A Method, Device, and Medium for Coordinating the Amplitude-Frequency and Phase-Frequency Responses of an Electric Actuator

Abstract

The present invention relates to the technical field of electric actuator control. Specifically, it relates to a method, device, and medium for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator. The method includes: obtaining a first control instruction for the electric actuator, and obtaining an instruction recognition frequency based on this instruction; obtaining feedforward and dead zone compensation coefficients based on the instruction recognition frequency; performing low-pass filtering on the first control instruction to obtain a second control instruction; obtaining a feedback result of the electric actuator operating based on the second control instruction, and obtaining a first control output according to the PID control algorithm; obtaining a second control output based on the feedforward compensation algorithm, the second control instruction, and the feedforward compensation coefficient; obtaining a third control output based on the dead zone compensation algorithm, the first and second control outputs, and the dead zone compensation coefficient; adjusting the amplitude-frequency and phase-frequency responses of the electric actuator according to the first, second, and third control outputs. In this way, the problem of conflict in the synchronous improvement of the amplitude-frequency response and phase-frequency response of the electric actuator is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric actuator control, and in particular, to a method, device, and medium for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator. Background Art

[0002] Since electric actuators are relatively light in weight, low in cost, and flexible in control, they have rapidly and massively replaced traditional hydraulic actuators, pneumatic actuators, etc. since their inception. At the same time, with the development of technology, electric actuators increasingly emphasize characteristics such as high dynamics and high power-to-mass ratio, making the overall requirements for electric actuator indicators higher and higher, while also requiring smaller volume and lighter weight, etc.

[0003] For electric actuators with relatively limited hardware design capabilities, there are often conflicts in the synchronous improvement of amplitude-frequency response and phase-frequency response. Especially in traditional control mainly based on PID control, when the phase-frequency characteristic is improved to a certain extent by increasing the coefficient, the amplitude-frequency response of the electric actuator will exceed the amplitude of the command itself, causing the electric actuator to jitter or even diverge, and the system enters an unstable state; on the other hand, traditional control algorithms usually control the amplitude-frequency response and phase-frequency response of the electric actuator in the entire frequency domain as a whole, making it difficult to accurately control the bandwidth of the electric actuator and unable to control its amplitude-frequency and phase-frequency response requirements at a specific frequency point as needed.

[0004] However, various control algorithms that have emerged in recent years can almost only improve the performance indicators of electric actuators within a small range, or mainly focus on solving the adverse effects of uncertain factors such as non-linearity and disturbance on the control of electric actuators, and it is difficult to fundamentally and significantly synchronously improve indicators such as the amplitude-frequency and phase-frequency of electric actuators.

[0005] In view of the above problems, the present invention proposes a method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator, which can synchronously improve the amplitude-frequency response characteristic and phase-frequency response characteristic of the electric actuator while ensuring the stability of the electric actuator, and can control the electric actuator to achieve specific amplitude-frequency and phase-frequency response requirements at a required frequency point. Summary of the Invention

[0006] To solve the problem of conflicts in the synchronous improvement of the amplitude-frequency response and phase-frequency response of an electric actuator, the present invention provides a method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator.

[0007] According to a first aspect of the present invention, there is provided a method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator, including:

[0008] Obtain a first control command of the electric actuator;

[0009] Obtain a command recognition frequency based on the first control command;

[0010] Obtain the feedforward compensation coefficient and the dead zone compensation coefficient based on the instruction recognition frequency;

[0011] According to the usage requirements, perform low-pass filtering on the first control instruction to obtain a second control instruction;

[0012] Obtain the feedback result of the electric steering gear operating based on the second control instruction, and obtain the first control output according to the preset PID control algorithm;

[0013] Based on the preset feedforward compensation algorithm, the second control instruction, and the feedforward compensation coefficient, obtain a second control output;

[0014] Based on the preset dead zone compensation algorithm, the first control output, the second control output, and the dead zone compensation coefficient, obtain a third control output;

[0015] Adjust the amplitude-frequency and phase-frequency responses of the electric steering gear according to the first control output, the second control output, and the third control output.

[0016] In some embodiments, the step of performing low-pass filtering on the first control instruction according to the usage requirements to obtain a second control instruction includes:

[0017] Filter the first control instruction using a notch filter, and the transfer function of the notch filter is:

[0018] ;

[0019] Wherein, is the notch center frequency, is the notch depth, can adjust the notch filter bandwidth, and s is the complex frequency variable.

[0020] In some embodiments, the feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation difference equation is as follows:

[0021] ;

[0022] Wherein, is the second control output, is the nth control instruction, is the compensation coefficient of the nth control instruction, is the (n - 1)th control instruction, is the compensation coefficient of the (n - 1)th control instruction, is the (n - 2)th control instruction, is the compensation coefficient of the (n - 2)th control instruction.

[0023] In some embodiments, for the dead zone compensation algorithm, the dead zone compensation formula is:

[0024] ;

[0025] Among them, is the dead zone compensation coefficient, is the third control output, is the first control output, is the second control output.

[0026] In some embodiments, the formula expression of the PID control algorithm is:

[0027] e(t)=r(t)-y(t);

[0028] ;

[0029] Among them, , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, and r(t), e(t), y(t) are the second control instruction, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

[0030] In some embodiments, obtaining the feedforward compensation coefficient based on the instruction recognition frequency includes:

[0031] Obtaining the number of crossover points based on the instruction recognition frequency;

[0032] Obtaining a feedforward compensation coefficient sequence;

[0033] Selecting the corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence based on the number of crossover points.

[0034] In some embodiments, obtaining the dead zone compensation coefficient based on the instruction recognition frequency includes:

[0035] Obtaining the number of crossover points based on the instruction recognition frequency;

[0036] Obtaining a dead zone compensation coefficient sequence;

[0037] Selecting the corresponding feedforward compensation coefficient in the dead zone compensation coefficient sequence based on the number of crossover points.

[0038] In some embodiments, the number of crossover points obtained based on the instruction recognition frequency is obtained based on the following formula:

[0039] ;

[0040] Among them, is the instruction recognition frequency, N is the number of crossover points, St is the sampling period, and n is the number of sampling points.

[0041] According to a second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement the method for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear described in the first aspect.

[0042] According to a third aspect of the present invention, a computer-readable storage medium stores a program, and the program is executed by a processor to implement the method for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear described in the first aspect.

[0043] To solve the problem that there is a conflict in the synchronous improvement of the amplitude-frequency response and phase-frequency response of an electric steering gear, the present invention has the following advantages:

[0044] Through the technical solution of the present invention, the coordinated control of the amplitude-frequency and phase-frequency responses of an electric steering gear can be achieved. While significantly improving the phase delay of the electric steering gear, increasing the system bandwidth, and enhancing the small-signal response ability, it can simultaneously solve the technical problems such as resonance and even oscillation caused by large PID control, feedforward compensation, etc. of the electric steering gear. At the same time, replacing the hardware ability design with a large margin through a software composite control algorithm helps to reduce the volume and weight of the electric steering gear and save the hardware design cost of the electric steering gear. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 shows a flowchart of a method for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear;

[0046] Figure 2 shows a schematic diagram of the relationship between the instruction recognition frequency and the crossover point. DETAILED DESCRIPTION

[0047] Now, the content of the present disclosure will be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those of ordinary skill in the art to better understand and thus implement the content of the present disclosure, rather than implying any limitation to the scope of the present disclosure.

[0048] As used herein, the term "comprising" and its variants are to be construed as open-ended terms meaning "including but not limited to". The term "based on" is to be construed as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be construed as "at least one embodiment". The term "another embodiment" is to be construed as "at least one other embodiment". The orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation, or be constructed and operated in a specific orientation. And, in addition to being used to represent the orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present application can be understood according to specific circumstances. In addition, the terms "installed", "set", "provided with", "connected", "connected to" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral structure; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, or there may be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, the meaning of "a plurality" is two or more.

[0049] In a first aspect, the present embodiment discloses a method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator, as Figure 1 shown, which includes the following steps:

[0050] Obtain a first control command for the electric actuator;

[0051] Obtain an instruction recognition frequency based on the first control command;

[0052] Obtain a feedforward compensation coefficient and a dead zone compensation coefficient based on the instruction recognition frequency;

[0053] Perform low-pass filtering on the first control command according to the usage requirements to obtain a second control command;

[0054] Obtain a feedback result of the electric actuator operating based on the second control command, and obtain a first control output according to a preset PID control algorithm;

[0055] Obtain a second control output based on a preset feedforward compensation algorithm, the second control instruction, and the feedforward compensation coefficient;

[0056] Obtain a third control output based on a preset dead zone compensation algorithm, the first control output, the second control output, and the dead zone compensation coefficient;

[0057] Adjust the amplitude-frequency and phase-frequency responses of the electric actuator according to the first control output, the second control output, and the third control output.

[0058] In this embodiment, a method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator is disclosed. First, before implementing PID control, use a frequency identification algorithm to obtain an instruction identification frequency according to the control instruction of the electric actuator, and calculate the feedforward compensation coefficient and the dead zone compensation coefficient based on the instruction identification frequency. Secondly, use a notch filter to perform low-pass filtering on the response of the electric actuator according to the usage requirements. Thirdly, use the PID control algorithm to perform basic control on the electric actuator, obtain a first control output based on the feedback result of the actuator, and calculate a second control output based on the feedforward compensation algorithm, the control instruction, and the feedforward compensation coefficient. Finally, calculate a third control output based on the first control output, the second control output, the dead zone compensation algorithm, and its compensation coefficient, and adjust the amplitude-frequency and phase-frequency responses of the electric actuator according to the first control output, the second control output, and the third control output.

[0059] Specifically, the instruction identification frequency has two functions. First, set the proportionality coefficient according to the frequency. The proportionality coefficient sequence is a set of proportionality coefficients of the feedback result in the PID control algorithm, which is used to match different proportionality coefficients according to different frequencies to reduce the high-frequency proportional control amount, improve the low-frequency response effect of the electric actuator, and at the same time make the electric actuator rapidly decay in the high-frequency band according to the usage requirements, improving the high-frequency stability of the electric actuator. Second, set the feedforward compensation and dead zone compensation attenuation coefficients according to the frequency, reduce the feedforward compensation and dead zone compensation under high-frequency conditions while reducing the high-frequency control amount, and further improve the high-frequency stability of the electric actuator.

[0060] Specifically, use a notch filter in combination with the high-frequency attenuation characteristic of the electric actuator itself according to the usage requirements to perform low-pass filtering on the control instruction of the electric actuator, and minimize the amplitude of the medium-high frequency instructions that the electric actuator can respond to, further improving the high-frequency stability.

[0061] Specifically, use the PID control algorithm to perform basic control on the electric actuator to obtain a first control output, and use the first control output to adjust the electric actuator, which can improve the phase delay of the electric actuator, increase the response speed, reduce the steady-state error, etc. Use larger proportional control and integral control, and at the same time, in order to prevent excessive overshoot, synchronously enhance the differential control effect to improve the overall response result of the electric actuator.

[0062] Specifically, the second control output is calculated using a feedforward compensation algorithm, and the electric actuator is adjusted using the second control output, which can significantly reduce the phase delay of the electric actuator in the low-frequency band and improve the stability of the electric actuator at the same time.

[0063] Specifically, the third control output is calculated using a dead zone compensation algorithm, and the electric actuator is adjusted using the third control output, which can effectively reduce the possible impact of dead zone compensation on the high-frequency band while overcoming the system dead zone, improving the sensitivity of the actuator, and enhancing the small-signal response ability.

[0064] Specifically, through the method of coordinating the amplitude-frequency and phase-frequency responses of the electric actuator of the present invention, on the basis of PID control, a feedforward compensation algorithm and a dead zone compensation algorithm are added, and a notch filter is used for low-pass filtering before PID control, and the feedforward compensation coefficient and the dead zone compensation coefficient are adjusted using the command recognition frequency, which can significantly improve the phase delay of the electric actuator, increase the system bandwidth, and enhance the small-signal response ability, while synchronously solving the technical problems such as resonance and even oscillation caused by large PID control and feedforward compensation of the electric actuator.

[0065] In some embodiments, the low-pass filtering of the first control command according to the usage requirements to obtain a second control command includes:

[0066] Filtering the first control command using a notch filter, and the transfer function of the notch filter is:

[0067] ;

[0068] Wherein, is the notch center frequency, is the notch depth, can adjust the notch filter bandwidth, and s is the complex frequency variable.

[0069] In this embodiment, a notch filter is used to perform low-pass filtering on the first control command, and the expression of the transfer function of the notch filter is given.

[0070] Specifically, since the electric actuator itself has the characteristic of high-frequency attenuation, but the attenuation frequency band may not meet the actual usage requirements, and low-pass filtering will increase the phase delay of the electric actuator response. Therefore, to meet the usage requirements of the electric actuator and minimize the impact of filtering on the phase delay of the electric actuator.

[0071] Specifically, through low-pass filtering, the electric actuator attenuates the electric actuator command by relying on a notch filter in the low-frequency band. At the same time, in the high-frequency band, it attenuates based on its own attenuation characteristics. By combining a notch filter with an appropriately designed center frequency point, attenuation depth, and notch width, the response attenuation in the designed frequency band is achieved. While improving the high-frequency response stability of the electric actuator, it can also offset the unstable influence caused by the enhancement of the electric actuator control amount that may be caused by other control algorithms.

[0072] In some embodiments, the feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation difference equation is as follows:

[0073] ;

[0074] Wherein, is the second control output, is the nth control command, is the compensation coefficient of the nth control command, is the (n - 1)th control command, is the compensation coefficient of the (n - 1)th control command, is the (n - 2)th control command, is the compensation coefficient of the (n - 2)th control command.

[0075] In this embodiment, the expression of the feedforward compensation algorithm is given. As a pre-control algorithm, the feedforward compensation algorithm can effectively improve the phase delay of the electric actuator. The feedforward compensation can directly calculate a compensation amount according to the control command, which is used to correct the response of the electric actuator in advance, thereby reducing the phase delay and improving the stability.

[0076] Specifically, when the phase delay of the actuator itself is relatively large, it is necessary to increase the feedforward compensation intensity, which may also cause the amplitude response of the electric actuator to rise, resulting in resonance or even divergence of the electric actuator. Therefore, the present invention adopts second-order feedforward, aiming to significantly improve the phase response delay of the electric actuator while minimizing other side effects brought by the feedforward compensation. At the same time, to prevent the amplitude response of the electric actuator from rising when the feedforward compensation is relatively large, the feedforward compensation coefficient is adjusted according to the command recognition frequency to adjust the feedforward compensation amount.

[0077] In some embodiments, for the dead zone compensation algorithm, the dead zone compensation formula is:

[0078] ;

[0079] Wherein, is the dead zone compensation coefficient, is the third control output, is the first control output, is the second control output.

[0080] In this embodiment, the expression of the dead zone compensation algorithm is given. There are system dead zones in the electric actuator system, including mechanical transmission clearances, electrical dead zones, etc., which can be compensated by the dead zone compensation algorithm to overcome its system dead zones, effectively improve the sensitivity of the actuator, enhance the small-signal response ability, and at the same time, dead zone compensation can reduce the phase delay of the electric actuator. However, too large dead zone compensation may also cause oscillation phenomena. Therefore, the dead zone compensation coefficient is adjusted according to the command recognition frequency. At low frequencies, the dead zone compensation amount can be appropriately increased to overcome the dead zone phenomenon and improve the sensitivity; at high frequencies, the dead zone compensation amount needs to be reduced to avoid adverse effects on the high-frequency response.

[0081] In some embodiments, the formula expression of the PID control algorithm is:

[0082] e(t)=r(t)-y(t);

[0083] ;

[0084] where , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, r(t), e(t), and y(t) are the second control command, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

[0085] In this embodiment, the formula expression of the PID control algorithm is given. PID control is a commonly used and efficient control algorithm in the field of automatic control and is also often used in the control of electric actuators.

[0086] Specifically, the core idea of the PID control algorithm is to control according to the error and the error rate: when the system error is larger, a larger control amount is output through the proportional link to quickly reduce the error, and at the same time, the differential part adjusts the control amount according to the change trend of the current error to prevent too large overshoot; when the system error is smaller, the control amount is continuously increased under the action of integration to gradually eliminate the static error, and finally achieve the error-free control of the system.

[0087] Specifically, a proportional coefficient sequence is also preset in the system, and different proportional coefficients can be used based on different instruction recognition frequencies. The proportional coefficient sequence is a set of empirical values obtained based on the application of the PID control algorithm in the electric steering gear system. For example, PGainTable

[21] = {1.0, 1.0, 0.7, 0.5, 0.5, 0.5, 0.5, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7} is the proportional coefficient sequence, and different proportional coefficients can be matched in the sequence based on different frequencies to achieve a more accurate control purpose.

[0088] Specifically, through the PID control algorithm, the control accuracy of the electric steering gear can be improved, the response rate of the steering gear system can be increased, which helps to reduce overshoot and even oscillation, make the steering gear more stable during rotation, avoid errors and damages caused by excessive rotation, and at the same time enhance the stability of the steering gear system.

[0089] In some embodiments, obtaining the feedforward compensation coefficient based on the instruction recognition frequency includes:

[0090] Obtaining the number of crossover points based on the instruction recognition frequency;

[0091] Obtaining the feedforward compensation coefficient sequence;

[0092] Selecting the corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence based on the number of crossover points.

[0093] In some embodiments, obtaining the dead zone compensation coefficient based on the instruction recognition frequency includes:

[0094] Obtaining the number of crossover points based on the instruction recognition frequency;

[0095] Obtaining the dead zone compensation coefficient sequence;

[0096] Selecting the corresponding feedforward compensation coefficient in the dead zone compensation coefficient sequence based on the number of crossover points.

[0097] In some embodiments, the number of crossover points obtained based on the instruction recognition frequency is obtained based on the following formula:

[0098] ;

[0099] Among them, is the instruction recognition frequency, N is the number of crossover points, St is the sampling period, and n is the number of sampling points.

[0100] In this embodiment, a method for obtaining the feedforward compensation coefficient and the dead zone compensation coefficient based on the instruction recognition frequency is introduced. First, the number of crossover points is obtained based on the instruction recognition frequency; secondly, a preset feedforward compensation coefficient sequence and a dead zone compensation coefficient sequence in the system are acquired; the compensation coefficients in their respective sequences are matched based on the number of crossover points.

[0101] Specifically, this embodiment also gives a formula for obtaining the number of crossover points based on the instruction recognition frequency. More specifically, during the actual use of the electric actuator, the instruction control mostly has randomness and non-periodicity. Therefore, the instruction recognition frequency is approximately calculated according to the system. At the same time, as Figure 2 shown, the instructions within the sampling period are decomposed into several segments of the same length. The average value of all sampling points in this segment is used as the zero point, and each time this zero point is crossed is regarded as a crossover point. Finally, the number of crossover points within the entire sampling period is obtained. The figure shows a segment of random control instructions. The average value of segment AB is Ek, the number of sampling points in segment AB is n, the sampling period is St, the number of crossover points is N, and the calculated instruction recognition frequency is , and then through the formula the number of crossover points can be calculated.

[0102] Specifically, when calculating the crossover points, if the average value of the sampling points is 10, then among the sampling points, if data such as 9.2 and 10.1 appear, the number of crossover points is incremented by 1.

[0103] Specifically, the feedforward compensation coefficient sequence and the dead zone compensation coefficient sequence are two preset sequences in the system, which are obtained based on the empirical data of the actual use of the electric actuator. Through the instruction recognition frequency, a more suitable feedforward compensation coefficient or dead zone compensation coefficient can be selected to better coordinate the conflict between the amplitude-frequency and phase-frequency responses of the electric actuator. For example, QGainTable

[21] = {0.5, 0.5, 0.5, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} is a set of dead zone compensation coefficient sequences. Based on the calculated number of crossover points being 4 according to the foregoing instruction recognition frequency, the 4th number in the sequence is selected as the dead zone compensation coefficient to participate in the calculation of the third control output.

[0104] According to the second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used for storing programs; the processor executes the programs to implement the method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator described in the first aspect.

[0105] According to a third aspect of the present invention, a computer-readable storage medium stores a program, and when the program is executed by a processor, it implements the method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator as described in the first aspect.

[0106] In summary, through the technical solution of the present invention, coordinated control of the amplitude-frequency and phase-frequency responses of an electric actuator can be achieved. While significantly improving the phase delay of the electric actuator, enhancing the system bandwidth, and improving the small-signal response ability, the technical problems of resonance and even oscillation caused by large PID control, feedforward compensation, etc. in the electric actuator are synchronously solved. At the same time, replacing the hardware capability design with a large margin through a software composite control algorithm helps to reduce the volume and weight of the electric actuator and save the hardware design cost of the electric actuator.

[0107] Those of ordinary skill in the art can realize that the modules and algorithm steps described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0108] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the devices and equipment described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0109] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation. For example, multiple modules 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 couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or modules can be in an electrical, mechanical or other forms.

[0110] The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they can be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present invention.

[0111] In addition, each functional module in the embodiments of the present invention may be integrated into one processing module, may exist physically alone for each module, or two or more modules may be integrated into one module.

[0112] If the above functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method for sending / receiving energy-saving signals in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, ROM, RAM, magnetic disks, or optical discs that can store program codes.

[0113] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, a technical solution formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the present application.

[0114] It should be understood that the magnitude of the sequence numbers of the steps in the inventive content and embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention. For the purposes of illustration and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. According to the above teachings, various variations and modifications are possible, or various variations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical applications, so that those skilled in the art can utilize the present disclosure in various embodiments and various modifications suitable for the specific purposes contemplated.

Claims

1. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear, characterized in that, Including: Obtain the first control instruction of the electric servo; Obtain the instruction recognition frequency based on the first control instruction; Obtain the feedforward compensation coefficient and the dead zone compensation coefficient based on the instruction recognition frequency; According to the usage requirements, perform low-pass filtering on the first control instruction to obtain a second control instruction; Obtain the feedback result of the electric servo running based on the second control instruction, and obtain the first control output according to the preset PID control algorithm; Obtain the second control output based on the preset feedforward compensation algorithm, the second control instruction, and the feedforward compensation coefficient; Obtain the third control output based on the preset dead zone compensation algorithm, the first control output, the second control output, and the dead zone compensation coefficient; Adjust the amplitude-frequency and phase-frequency responses of the electric servo according to the first control output, the second control output, and the third control output; The obtaining the feedforward compensation coefficient based on the instruction recognition frequency includes: Obtain the number of crossover points based on the instruction recognition frequency; Obtain the feedforward compensation coefficient sequence; Select the corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence based on the number of crossover points; The obtaining the dead zone compensation coefficient based on the instruction recognition frequency includes: Obtain the number of crossover points based on the instruction recognition frequency; Obtain the dead zone compensation coefficient sequence; Select the corresponding dead zone compensation coefficient in the dead zone compensation coefficient sequence based on the number of crossover points; The obtaining the number of crossover points based on the instruction recognition frequency is obtained based on the following formula: ； Among them, is the instruction recognition frequency, N is the number of crossing points, St is the sampling period, and n is the number of sampling points.

2. The method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator according to claim 1, wherein The performing low-pass filtering on the first control instruction according to the usage requirements to obtain a second control instruction includes: Filter the first control instruction using a notch filter, and the transfer function of the notch filter is: ； Among them, is the notch center frequency, is the notch depth, can adjust the notch filter bandwidth, and s is the complex frequency variable.

3. The method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator according to claim 1, characterized in that, The feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation difference equation is as follows: ； Wherein, is the second control output, is the nth control instruction, is the compensation coefficient of the nth control instruction, is the (n - 1)th control instruction, is the compensation coefficient of the (n - 1)th control instruction, is the (n - 2)th control instruction, is the compensation coefficient of the (n - 2)th control instruction.

4. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator, as claimed in claim 1, wherein For the dead zone compensation algorithm, the dead zone compensation formula is: ； Among them, is the dead zone compensation coefficient, is the third control output, is the first control output, is the second control output.

5. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric actuator, as claimed in claim 1, wherein The formula expression of the PID control algorithm is: e(t)=r(t)-y(t); ； Among them, , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, r(t), e(t), and y(t) are the second control command, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

6. An electronic device, characterized in that, Including a processor and a memory; the memory is used to store a program; the processor executes the program to implement a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in any one of claims 1-5.

7. A computer-readable storage medium, characterized in that, The storage medium stores a program, and the program is executed by the processor to implement a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in any one of claims 1-5.

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