it also reduces the system damping, making the actuator more prone to oscillation and impact, resulting in an unstable movement process. The traditional vibration suppression method mainly adjusts the valve port opening through single high-pressure cavity pressure feedback, but in the case of load disturbance, this method may cause system impact and oscillation, thus having certain limitations and being difficult to meet the control requirements of complex systems. SUMMARY

[0004] The application aims to provide an electro-hydraulic system damping compensation method, device, product and medium, which can compensate the damping of the electro-hydraulic system, thereby solving the problem of impact and oscillation of the electro-hydraulic system under load disturbance and improving the anti-interference ability of the electro-hydraulic system.

[0005] To achieve the above-mentioned purpose, the application provides the following solutions:

[0006] In a first aspect, the application provides an electro-hydraulic system damping compensation method, comprising:

[0007] obtaining an optimal damping ratio, gain data, electro-hydraulic system data, actuator inlet cavity pressure signal and actuator outlet cavity pressure signal; the gain data includes inlet valve flow gain coefficient, outlet valve pressure flow gain, outlet valve flow gain coefficient, outlet valve opening gain coefficient and equivalent outlet valve pressure flow gain; the electro-hydraulic system data includes actuator inlet side area, actuator stroke, rodless cavity volume, equivalent bulk modulus, equivalent rodless cavity volume, equivalent bulk modulus and external load force;

[0008] constructing an inlet valve inlet pressure damping compensation model and an outlet valve outlet pressure damping compensation model;

[0009] An inlet valve inlet pressure damping compensation model is adopted to obtain an inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, the electro-hydraulic system data and the actuator inlet cavity pressure signal;

[0010] The opening of the inlet valve is adjusted based on the inlet valve damping compensation feedback gain to obtain a damping ratio of the system;

[0011] It is judged whether the damping ratio of the system reaches an optimal damping ratio value to obtain a first judgment result;

[0012] When the first judgment result is no, a current actuator outlet cavity pressure signal is obtained, and the step of adopting an outlet valve outlet pressure damping compensation model to obtain an outlet valve damping compensation feedback gain based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal and the electro-hydraulic system data is executed again;

[0013] When the first judgment result is yes, no processing is performed;

[0014] An outlet valve outlet pressure damping compensation model is adopted to obtain an outlet valve damping compensation feedback gain based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal and the electro-hydraulic system data;

[0015] The opening of the outlet valve is adjusted based on the outlet valve damping compensation feedback gain to obtain a damping ratio of the electro-hydraulic system;

[0016] It is judged whether the damping ratio of the electro-hydraulic system reaches an optimal damping ratio value to obtain a second judgment result;

[0017] When the second judgment result is no, a current actuator outlet cavity pressure signal is obtained, and the step of adopting an outlet valve outlet pressure damping compensation model to obtain an outlet valve damping compensation feedback gain based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal and the electro-hydraulic system data is executed again;

[0018] When the second judgment result is yes, no processing is performed.

[0019] Optionally, the inlet valve inlet pressure damping compensation model comprises an inlet cavity flow equation and an actuator speed equation at the inlet cavity.

[0020] Optionally, the inlet cavity flow equation is expressed as:

[0021]

[0022] where Q a is the inlet valve flow, A a is the actuator inlet side area, s is the Laplacian operator, X p is the actuator stroke, V a is the rodless chamber volume, β e is the equivalent bulk modulus of elasticity, p a is the actuator inlet chamber pressure, K q1 is the inlet valve flow gain coefficient, f a (s) is the high pass filter output value at the inlet chamber, V a ' is the equivalent rodless chamber volume.

[0023] Optionally, the actuator velocity equation at the inlet chamber is represented as:

[0024]

[0025] where v(s) is the actuator velocity at the inlet chamber, A a is the actuator inlet side area, s is the Laplacian operator, Q a is the inlet valve flow, V a ' is the equivalent rodless chamber volume, β e is the equivalent bulk modulus of elasticity, F p is the external load force.

[0026] Optionally, the outlet valve outlet pressure damping compensation model includes an outlet chamber flow equation and an actuator velocity equation at the outlet chamber.

[0027] Optionally, the outlet chamber flow equation is represented as:

[0028] Q b = (K cb - f b (s) K q2 K v2 ) p b = K cb ' p b ;

[0029] where Q b is the outlet valve flow, K cb is the outlet valve pressure flow gain, f b (s) is the high pass filter output value at the outlet chamber, K q2 is the outlet valve flow gain coefficient, K v2 is the outlet valve opening gain coefficient, p b is the actuator outlet chamber pressure, K cb ' is the equivalent outlet valve pressure flow gain.

[0030] Optionally, the actuator velocity equation at the outlet chamber is represented as:

[0031]

[0032] where v c (s) is the actuator velocity at the exit chamber, A a is the inlet-side actuator area, s is the Laplacian operator, Q a is the inlet chamber flow rate, V a ' is the equivalent rodless chamber volume, β e is the equivalent bulk modulus of elasticity, F p is the external load force.

[0033] In a second aspect, the present application provides a computer device, comprising: a memory, a processor to store a computer program on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the electro-hydraulic system damping compensation method in any one of the above.

[0034] In a third aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the steps of the electro-hydraulic system damping compensation method in any one of the above.

[0035] In a fourth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of the electro-hydraulic system damping compensation method in any one of the above.

[0036] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0037] The present application provides an electro-hydraulic system damping compensation method, device, product and medium, by acquiring the optimal damping ratio, gain data, electro-hydraulic system data, actuator inlet chamber pressure signal and actuator outlet chamber pressure signal, combining the actuator inlet valve inlet pressure damping compensation model and the actuator outlet valve outlet pressure damping compensation model, realizing dynamic adjustment of the opening of the actuator inlet valve and the opening of the actuator outlet valve, further realizing compensation of the electro-hydraulic system damping, thereby solving the problem of impact and oscillation of the electro-hydraulic system under load disturbance, and improving the anti-interference ability of the electro-hydraulic system. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments or the related art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0039] Figure 1A flowchart of a method for damping compensation of an electro-hydraulic system according to an embodiment of the present application;

[0040] Figure 2 A schematic diagram of an electro-hydraulic system according to an embodiment of the present application;

[0041] Figure 3 A schematic diagram of damping compensation of a loop of an electro-hydraulic system according to an embodiment of the present application;

[0042] Figure 4 A schematic diagram of a damping ratio-outlet valve pressure flow gain curve of an electro-hydraulic system according to an embodiment of the present application;

[0043] Figure 5 A control block diagram of inlet and outlet compound damping compensation of an electro-hydraulic system according to an embodiment of the present application;

[0044] Figure 6 A schematic diagram of a structure of a computer device according to an embodiment of the present application.

[0045] The figure legend: variable pump-1, oil tank-2, valve port independent control valve first associated valve-31, valve port independent control valve second associated valve-32, actuator-4, control handle-5, first pressure sensor-61, second pressure sensor-62, third pressure sensor-63, variable pump displacement signal-64, valve port independent inlet valve controller-71, valve port independent outlet valve controller-72. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0047] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0048] In an exemplary embodiment, as shown in Figure 1 A method for damping compensation of an electro-hydraulic system is provided, including the following steps 100 to 107. Wherein:

[0049] Step 100, obtaining the optimal damping ratio, gain data, electro-hydraulic system data, actuator inlet cavity pressure signal and actuator outlet cavity pressure signal; the gain data includes inlet valve flow gain coefficient, outlet valve pressure flow gain, outlet valve flow gain coefficient, outlet valve opening gain coefficient and equivalent outlet valve pressure flow gain; the electro-hydraulic system data includes actuator inlet side area, actuator stroke, rodless cavity volume, equivalent bulk modulus, equivalent rodless cavity volume, equivalent bulk modulus and external load force.

[0050] The optimal damping ratio in the application can be set to 0.707.

[0051] Step 101, constructing an inlet valve inlet pressure damping compensation model and an outlet valve outlet pressure damping compensation model.

[0052] Step 102, using the inlet valve inlet pressure damping compensation model, obtaining the inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, electro-hydraulic system data and actuator inlet cavity pressure signal.

[0053] Step 103, adjusting the opening of the inlet valve based on the inlet valve damping compensation feedback gain to obtain the damping ratio of the system.

[0054] Step 104, judging whether the damping ratio of the system is equal to the optimal damping ratio to obtain a first judgment result; when the first judgment result is no, obtaining the current actuator inlet cavity pressure signal and returning to the step of using the inlet valve inlet pressure damping compensation model to obtain the inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, electro-hydraulic system data and actuator inlet cavity pressure signal; when the first judgment result is yes, no processing is performed.

[0055] Step 105, using the outlet valve outlet pressure damping compensation model, obtaining the outlet valve damping compensation feedback gain based on the outlet valve pressure flow gain, outlet valve flow gain coefficient, outlet valve opening gain coefficient, equivalent outlet valve pressure flow gain, actuator outlet cavity pressure signal and electro-hydraulic system data.

[0056] Step 106, adjusting the opening of the outlet valve based on the outlet valve damping compensation feedback gain to obtain the damping ratio of the electro-hydraulic system.

[0057] The initial state of the outlet valve in the application is fully open.

[0058] In step 107, it is judged whether the damping ratio of the electro-hydraulic system reaches the optimal damping ratio value, to obtain a second judgment result; when the second judgment result is no, the current actuator outlet cavity pressure signal is obtained, and the outlet valve outlet pressure damping compensation model is returned to be executed, based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal and the electro-hydraulic system data, to obtain the outlet valve damping compensation feedback gain step; when the second judgment result is yes, no processing is performed.

[0059] Implementing the above steps 100 to 107 can realize the compensation of the damping of the electro-hydraulic system, thereby solving the problem of impact and oscillation of the electro-hydraulic system under load disturbance, and improving the anti-interference ability of the electro-hydraulic system.

[0060] In another exemplary embodiment of the present application, the inlet valve inlet pressure damping compensation model includes an inlet cavity flow equation and an actuator speed equation at the inlet cavity.

[0061] The inlet cavity flow equation is expressed as:

[0062]

[0063] Wherein, Q a is the inlet cavity flow, A a is the actuator inlet side area, s is the Laplace operator, X p is the actuator stroke, V a is the rodless cavity volume, β e is the equivalent bulk modulus, p a is the actuator inlet cavity pressure, K q1 is the inlet valve flow gain coefficient, f a (s) is the high-pass filter output value at the inlet cavity, V a ′ is the equivalent rodless cavity volume.

[0064] The actuator speed equation at the inlet cavity is expressed as:

[0065]

[0066] Wherein, v(s) is the actuator speed at the inlet cavity, F p is the external load force, m t is the equivalent load mass, ω b = β e K cb / V b , K cb is the outlet valve pressure flow gain, V b is the rod cavity volume, γ = 1 + κ 2 V a / Vb , κ is the area ratio of the rod cavity to the rodless cavity of the cylinder.

[0067] In another exemplary embodiment of the present application, the outlet valve outlet pressure damping compensation model includes an outlet cavity flow equation and an actuator velocity equation at the outlet cavity.

[0068] The outlet flow equation is expressed as:

[0069] Q b =(K cb -f b (s)K q2 K v2 )p b =K cb ′p b .

[0070] Among them, Q b is the outlet flow rate, f b (s) is the output value of the high-pass filter at the outlet, K q2 is the outlet valve flow gain coefficient, K v2 is the outlet valve opening gain coefficient, p b is the actuator outlet pressure, K cb ′ is the equivalent outlet valve pressure flow gain.

[0071] The actuator velocity equation at the outlet cavity is expressed as:

[0072]

[0073] Among them, v c (s) is the actuator speed at the outlet cavity, ω b ′=β e K c ' b / V b .

[0074] In another exemplary embodiment of the present application, in order to better understand the electro-hydraulic system damping compensation method provided by the present application, it is applied to Figure 2 The electro-hydraulic system shown in FIG2 is taken as an example for further introduction.

[0075] The electro-hydraulic system in this embodiment is as follows Figure 2As shown, it consists of a variable pump 1, an oil tank 2, a first valve 31 of an independent valve control valve, a second valve 32 of an independent valve control valve, an actuator 4, a control handle 5, a first pressure sensor 61, a second pressure sensor 62, a third pressure sensor 63, a variable pump displacement signal 64, an independent valve inlet valve controller 71 and an independent valve outlet valve controller 72. One end of the independent valve control valve is connected to the rod cavity or rodless cavity of the actuator, and the other end is connected to the variable pump 1 or the oil tank 2. The rodless cavity side of the actuator is set as the oil inlet cavity, and the rod cavity side of the actuator is set as the oil outlet cavity. Figure 5 The actuator inlet valve inlet pressure damping compensation model and the actuator outlet valve outlet pressure damping compensation model are shown, where Figure 5 The inlet valve damping compensation is the inlet pressure damping compensation model of the actuator inlet valve, and the outlet valve damping compensation is the outlet pressure damping compensation model of the actuator outlet valve. The opening of the actuator inlet valve and the opening of the actuator outlet valve are adjusted by the inlet pressure damping compensation model of the actuator inlet valve and the outlet pressure damping compensation model of the actuator outlet valve, and the damping of the electro-hydraulic system is further compensated, which includes the following steps:

[0076] First, collect the actuator inlet pressure signal p a and the actuator outlet pressure signal p b , obtain the optimal damping ratio, inlet valve flow gain coefficient, outlet valve pressure flow gain, outlet valve flow gain coefficient, outlet valve opening gain coefficient, equivalent outlet valve pressure flow gain, actuator inlet side area, actuator stroke, rodless cavity volume, equivalent bulk elastic modulus, equivalent rodless cavity volume, equivalent bulk elastic modulus and external load force.

[0077] Second, an inlet valve inlet pressure damping compensation model is constructed. The inlet valve inlet pressure damping compensation model is used to obtain the inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, electro-hydraulic system data and actuator inlet pressure signal.

[0078] The inlet cavity flow equation and the actuator velocity equation at the inlet cavity are obtained based on the inlet valve outlet pressure damping compensation model.

[0079] According to the inlet valve flow gain coefficient, electro-hydraulic system data and actuator inlet cavity pressure signal, the inlet cavity flow equation and the actuator velocity equation at the inlet cavity can be input to the inlet valve damping compensation feedback gain.

[0080] Third, the opening of the inlet valve is adjusted based on the inlet valve damping compensation feedback gain to make the system damping ratio reach the optimal damping ratio. Figure 3 As shown, it is assumed that the inlet valve signal for flow control before the electro-hydraulic system damping compensation is Where K is the flow equation coefficient, Cq is the flow coefficient, p is the hydraulic oil density, v ref is the actuator desired velocity, the pressure difference Δp a = p - p a , p is the output pressure of the variable pump, the inlet pressure is damped by the inlet valve inlet pressure damping compensation model, and the inlet valve signal at this time is u1 = u o - p a f(s), the high-pass filter expression is f(s) = K a s / (s + ω c ), K a is the inlet valve damping compensation feedback gain, p a is the inlet cavity pressure signal, ω c is the high-pass filter cutoff frequency, and the opening of the inlet valve is adjusted according to the inlet valve signal.

[0081] Select variable γ = 1 + κ 2 V a / V b , κ is the area ratio of the rod cavity and the rodless cavity of the oil cylinder, V b is the rod cavity volume, and the system damping ratio is

[0082] After introducing the damping compensation, the equivalent inlet cavity volume becomes V a ', and the variable becomes: γ' = 1 + κ 2 V a ' / V b , and the maximum system damping ratio is

[0083] According to Figure 4 , the damping ratio of the electro-hydraulic system increases first and then decreases with the increase of the outlet valve pressure flow gain; according to the actuator speed expression at the inlet cavity, when the equivalent inlet cavity volume V a ' increases, the coefficient of the load force F p increases, the load disturbance increases, and more severe oscillation occurs. In order to reduce the influence of the load on the electro-hydraulic system speed, the opening of the inlet valve is adjusted to make the system damping ratio reach the optimal damping ratio, i.e. At this time, the inlet valve damping compensation feedback gain K a,b is:

[0084]

[0085] Fourth, the outlet valve outlet pressure damping compensation model is constructed, the outlet valve outlet pressure damping compensation model is adopted, based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal and the electro-hydraulic system data, the outlet valve damping compensation feedback gain is obtained.

[0086] The outlet valve outlet pressure damping compensation model is used to obtain the outlet chamber flow equation and the actuator velocity equation at the outlet chamber.

[0087] According to the inlet valve damping compensation feedback gain when the electro-hydraulic system is in the optimal damping ratio state, the optimal equivalent pressure flow gain is:

[0088]

[0089] According to the actuator outlet chamber pressure signal and the optimal equivalent pressure flow gain, the outlet valve damping compensation feedback gain is obtained by combining the outlet chamber flow equation and the actuator velocity equation at the outlet chamber.

[0090]

[0091] Fifth, the outlet valve opening is adjusted based on the outlet valve damping compensation feedback gain, and the compensation of the electro-hydraulic system damping is completed.

[0092] In order to save energy, the outlet valve control opening is selected as full opening. According to the optimal compensation gain, the feedback gain of the outlet valve high-pass filter is calculated to comprehensively consider the stability and rapidity of the system.

[0093] The valve control signal of the outlet valve after damping compensation of the outlet valve outlet pressure generated by the outlet valve damping compensation feedback gain is u2=u o ′-p b f(s), where the high-pass filter expression is f(s)=K b s / (s+ω c ), u o ′ is the full opening signal of the outlet valve control opening.

[0094] In the present application, the electro-hydraulic system selects the feedback gains K a and K b , comprehensively considers the responsiveness and rapidity of the electro-hydraulic system, realizes the optimal damping ratio of the electro-hydraulic system, and minimizes the additional dynamic behavior.

[0095] Wherein, the expression of the additional dynamic behavior is:

[0096]

[0097] The application realizes the adjustment of the opening degree of the actuator inlet valve and the opening degree of the actuator outlet valve, and further realizes the compensation of the damping of the electro-hydraulic system, by constructing an actuator inlet valve inlet pressure damping compensation model and an actuator outlet valve outlet pressure damping compensation model. The damping characteristics of the electro-hydraulic system are improved by the active damping compensation of the inlet cavity pressure of the inlet valve, and the pressure fluctuation and speed oscillation phenomenon caused by sudden load are reduced by avoiding introducing additional dynamic behavior through the active damping compensation of the outlet valve pressure.

[0098] The import and export valve of the application jointly act on the electro-hydraulic system for damping compensation. The inlet valve inlet cavity pressure damping compensation improves the damping performance of the electro-hydraulic system. In the outlet valve outlet cavity pressure damping compensation model, the speed characteristic expression molecule has no load additional term. The outlet valve outlet cavity pressure damping compensation method can avoid introducing additional dynamic behavior, while reducing the influence of sudden load on the speed oscillation of the electro-hydraulic system. Through the composite control of the two damping compensation methods, the problem of system severe oscillation caused by the influence of external load in the traditional damping method can be solved, and the system damping under the given speed signal and sudden load is considered.

[0099] In an exemplary embodiment, a computer device, which can be a server or a terminal, is provided, and an internal structure diagram of the computer device can be as shown in Figure 6 The computer device includes a processor, a memory, an input / output interface (I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store electro-hydraulic system damping compensation data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement an electro-hydraulic system damping compensation method.

[0100] Those skilled in the art can understand that, Figure 6The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components. In an exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in the above method embodiments.

[0101] In an exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to implement the steps in the above method embodiments.

[0102] In an exemplary embodiment, a computer program product is provided, including a computer program, which is executed by a processor to implement the steps in the above method embodiments.

[0103] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0104] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0105] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0106] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0107] The principles and implementation modes of the present application are described by applying specific examples herein, and the above-mentioned embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A damping compensation method for an electro-hydraulic system, characterized in that: The electro-hydraulic system damping compensation method includes: Obtaining an optimal damping ratio, gain data, electro-hydraulic system data, an actuator inlet cavity pressure signal, and an actuator outlet cavity pressure signal; the gain data includes an inlet valve flow gain coefficient, an outlet valve pressure flow gain, an outlet valve flow gain coefficient, an outlet valve opening gain coefficient, and an equivalent outlet valve pressure flow gain; the electro-hydraulic system data includes an actuator inlet side area, an actuator stroke, a rodless cavity volume, an equivalent bulk elastic modulus, an equivalent rodless cavity volume, an equivalent bulk elastic modulus, and an external load force; Construct an inlet valve inlet pressure damping compensation model and an outlet valve outlet pressure damping compensation model; Adopting an inlet valve inlet pressure damping compensation model, and obtaining an inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, the electro-hydraulic system data, and the actuator inlet cavity pressure signal; Adjusting the opening of the inlet valve based on the inlet valve damping compensation feedback gain to obtain a damping ratio of the electro-hydraulic system; determining whether the damping ratio of the electro-hydraulic system reaches an optimal damping ratio value, and obtaining a first determination result; When the first judgment result is no, obtaining the current actuator inlet cavity pressure signal, and returning to the step of using the inlet valve inlet pressure damping compensation model to obtain the inlet valve damping compensation feedback gain based on the inlet valve flow gain coefficient, the electro-hydraulic system data and the actuator inlet cavity pressure signal; When the first judgment result is yes, no processing is performed; Adopting an outlet valve outlet pressure damping compensation model, the outlet valve damping compensation feedback gain is obtained based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal, and the electro-hydraulic system data; adjusting the outlet valve opening based on the outlet valve damping compensation feedback gain to obtain a damping ratio of the electro-hydraulic system; determining whether the damping ratio of the electro-hydraulic system reaches an optimal damping ratio value, and obtaining a second determination result; When the second judgment result is no, obtaining the current actuator outlet cavity pressure signal, and returning to the step of adopting the outlet valve outlet pressure damping compensation model to obtain the outlet valve damping compensation feedback gain based on the outlet valve pressure flow gain, the outlet valve flow gain coefficient, the outlet valve opening gain coefficient, the equivalent outlet valve pressure flow gain, the actuator outlet cavity pressure signal, and the electro-hydraulic system data; When the second judgment result is yes, no processing is performed.

2. The electro-hydraulic system damping compensation method according to claim 1, characterized in that: The inlet valve inlet pressure damping compensation model includes an inlet cavity flow equation and an actuator velocity equation at the inlet cavity.

3. The electro-hydraulic system damping compensation method according to claim 2, characterized in that: The inlet flow equation is expressed as: Among them, Q a is the inlet flow rate, A a is the area of ​​the actuator inlet side, s is the Laplace operator, X p is the actuator stroke, V a is the rodless cavity volume, β e is the equivalent bulk elastic modulus, p a is the actuator inlet pressure, K q1 is the inlet valve flow gain coefficient, f a (s) is the output value of the high-pass filter at the inlet cavity, V a ′ is the equivalent rodless cavity volume.

4. The electro-hydraulic system damping compensation method according to claim 2, characterized in that: The actuator velocity equation at the inlet cavity is expressed as: Where, v(s) is the actuator speed at the inlet cavity, A a is the area of ​​the actuator inlet side, s is the Laplace operator, Q a is the inlet flow rate, V a ′ is the equivalent rodless cavity volume, β e is the equivalent bulk elastic modulus, F p is the external load force.

5. The electro-hydraulic system damping compensation method according to claim 1, characterized in that: The outlet valve outlet pressure damping compensation model includes an outlet cavity flow equation and an actuator velocity equation at the outlet cavity.

6. The electro-hydraulic system damping compensation method according to claim 5, characterized in that: The outlet flow equation is expressed as: Q b =(K cb -f b (s)K q2 K v2 )p b =K cb ′p b ; Among them, Q b is the outlet flow rate, K cb is the outlet valve pressure flow gain, f b (s) is the output value of the high-pass filter at the outlet, K q2 is the outlet valve flow gain coefficient, K v2 is the outlet valve opening gain coefficient, p b is the actuator outlet pressure, K cb ′ is the equivalent outlet valve pressure flow gain.

7. The electro-hydraulic system damping compensation method according to claim 5, characterized in that: The actuator velocity equation at the outlet cavity is expressed as: Where, vc(s) is the actuator speed at the outlet cavity, A a is the actuator area on the inlet side, s is the Laplace operator, Q a is the inlet flow rate, V a ′ is the equivalent rodless cavity volume, β e is the equivalent bulk elastic modulus, F p is the external load force.

8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the electro-hydraulic system damping compensation method according to any one of claims 1 to 7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the electro-hydraulic system damping compensation method according to any one of claims 1 to 7 is implemented.

10. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the electro-hydraulic system damping compensation method according to any one of claims 1 to 7 is implemented.

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