Pressure compensation system and method of high-performance throttle valve

Abstract

The invention belongs to the field of valve control, and discloses a pressure compensation system and method of a high-performance throttle valve. The method comprises the steps of collecting system operation data in real time; the system operation data comprises pressure data, vibration data, position data and temperature data; based on system operation data, a bipolar control system is designed through a primary pilot valve and a secondary pilot valve; when a non-linear impact working condition occurs, performing supplementary control on the bipolar control system through a sliding mode control compensation strategy; carrying out calibration test on the position data; and the control effect of the throttle valve under complex working conditions is effectively improved.

Description

Technical Field

[0001] The present invention belongs to the field of valve control. More specifically, the present invention relates to a pressure compensation system and method for a high-performance throttle valve. Background Art

[0002] The Chinese patent application with the publication number CN117570071A discloses a valve unit and a hydraulic system with the valve unit. The valve unit includes at least a first hydraulic port and a second hydraulic port for supplying hydraulic fluid to a hydraulic consumer. The valve unit has a valve core, a pressure passage, and a collecting passage. The pressure passage can be connected to a pump of the hydraulic system. The valve core selectively connects the first hydraulic port to the pressure passage and the second hydraulic port to the collecting passage, or connects the first hydraulic port to the collecting passage and the second hydraulic port to the pressure passage. An inlet pressure compensator is arranged between the pressure passage and the valve core, and an outlet pressure compensator is arranged between the valve core and the collecting passage. The inlet pressure compensator and the outlet pressure compensator can be controlled via a signal pressure device, and an external additional force depending on the operating state of the hydraulic system acts on the signal pressure device at the hydraulic port connected to the collecting passage to block the pressure passage by the inlet pressure compensator.

[0003] The prior art still has the following problems:

[0004] When traditional throttle valves encounter large load changes, high pressure differences, or high-speed operations, they are prone to impacts, tremors, or even failure to respond in a timely manner due to insufficient response or control accuracy, resulting in the effectiveness of the throttle valve being affected.

[0005] In view of this, the present invention proposes a pressure compensation system and method for a high-performance throttle valve to solve the above problems. Summary of the Invention

[0006] To overcome the above defects of the prior art and to achieve the above object, the present invention provides the following technical solution: A pressure compensation method for a high-performance throttle valve, including:

[0007] Collecting system operation data in real time; the system operation data includes pressure data, vibration data, position data, and temperature data;

[0008] Designing a bipolar control system based on the system operation data through a primary pilot valve and a secondary pilot valve;

[0009] When a non-linear impact condition occurs, supplementing the control of the bipolar control system through a sliding mode control compensation strategy;

[0010] Performing a calibration test on the position data.

[0011] Further, the pressure data includes the pre-valve pressure and the post-valve pressure; the vibration data includes the vibration amplitude and vibration frequency of the main spool; the position data is the position of the main spool; the temperature data includes the ambient temperature and the oil temperature;

[0012] The design method of the bipolar control system includes:

[0013] Step A1: Set the control mode of the primary pilot valve through a preset control logic; the control mode includes a standby mode, a leading mode, an enhancement mode, and a compensation mode;

[0014] Step A2: Starting from the time stamp when the control mode starts to be executed, continuously read the position of the main spool at the end of n unit times after the starting point, calculate the difference in the position of the main spool between adjacent time points, and obtain the position difference value; if the position difference values are all less than a preset difference threshold, increase the control power of the primary pilot valve by a preset gain amplitude; if there is a position difference value greater than or equal to the preset difference threshold, then reduce the control power of the primary pilot valve; n is a positive integer;

[0015] Step A3: Judge whether to start phase reverse fine-tuning of the main spool according to the vibration data;

[0016] Step A4: When increasing the control power of the primary pilot valve by a preset gain amplitude, evaluate whether to use the secondary pilot valve.

[0017] Further, the sliding mode control compensation strategy specifically includes:

[0018] Step D1: When the pressure difference is greater than the corresponding preset maximum threshold, the system marks entry into the sliding mode control compensation area; in the sliding mode control compensation area, the sliding mode control branch logic is executed, and the pressure control signal of the main spool is corrected by the sliding mode control compensation strategy;

[0019] Step D2: Establish a sliding mode surface and set state variables. The sliding mode surface is the weighted sum of the position difference value of the main spool and the change rate of the position difference value;

[0020] Step D3: Preset equivalent control parameters, and the equivalent control parameters are the continuous control quantities for the system to maintain the sliding mode surface equal to 0;

[0021] Step D4: Perform a switching regulation on the system through the sat() smoothing function, and calculate and obtain the switching control parameters;

[0022] Step D5: Add the equivalent control parameters and the switching control parameters to synthesize a sliding mode compensation control quantity, and compensate the original drive signal of the main spool with the sliding mode compensation control quantity;

[0023] Further, the judgment method for whether to start phase reverse fine-tuning includes:

[0024] If both the vibration amplitude and vibration frequency of the main spool exceed the corresponding preset thresholds, phase reverse fine-tuning is initiated; otherwise, phase reverse fine-tuning is not initiated.

[0025] Further, the pre-mode is to enable the primary pilot valve according to a first-stage gain; the enhanced mode is to enable the primary pilot valve according to a second-stage gain; both the first-stage gain and the second-stage gain are preset gain powers, and the second-stage gain power is greater than the first-stage gain power; the compensation mode includes:

[0026] When the ambient temperature or the oil temperature is greater than the corresponding preset maximum threshold, the gain of the primary pilot valve is reduced by a preset amplitude;

[0027] When the ambient temperature or the oil temperature is less than the corresponding preset maximum threshold, the output pressure of the primary pilot valve is increased by a preset amplitude.

[0028] Further, the evaluation method for whether to use the secondary pilot valve includes:

[0029] If the position of the main spool does not reach the preset target position after m unit times of increasing the control power of the primary pilot valve by a preset gain amplitude, enter the secondary pilot amplification mode and activate the secondary pilot valve, that is, let the secondary pilot valve change from the standby state to the high-power output state; otherwise, maintain the standby state of the secondary pilot valve; m is a positive integer;

[0030] If the distance between the position of the main spool and the preset target position is less than the preset distance, change the secondary pilot valve from the high-power output state to the standby state.

[0031] Further, the preset control logic specifically includes:

[0032] Step B1: Subtract the pressure before the valve from the pressure after the valve to obtain the pressure difference;

[0033] Step B2: If the pressure difference is less than the preset pressure difference threshold and the temperature data is within the preset range, adjust the control mode to the pre-mode; if the pressure difference is greater than or equal to the preset pressure difference threshold and the temperature data is within the preset range, adjust the control mode to the enhanced mode; if the temperature data is not within the preset range, adjust the control mode to the compensation mode.

[0034] Further, the method steps of the calibration test include:

[0035] Step E1: Move the main spool to the mechanical limit position and record the actual reading of the position sensor at this time;

[0036] Step E2: If the error between the actual reading and the theoretical position reading is greater than the threshold, record the error in the controller for correcting the position reading of the main spool.

[0037] Further, the pressure data is acquired by a pressure sensor; the vibration data is acquired by a vibration sensor; the position data is acquired by a magnetostrictive sensor; and the temperature data is acquired by a temperature sensor.

[0038] A pressure compensation system for a high-performance throttle valve, implementing the pressure compensation method for a high-performance throttle valve, includes:

[0039] A data acquisition module for real-time acquisition of system operation data; the system operation data includes pressure data, vibration data, position data, and temperature data;

[0040] A bipolar control module, based on the system operation data, designs a bipolar control system through a primary pilot valve and a secondary pilot valve;

[0041] A sliding mode control module, when a non-linear impact condition occurs, performs supplementary control on the bipolar control system through a sliding mode control compensation strategy;

[0042] An automatic calibration module for calibrating and testing the position data.

[0043] The technical effects and advantages of the pressure compensation system and method for a high-performance throttle valve of the present invention:

[0044] By constructing a bipolar control system (primary pilot valve + secondary pilot valve), the main spool of the present invention can not only be smoothly fine-tuned under small loads but also quickly amplify the driving force under large loads; subsequently, a sliding mode control compensation strategy is used to perform supplementary control on the bipolar control system for "fine" correction, enabling quick and accurate adjustment of the position of the main spool even under high pressure differences and non-linear impacts, reducing overshoot and oscillation, and effectively improving the control effect of the throttle valve under complex working conditions.

[0045] Four control modes (standby mode, pre-mode, enhancement mode, and compensation mode) are set. When the temperature is relatively high, the system automatically reduces the gain to avoid excessive sensitivity of the spool resulting in impacts; when the temperature is relatively low or the viscosity increases, the output pressure of the pilot valve is moderately increased to overcome the viscous resistance; in this way, a relatively stable control effect can be maintained regardless of the temperature.

[0046] The automatic calibration module provides the system with the ability to correct the position after long-term use, overcomes the deviation accumulation caused by mechanical wear, sensor drift, thermal expansion and contraction, etc., significantly reduces the maintenance time, and improves the economic benefits of the throttle valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a schematic diagram of a pressure compensation system for a high-performance throttle valve according to Embodiment 1 of the present invention;

[0048] Figure 2Flowchart of the pressure compensation method for a high-performance throttle valve according to Embodiment 2 of the present invention;

[0049] Figure 3 Flowchart of the design method for the bipolar control system according to Embodiment 1 of the present invention;

[0050] Figure 4 Flowchart of the sliding mode control compensation strategy according to Embodiment 1 of the present invention. Detailed implementation manners

[0051] 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0052] Embodiment 1

[0053] Please refer to Figure 1 As shown, a pressure compensation system for a high-performance throttle valve in this embodiment includes: a data acquisition module, a bipolar control module, a sliding mode control module, and an automatic calibration module, and each module is connected by wire and / or wirelessly.

[0054] The data acquisition module is used to collect system operation data in real time; the system operation data includes pressure data, vibration data, position data, and temperature data;

[0055] The pressure data includes the pressure before the valve and the pressure after the valve; the vibration data includes the vibration amplitude and vibration frequency of the main spool; the position data is the position of the main spool; the temperature data includes the ambient temperature and the oil temperature; in a hydraulic system, the pressure directly reflects the load size, the oil circuit resistance, and the fluid environment borne by the valve port; by obtaining the pressure data, it helps the subsequent bipolar pilot valve to sense the current pressure of the system, so as to adaptively adjust the thrust of the main spool; for example, when the pressure before the valve increases and the pressure after the valve decreases, the pilot valve needs to adjust the output pressure in time to avoid overshoot of the main spool; at the same time, by obtaining the pressure data, it helps the subsequent bipolar control module and the sliding mode control module to obtain the deviation between the current pressure data and the pressure target value, so as to execute different instructions (bipolar control system and sliding mode control compensation strategy), and avoid compensation in a blind state.

[0056] By obtaining the position of the main spool valve, it helps to judge the difference between the set position and the actual position in the subsequent bipolar control module; in a high-performance throttle valve, the main spool valve often needs to act under high-speed and frequent working conditions, which is very likely to cause vibration, impact or flutter; if the vibration is too large, it will not only lead to inaccurate spool valve positioning and increased noise, but also accelerate the mechanical wear of the spool valve and the valve sleeve, and even damage the system stability; by obtaining the vibration amplitude and vibration frequency of the main spool valve, it helps the system to identify whether there is flutter, resonance or other unsafe impact fluctuations, so as to make corresponding phase-reversed compensation.

[0057] The viscosity of the oil is closely related to the temperature. The higher the oil temperature, the lower the oil viscosity, and both the flow resistance and the spool valve friction will decrease; metal materials (such as the spool valve and the valve body) will also expand and contract thermally with the external environmental temperature and the internal oil temperature, resulting in subtle changes in the mating clearance; when it is detected that the oil temperature rises, the viscosity becomes lower, and the spool valve movement is often more flexible, and the control gain needs to be reduced to prevent overshoot; when the temperature drops, the viscosity becomes higher, and the spool valve is more difficult to move, and the gain or the pressure of the pilot valve needs to be moderately increased to overcome the viscous resistance.

[0058] The pressure data is obtained through a pressure sensor; an installation port is respectively arranged on the pipeline near the inlet of the valve body and on the pipeline downstream of the valve body, and the sensor is fixed at the installation port to detect and obtain the pressure data.

[0059] The vibration data is obtained through a vibration sensor; the position data is obtained through a magnetostrictive sensor; the temperature data is obtained through a temperature sensor.

[0060] A bipolar control module, based on the system operation data, designs a bipolar control system through a primary pilot valve and a secondary pilot valve, which is used to realize the automatic adjustment of the main spool valve;

[0061] The primary pilot valve is used to perform the preliminary perception and small-range adjustment of the system pressure, and provide a moderate and gentle driving force for the main spool valve; the secondary pilot valve is used to increase the control force on the main spool valve when the system detects a large flow rate or a high pressure difference demand, so that the main spool valve can quickly reach the target position within a short time; through the two-stage structure, the system can not only avoid the impact and lag caused by large flow rate or pressure changes, but also quickly respond under extreme working conditions and maintain the required throttling effect and pressure compensation performance.

[0062] Please refer to Figure 3 As shown, the design method of the bipolar control system includes:

[0063] Step A1: Set the control mode of the primary pilot valve through a preset control logic; the control mode includes a standby mode, a pre - action mode, an enhancement mode, and a compensation mode; the pre - action mode is to steadily enable the primary pilot valve according to a first - stage gain; the enhancement mode is to quickly enable the primary pilot valve according to a second - stage gain to prepare for the secondary amplification of the subsequent main spool. Both the first - stage gain and the second - stage gain are preset gain powers, and the second - stage gain power is greater than the first - stage gain power;

[0064] The compensation mode is specifically as follows:

[0065] When the ambient temperature or the oil temperature is greater than the corresponding preset maximum threshold, the oil viscosity decreases, and the spool may become too flexible, resulting in too fast a response, which may cause overshoot or instability; the system reduces the gain of the primary pilot valve by a preset amplitude to reduce the output pressure to avoid rapid overshoot;

[0066] When the ambient temperature or the oil temperature is less than the corresponding preset maximum threshold, the oil viscosity increases, and the movement of the spool becomes sluggish; the system increases the output pressure of the primary pilot valve by a preset amplitude to ensure that the spool can still respond quickly in a high - viscosity environment, and at the same time helps to ensure the smooth movement of the main spool.

[0067] The preset control logic specifically includes:

[0068] Step B1: Subtract the pressure before the valve from the pressure after the valve to obtain the pressure difference;

[0069] Step B2: If the pressure difference is less than the preset pressure - difference threshold and the temperature data is within the preset range, adjust the control mode to the pre - action mode; if the pressure difference is greater than or equal to the preset pressure - difference threshold and the temperature data is within the preset range, adjust the control mode to the enhancement mode; if the temperature data is not within the preset range, adjust the control mode to the compensation mode.

[0070] Step A2: Taking the timestamp when the control mode starts to execute as the starting point, continuously read the positions of the main spool at the end of n unit times after the starting point, calculate the differences in the positions of the main spool at adjacent time points to obtain the position differences; if all the position differences are less than the preset difference threshold, it indicates that the main spool has not moved or has moved slowly, reflecting that the power of the primary pilot valve is insufficient, and increase the control power of the primary pilot valve by a preset gain amplitude; if there is a position difference greater than or equal to the preset difference threshold, it means that the main spool has been significantly displaced and is close to the set opening degree, then reduce the control power of the primary pilot valve and reduce the pressure output to prevent overshoot; n is a positive integer;

[0071] Step A3: Judge whether to start phase reverse fine - tuning for the main spool according to the vibration data; the judgment method for whether to start phase reverse fine - tuning includes:

[0072] If both the vibration amplitude and vibration frequency of the main spool exceed the corresponding preset thresholds, it indicates that the main spool starts too violently, and then the starting phase is finely adjusted in the reverse direction; otherwise, the starting phase is not finely adjusted in the reverse direction.

[0073] It should be noted that the purpose of judging whether to start the reverse fine adjustment of the phase is to enable the main spool to smoothly leave the static state, or to maintain a small amplitude adjustment only through the primary pilot valve under low load conditions without obvious impact.

[0074] Step A4: When increasing the control power of the primary pilot valve according to the preset gain amplitude, further evaluate whether to use the secondary pilot valve to achieve a greater driving force to ensure that the main spool can still respond quickly in high load or large flow situations; the evaluation method for whether to use the secondary pilot valve includes:

[0075] If after m unit times of increasing the control power of the primary pilot valve according to the preset gain amplitude, the position of the main spool does not reach the preset target position, indicating that the power of the primary pilot valve is still insufficient, then enter the secondary pilot amplification mode and start the secondary pilot valve, that is, let the secondary pilot valve change from the standby state to the high-power output state, so that the secondary pilot valve applies a greater oil pressure to the main spool in a short time; otherwise, maintain the standby state of the secondary pilot valve; m is a positive integer.

[0076] When the position of the main spool is less than the preset distance from the preset target position, change the secondary pilot valve from the high-power output state to the standby state.

[0077] The sliding mode control module, when a non-linear impact condition occurs, performs supplementary control on the bipolar control system through the sliding mode control compensation strategy to reduce the overshoot and oscillation of the main spool; the non-linear impact condition is that the pressure difference is greater than the corresponding preset maximum threshold.

[0078] Please refer to Figure 4 As shown, the specific sliding mode control compensation strategy includes:

[0079] Step D1: When the pressure difference is greater than the corresponding preset maximum threshold, the system immediately marks and enters the sliding mode control compensation area to prevent the bipolar control system from being insufficient to suppress large oscillations; the sliding mode control branch logic is executed in the sliding mode control compensation area, so that the pressure control signal of the main spool is corrected by the sliding mode control compensation strategy.

[0080] Step D2: Establish a sliding mode surface and set state variables. The sliding mode surface is the weighted sum of the position difference and the change rate of the position difference of the main spool; when the sliding mode surface is equal to 0, it means that the system is on the sliding mode surface; the purpose of sliding mode control is to make the system state approach and remain at the sliding mode surface equal to 0.

[0081] It should be noted that the position deviation change rate is: the difference between the position difference corresponding to the current moment and the position difference corresponding to the previous moment, and then divided by the position difference corresponding to the previous moment.

[0082] It should be noted that the sliding mode surface is the quantization data of the deviation degree of the system from the ideal state. When the sliding mode surface is equal to 0, it means that the oscillation is effectively suppressed;

[0083] Step D3: Preset the equivalent control parameter, which is the continuous control quantity to keep the sliding mode surface equal to 0 when the system approaches the sliding mode surface;

[0084] Step D4: Perform a switching regulation on the system through the sat() smoothing function, and calculate and obtain the switching control parameter; the purpose is to provide a corresponding compensation force when the sliding mode surface is not 0, so that the sliding mode surface returns to 0;

[0085] Step D5: Add the equivalent control parameter and the switching control parameter to synthesize the sliding mode compensation control quantity, and compensate the original driving signal of the main spool with the sliding mode compensation control quantity, so that when a non-linear impact with a large pressure difference occurs, the main spool will not have a serious overshoot or oscillation simply relying on the conventional control, but achieve a smooth transition through the rapid correction of the sliding mode compensation control quantity.

[0086] The automatic calibration module is used to perform calibration tests on the position data, reduce the cumulative error after long-term operation, and thus improve the accuracy of the bipolar control system and the sliding mode control compensation strategy;

[0087] Under high-frequency and long-period use, the signal of the sensor may drift, and the spool positioning may also change slightly due to wear or thermal expansion and contraction; the automatic calibration module regularly confirms and corrects these errors to ensure the control accuracy.

[0088] The method steps of the calibration test include:

[0089] Step E1: Slowly move the main spool to the mechanical limit position, and record the actual reading of the position sensor at this time;

[0090] Step E2: If the error between the actual reading and the theoretical position reading is greater than the threshold value, record the error in the controller for the correction of the main spool position reading.

[0091] Embodiment 2

[0092] Please refer to Figure 2 As shown, this embodiment provides a pressure compensation method for a high-performance throttle valve, including:

[0093] Collect the system operation data in real time; the system operation data includes pressure data, vibration data, position data and temperature data;

[0094] Based on the system operation data, a bipolar control system is designed through a primary pilot valve and a secondary pilot valve;

[0095] When a non-linear impact condition occurs, a supplementary control is performed on the bipolar control system through a sliding mode control compensation strategy;

[0096] Calibration tests are carried out on the position data.

[0097] Embodiment 3

[0098] In order to further improve the automation and adaptive ability of the sliding mode control, the present invention also provides a pressure compensation method for a high-performance throttle valve; by training a sliding mode control model to replace the original sliding mode control compensation strategy, a large amount of historical data can be further utilized to improve the response in non-linear scenarios, and there is no need to manually design a "sliding mode surface"; the training method of the sliding mode control model includes:

[0099] Obtain z groups of sliding mode data sets, where the sliding mode data sets include pressure differences, position differences, position difference change rates, and corresponding sliding mode compensation control amounts; use the sliding mode data sets as sample sets, and divide the sample sets into training sets and test sets; construct an RNN classifier, use the pressure differences, position differences, and position difference change rates in the training set as the inputs of the sliding mode control model, use the corresponding sliding mode compensation control amounts in the training set as the target outputs, perform iterative training on the classifier to obtain a preliminary control model; use the test set to test the preliminary control model, if the accuracy of the preliminary control model meets the preset accuracy, then use the preliminary control model as the sliding mode control model; the preliminary control model is an RNN neural network model; z is a positive integer greater than 1.

[0100] During actual operation, when the system detects that "the pressure difference is greater than the preset maximum threshold", the trained sliding mode control model can be directly called to adaptively process non-linear conditions, further enhancing the adaptive ability of the system and at the same time improving the stability of the throttle valve during operation.

[0101] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A pressure compensation method for a high-performance throttle valve, characterized in that, It includes: Collecting the operation data of the system in real time; The system operation data includes pressure data, vibration data, position data and temperature data; Based on the system operation data, a bipolar control system is designed through a primary pilot valve and a secondary pilot valve; When a non-linear impact condition occurs, a sliding mode control compensation strategy is used to supplement the control of the bipolar control system; Calibrating and testing the position data.

2. The pressure compensation method of a high-performance throttle valve according to claim 1, characterized in that, The pressure data includes the pressure before the valve and the pressure after the valve; the vibration data includes the vibration amplitude and vibration frequency of the main spool; the position data is the position of the main spool; the temperature data includes the ambient temperature and the oil temperature; The design method of the bipolar control system includes: Step A1: Set the control mode of the primary pilot valve through a preset control logic; the control mode includes a standby mode, a leading mode, an enhanced mode and a compensation mode; Step A2: Starting from the time stamp when the control mode starts to be executed, continuously read the position of the main spool at the end of n unit times after the starting point, calculate the difference in the position of the main spool at adjacent time points, and obtain the position difference value; if the position difference values are all less than the preset difference threshold, increase the control power of the primary pilot valve by a preset gain amplitude; if there is a position difference value greater than or equal to the preset difference threshold, reduce the control power of the primary pilot valve; n is a positive integer; Step A3: Judge whether to start phase reverse fine-tuning of the main spool according to the vibration data; Step A4: When increasing the control power of the primary pilot valve by a preset gain amplitude, evaluate whether to use the secondary pilot valve.

3. The pressure compensation method of a high-performance throttle valve according to claim 1, characterized in that, The sliding mode control compensation strategy specifically includes: Step D1: When the pressure difference is greater than the corresponding preset maximum threshold, the system marks the entry into the sliding mode control compensation area; in the sliding mode control compensation area, the sliding mode control branch logic is executed, and the pressure control signal of the main spool is corrected by the sliding mode control compensation strategy; Step D2: Establish a sliding mode surface and set state variables, and the sliding mode surface is the weighted sum of the position difference value and the change rate of the position difference value of the main spool; Step D3: Preset the equivalent control parameters, and the equivalent control parameters are the continuous control quantities for the system to keep the sliding mode surface equal to 0; Step D4: Perform a switching regulation on the system through the sat() smoothing function to calculate and obtain the switching control parameters; Step D5: Add the equivalent control parameters and the switching control parameters to synthesize the sliding mode compensation control quantity, and compensate the original drive signal of the main spool with the sliding mode compensation control quantity.

4. A pressure compensation method for a high-performance throttle valve according to claim 2, characterized in that The judgment method for whether to start phase reverse fine-tuning includes: If both the vibration amplitude and vibration frequency of the main spool exceed the corresponding preset thresholds, start phase reverse fine-tuning; otherwise, do not start phase reverse fine-tuning.

5. A pressure compensation method for a high-performance throttle valve according to claim 2, characterized in that, The leading mode is to enable the primary pilot valve according to a first-level gain; The enhanced mode is to enable the primary pilot valve according to a second-level gain; Both the first-level gain and the second-level gain are preset gain powers, and the second-level gain power is greater than the first-level gain power; The compensation mode includes: When the ambient temperature or the oil temperature is greater than the corresponding preset maximum threshold, reduce the gain of the primary pilot valve by a preset amplitude; When the ambient temperature or the oil temperature is less than the corresponding preset maximum threshold, increase the output pressure of the primary pilot valve by a preset amplitude.

6. A pressure compensation method for a high-performance throttle valve according to claim 2, characterized in that, The evaluation method for whether to use the secondary pilot valve includes: If the position of the main spool valve does not reach the preset target position after m unit times of increasing the control power of the primary pilot valve by a preset gain amplitude, enter the secondary pilot amplification mode and start the secondary pilot valve, that is, let the secondary pilot valve change from the standby state to the high-power output state; otherwise, maintain the standby state of the secondary pilot valve; m is a positive integer; If the distance between the position of the main spool valve and the preset target position is less than the preset distance, change the secondary pilot valve from the high-power output state to the standby state.

7. A pressure compensation method for a high-performance throttle valve according to claim 2, characterized in that The preset control logic specifically includes: Step B1: Subtract the pressure before the valve from the pressure after the valve to obtain the pressure difference; Step B2: If the pressure difference is less than the preset pressure difference threshold and the temperature data is within the preset range, adjust the control mode to the leading mode; if the pressure difference is greater than or equal to the preset pressure difference threshold and the temperature data is within the preset range, adjust the control mode to the enhanced mode; if the temperature data is not within the preset range, adjust the control mode to the compensation mode.

8. A pressure compensation method for a high-performance throttle valve according to claim 1, characterized in that, The method steps of the calibration test include: Step E1: Move the main spool valve to the mechanical limit position and record the actual reading of the position sensor at this time; Step E2: If the error between the actual reading and the theoretical position reading is greater than the threshold, record the error in the controller for correcting the position reading of the main spool valve.

9. A pressure compensation method for a high-performance throttle valve according to claim 1, characterized in that, The pressure data is obtained through a pressure sensor; the vibration data is obtained through a vibration sensor; the position data is obtained through a magnetostrictive sensor; the temperature data is obtained through a temperature sensor.

10. A pressure compensation system for a high-performance throttle valve, which implements the pressure compensation method for a high-performance throttle valve according to any one of claims 1-9, characterized in that, It includes: A data acquisition module for real-time acquisition of system operation data; The system operation data includes pressure data, vibration data, position data and temperature data; A bipolar control module, based on the system operation data, designs a bipolar control system through the primary pilot valve and the secondary pilot valve; A sliding mode control module, when a non-linear impact condition occurs, performs supplementary control on the bipolar control system through a sliding mode control compensation strategy; An automatic calibration module for calibrating and testing the position data.

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