Regulation and control method, system, equipment and medium for relay valve advance test

Abstract

The invention provides a regulation and control method, system and device for a relay valve overrun test and a medium, and belongs to the technical field of air braking systems. The method comprises the steps that pressure response characteristics of a relay valve pipeline system under different opening degrees of a proportional pressure regulating valve are tested, a finite set representing pipeline dynamic response is constructed based on pressure data in a sampling period, and a dynamic matrix model is generated to describe the relation between future pressure output and control quantity; pipeline pressure output at the future moment is predicted based on the dynamic matrix model, an optimized target function is established in combination with the target boosting rate, and the optimal control quantity is solved to adjust the opening degree of the proportional pressure regulating valve in real time; comparing a predicted pressure value with an actual measurement value to obtain an error, dynamically correcting a predicted model parameter by using a weighted error sequence, and adjusting a subsequent control quantity to compensate system hysteresis and external interference; and circularly executing the processes until the pipeline pressure and the regulation and control time reach corresponding target values, and cutting off the gas source.

Description

Technical Field

[0001] The present invention belongs to the technical field of pneumatic brake systems, and more particularly relates to a control method, system, equipment and medium for testing the forward amount of a relay valve. Background Art

[0002] As a key component in pneumatic brake systems, the relay valve's performance directly impacts brake response speed and efficiency. The Eccentricity (Eccentricity) is a key indicator for evaluating relay valve performance. Currently, Eccentricity testing of relay valves is primarily accomplished using PID (Proportional-Integral-Derivative) or segmented PID algorithms. According to relevant test requirements, the pressure must be increased to the target value within 2 seconds at a specified ramp rate (typically 100 ± 20 kPa / s). However, due to the short control time and real-time changes in the control target, PID algorithms face numerous challenges in practical application, particularly in parameter tuning and dynamic response, making it difficult to meet the stringent test requirements for accuracy and stability. The application of PID algorithms in relay valve Eccentricity testing presents the following major issues: 1. Difficulty in Parameter Tuning: The performance of the PID algorithm is highly dependent on the proper tuning of the proportional, integral, and differential parameters. In Eccentricity testing, the extremely short control time (only 2 seconds) and the real-time changes in the control target (Ramp Rate) make parameter tuning extremely complex. Improper parameter selection can result in either a slow or fast system response, compromising the accuracy of test results. To address the complexity of parameter tuning, the fuzzy PID control algorithm was introduced into the boost control process. By combining fuzzy logic control with classical PID control, the fuzzy PID algorithm can adapt to dynamically changing control objectives to a certain extent. However, parameter tuning for the fuzzy PID algorithm still relies on manual experience, especially in the design of the fuzzy rule base and the selection of membership functions, which lack systematic theoretical support. This reliance on experience has significant limitations in practical implementation, making it difficult to accurately determine parameters, thereby limiting further improvements in control accuracy.

[0003] 2. Severe overshoot and insufficient dynamic response capability: During the dynamic control process, the PID algorithm is prone to overshoot due to the cumulative effect of the integral link or the oversensitivity of the differential link. Overshoot will not only cause the pressure increase rate to deviate from the target value, but may also cause system oscillation, further reducing control accuracy. In the Echizen test, the overshoot problem is particularly prominent because the test has extremely high requirements for the stability of the pressure increase rate, and any slight deviation may affect the final result. The Echizen test requires the system to achieve precise pressure control in a very short time, which places extremely high demands on the dynamic response capability of the control algorithm. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a control method, system, equipment and medium for the forward quantity test of the relay valve. By combining the foresight of predictive control and the correction capability of real-time feedback, the control accuracy and dynamic response capability of the boost rate are significantly improved, thereby meeting the strict requirements of the relay valve performance test.

[0005] To achieve the above-mentioned purpose, the present invention is implemented through the following technical solutions: In a first aspect, an embodiment of the present application provides a control method for a relay valve forward amount test, comprising: Test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set of parameters representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control variable. Based on the dynamic matrix model, the pipeline pressure output at a future moment is predicted, and an optimization objective function is established in combination with the target pressure increase rate to solve the optimal control variable to adjust the proportional pressure regulating valve opening in real time; The predicted pressure value is compared with the actual measured value to obtain the error, and the weighted error sequence is used to dynamically correct the prediction model parameters and adjust the subsequent control quantity to compensate for the system hysteresis and external interference; The above process is executed cyclically, and predictive control, rolling optimization and feedback correction operations are completed in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

[0006] In an optional embodiment, the relay valve piping system includes a relay valve and a control terminal provided on a test bench, the relay valve being connected to an air inlet pipeline and an air outlet pipeline, the air inlet pipeline being provided with a proportional pressure regulating valve FR, a shut-off valve A, a pressure sensor Y1, and an air reservoir C1 in sequence, and the air outlet pipeline being provided with a pressure sensor Y2 and an air reservoir C2 in sequence; the control terminal being signal-connected to the proportional pressure regulating valve FR, the shut-off valve A, the pressure sensor Y1, the pressure sensor Y2, the air reservoir C2, and the air reservoir C1, respectively; The control terminal dynamically adjusts the opening of the proportional pressure regulating valve FR by sending a regulating control current to the proportional pressure regulating valve FR, thereby dynamically adjusting the inflation rate; Stop valve A, used to automatically close after the target pressure is reached during the inflation process; Gas cylinders C1 and C2 are used to store gas and maintain constant pipeline pressure; Pressure sensor Y1 and pressure sensor Y2 are used to monitor and record the pressure values of the intake and outlet pipes in real time and send them to the control terminal. The control terminal calculates the pressure difference between the intake and outlet pipes and, based on the measured pressure difference, comprehensively evaluates and determines key performance indicators of the relay valve, such as the forward amount, response speed and pressure stability.

[0007] In an optional embodiment, the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve are tested, and a finite set of parameters representing the dynamic response of the pipeline is constructed based on the pressure data within the sampling period, including: When the intake pipe is in a stable state, the proportional pressure regulating valve FR is controlled to maintain a preset fixed opening; The pressure change data of the relay valve pipeline system is collected at a preset sampling period T until the pressure stabilizes, and the pressure increment coefficient sequence of N sampling periods is obtained. ; The following formula is used to quantify the dynamic characteristics of pipeline pressure as the opening changes:

[0008] in, represents the pressure prediction value at time k for time k+i, represents the proportional pressure regulating valve opening increment applied at time k, Indicates the predicted value of baseline pressure when no control amount is applied.

[0009] In an optional embodiment, generating a dynamic matrix model to describe the relationship between the future pressure output and the control variable includes: Set the prediction time domain P and control time domain M, based on the pressure increment coefficient sequence , construct the dynamic matrix A:

[0010] Among them, M≤P≤N.

[0011] In an optional embodiment, the predicting of pipeline pressure output at a future time based on the dynamic matrix model, establishing an optimization objective function in combination with a target pressure increase rate, and solving the optimal control variable to adjust the proportional pressure regulating valve opening in real time include: The real-time pipeline pressure prediction equation under the action of M future control variables is defined as:

[0012] Then the output prediction function for the next P moments at time k can be expressed as:

[0013] in, is the pressure prediction vector for the next P moments, is the baseline pressure prediction vector without applying control amount, is the incremental vector of the control quantity in the future M moments; Assume that the target pipeline pressure value at P moments in the future is ; Define the following optimization objective function to minimize the pressure tracking error and control quantity fluctuation:

[0014] in, Indicates the weight of the pipeline pressure tracking error change, Indicates the weight of the change in the control amount of the proportional solenoid valve; The vector form of the optimization objective function is:

[0015] in, , , ; For the optimization objective function Take the derivative and set it equal to 0, and only take The first element of the object can be used to obtain the optimal control increment of k at the current moment:

[0016] in, ; The opening of the proportional pressure regulating valve is adjusted according to the optimal control increment at the current moment k.

[0017] In an optional embodiment, the comparison of the predicted pressure value with the actual measured value to obtain an error, dynamically correcting the prediction model parameters using a weighted error sequence, and adjusting subsequent control variables to compensate for system hysteresis and external interference includes: At time k+1, the actual pressure measurement value y(k+1) is obtained and compared with the predicted value y1(k+1 / k) to obtain the error:

[0018] Define the error correction vector h=[h1,h2,…,h N ] T , weighting the error to obtain the weighted error sequence used to modify the prediction model, and its calculation expression is as follows:

[0019] in, is the predicted control quantity of the proportional solenoid valve after correction at the next moment, Historical forecast pressure vector.

[0020] In an optional embodiment, the step of cutting off the gas source until the pipeline pressure and the control time reach corresponding target values includes: When the pressure sensor Y2 detects that the outlet pressure reaches 200kPa and the control time does not exceed 2 seconds, the shut-off valve A is controlled to cut off the gas source to complete the pressure boosting process.

[0021] In a second aspect, an embodiment of the present application further provides a control system for a relay valve forward amount test, comprising: The pipeline response characteristics test module is used to test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control variable. A prediction and optimization control module is used to predict the pipeline pressure output at a future time based on the dynamic matrix model, establish an optimization objective function in combination with the target pressure increase rate, and solve the optimal control variable to adjust the opening of the proportional pressure regulating valve in real time; Feedback correction module, which is used to compare the predicted pressure value with the actual measured value to obtain the error, dynamically correct the prediction model parameters using the weighted error sequence, and adjust the subsequent control quantity to compensate for system hysteresis and external interference; The iterative control module is used to complete predictive control, rolling optimization and feedback correction operations in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

[0022] In a third aspect, an embodiment of the present application further provides an electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the steps of the control method for the relay valve forward amount test as described in any one of the above items are implemented.

[0023] In a fourth aspect, an embodiment of the present application further provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for the relay valve forward amount test as described in any one of the above items.

[0024] It can be seen from the above technical solutions that the present invention has the following advantages: In the control method for testing the advance amount of the relay valve provided in the present application, a dynamic matrix model is constructed by testing the pressure response characteristics of the relay valve pipeline system, the future pressure is predicted based on the model, and an optimization objective function is established to solve the optimal control quantity to adjust the opening of the proportional pressure regulating valve in real time, and the model parameters are dynamically corrected using the error between the predicted value and the actual measured value. The predictive control, rolling optimization and feedback correction operations are performed cyclically, which can accurately control the pipeline pressure in real time, effectively compensate for the system lag and external interference, and quickly reach the target pressure and control time, thereby accurately evaluating key performance indicators such as the advance amount of the relay valve, and improving the accuracy and efficiency of test control.

[0025] By introducing a predictive control mechanism, this application can predict the control parameters of the pressure regulating valve in advance based on the pressure change trend, avoiding the traditional PID algorithm's over-reliance on parameter tuning. At the same time, combined with a real-time feedback correction mechanism, the control parameters can be dynamically adjusted to further improve control accuracy. This approach not only reduces the complexity of parameter tuning but also significantly improves the system's stability and adaptability.

[0026] This application utilizes a predictive control mechanism to predict pressure trends in advance, avoiding excessive accumulation in the integral phase and oversensitivity in the differential phase, thereby effectively suppressing overshoot. Furthermore, a real-time feedback correction mechanism dynamically adjusts parameters based on actual control results, ensuring the stability and accuracy of the boost rate. This approach significantly improves the system's dynamic response capabilities and meets the stringent testing requirements for high precision and stability.

[0027] This application achieves precise control of the pressure increase rate through a systematic predictive control and real-time feedback correction mechanism. This method not only avoids reliance on manual experience but also significantly improves the repeatability and consistency of test results through standardized control processes and parameter optimization strategies. This systematic control method provides reliable technical support for relay valve performance testing and promotes the standardization and regularization of testing technology.

[0028] This application solves the optimal control quantity by constructing a dynamic matrix model and establishing an optimization objective function in combination with the target boost rate. It can adjust the opening of the proportional pressure regulating valve in real time and accurately according to the dynamic response of the system, thereby achieving precise control of the pipeline pressure, ensuring that the pressure changes as expected, and meeting the strict requirements of the test for pressure control.

[0029] This application utilizes the error between the predicted pressure value and the actual measured value, and dynamically corrects the prediction model parameters through a weighted error sequence, which can effectively compensate for the system lag and the impact of external interference on pressure control, making the control process more stable and reliable, quickly reaching the target pressure and control time, and ensuring the accuracy and reliability of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings required for the description. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0031] Figure 1 A flow chart of the control method for the relay valve forward quantity test provided in this application.

[0032] Figure 2 This is a schematic diagram of the structure of the relay valve piping system provided in this application.

[0033] Figure 3 This is the electrical block diagram of the relay valve piping system provided in this application.

[0034] Figure 4 This is a structural diagram of the control system for the relay valve forward quantity test provided in this application.

[0035] Figure 5 This is a schematic diagram of the structure of the electronic device provided in this application. DETAILED DESCRIPTION

[0036] The various embodiments of the present disclosure will be described more fully below in detail with the specific steps of the control method for the relay valve overshoot test. The present disclosure can have various embodiments, and modifications and variations can be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein. Instead, the present disclosure should be construed to encompass all modifications, equivalents, and / or alternatives falling within the spirit and scope of the various embodiments of the present disclosure.

[0037] Hereinafter, the terms "include" or "may include" as used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present disclosure, the terms "include," "have," and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing, and should not be understood as excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing, or the possibility of adding one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing.

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0039] See also Figure 1 FIG. 1 is a flow chart of a method for controlling a relay valve forward flow test in a specific embodiment, the method comprising: S1: Test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set of parameters representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control quantity.

[0040] It should be noted that this method is applied to a relay valve pipeline system, such as Figure 2 、 Figure 3 As shown, the relay valve piping system includes a relay valve J and a control terminal mounted on a test bench. Relay valve J is connected to an inlet and outlet pipeline. The inlet pipeline is sequentially equipped with a proportional pressure regulating valve FR, a shutoff valve A, a pressure sensor Y1, and an air reservoir C1. The outlet pipeline is sequentially equipped with a pressure sensor Y2 and an air reservoir C2. The control terminal is signal-connected to the proportional pressure regulating valve FR, the shutoff valve A, the pressure sensors Y1 and Y2, the air reservoirs C2, and the air reservoir C1. The control terminal dynamically adjusts the opening of the proportional pressure regulating valve FR by sending a control current to it, thereby dynamically adjusting the inflation rate.

[0041] The proportional pressure-regulating valve FR precisely controls the valve opening by adjusting the control current, thereby dynamically adjusting the inflation rate and ensuring that the pressure rise process conforms to the preset pressure-increasing curve. Shutoff valve A automatically closes after the target pressure is reached during the inflation process, cutting off the gas source and maintaining stable system pressure. Gas reservoirs C1 and C2 each have a 1L capacity and are equipped with high-precision pressure gauges to store gas and maintain constant pipeline pressure, effectively reducing the impact of pressure fluctuations on test results. Pressure sensors Y1 and Y2 are deployed at the inlet and outlet of the relay valve, respectively, to monitor and record pressure changes at both ends in real time, providing accurate data support for relay valve performance evaluation.

[0042] The relay valve's forward pressure test procedure involves precisely controlling the input current to the proportional pressure regulating valve FR and dynamically adjusting its opening to ensure that the sample's output pressure steadily increases at a preset pressure increase rate of (100±20) kPa / s until it reaches the target pressure of 200 kPa. After the inflation process is complete, the air supply is quickly shut off via shut-off valve A to maintain a constant internal pressure. Subsequently, after a stabilization period lasting 2 seconds, high-precision pressure sensors Y2 and Y1 record the real-time values of the outlet output pressure and the control port input pressure, respectively, and calculate the pressure difference between the two. Based on this measured pressure difference and in conjunction with the relay valve's design standards and performance requirements, a comprehensive evaluation and assessment of the relay valve's key performance indicators, including forward pressure, response speed, and pressure stability, is conducted.

[0043] In a specific implementation, the specific process of step S1 is as follows: First, when the intake pipe is in a stable state, the proportional pressure regulating valve FR is controlled to maintain a preset fixed opening; The pressure change data of the relay valve pipeline system is collected at a preset sampling period T until the pressure stabilizes, and the pressure increment coefficient sequence of N sampling periods is obtained. ; The following formula is used to quantify the dynamic characteristics of pipeline pressure as the opening changes:

[0044] in, represents the pressure prediction value at time k for time k+i, represents the proportional pressure regulating valve opening increment applied at time k, Indicates the predicted value of baseline pressure when no control amount is applied.

[0045] Then, set the prediction time domain P and control time domain M, based on the pressure increment coefficient sequence , construct the dynamic matrix A:

[0046] Among them, M≤P≤N, A i,j =a i-j+1 , that is, the element in the i-th row and j-th column of matrix A represents the response coefficient of the i-j+1th sampling period.

[0047] S2: Based on the dynamic matrix model, the pipeline pressure output at the future moment is predicted, and an optimization objective function is established in combination with the target pressure increase rate. The optimal control variable is solved to adjust the opening of the proportional pressure regulating valve in real time.

[0048] In a specific implementation, the real-time pipeline pressure prediction equation under the action of M future control variables is first defined as:

[0049] Then the output prediction function for the next P moments at time k can be expressed as:

[0050] in, is the pressure prediction vector for the next P moments, is the baseline pressure prediction vector without applying control amount, is the incremental vector of the control quantity for the next M moments.

[0051] Then, assume that the target pipeline pressure value at the next P moments is ; Define the following optimization objective function to minimize the pressure tracking error and control quantity fluctuation:

[0052] in, Indicates the weight of the pipeline pressure tracking error change, Indicates the weight of the change in the control amount of the proportional solenoid valve; The vector form of the optimization objective function is:

[0053] in, , , .

[0054] At this time, the optimization objective function is about Take the derivative and set it equal to 0, and only take The first element of the object can be used to obtain the optimal control increment of k at the current moment:

[0055] in, ; Finally, the opening of the proportional pressure regulating valve is adjusted according to the optimal control increment at the current moment k.

[0056] S3: Compare the predicted pressure value with the actual measured value to obtain the error, use the weighted error sequence to dynamically correct the prediction model parameters, and adjust the subsequent control quantity to compensate for system hysteresis and external interference.

[0057] In a specific embodiment, at time k+1, the actual pressure measurement value y(k+1) is obtained and compared with the predicted value y1(k+1 / k) to obtain the error:

[0058] Define the error correction vector h=[h1,h2,…,h N ] T , weighting the error to obtain the weighted error sequence used to modify the prediction model, and its calculation expression is as follows:

[0059] in, is the predicted control quantity of the proportional solenoid valve after correction at the next moment, Historical forecast pressure vector.

[0060] S4: The above process is executed cyclically, and the predictive control, rolling optimization and feedback correction operations are completed in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

[0061] In a specific embodiment, the following operations are repeated in each sampling period k: Recalculate the optimal control quantity based on the revised prediction model ; Adjust the opening of the proportional pressure regulating valve FR in real time until the target pressure of 200kPa is reached (control time ≤ 2s).

[0062] When the pressure sensor Y2 detects that the outlet pressure is ≥200kPa and the control time is ≤2s, the stop valve A is closed to cut off the gas source and complete the pressure boosting process.

[0063] In this embodiment, by constructing a dynamic matrix model to accurately predict pipeline pressure changes and solve the optimal control quantity, the opening of the proportional pressure regulating valve can be adjusted in real time and accurately to control the inflation rate, ensuring that the pressure changes as needed during the test, and providing a stable pressure environment for the forward quantity test; at the same time, error feedback is used to dynamically correct the model parameters to effectively compensate for system lag and external interference, quickly reach the target pressure and control time, and ensure the accuracy and reliability of the test data, thereby accurately evaluating key performance indicators such as the forward quantity of the relay valve, significantly improving test efficiency and result quality.

[0064] Furthermore, as a refinement and expansion of the specific implementation of the above embodiment, in order to fully illustrate the specific implementation process of this embodiment, another control method for the relay valve forward amount test is provided, which includes: In the predictive control stage, in order to improve the prediction accuracy, it is necessary to first test the response characteristics of the entire relay valve pipeline system. The specific implementation method is: when the intake pipeline is in a stable state, set a certain opening value for the proportional solenoid valve. As the opening of the proportional solenoid valve increases, the pipeline pressure will show an increasing trend, and the pipeline pressure change curve will be tested. Set the sampling time (N is the number of sampling points, T is the sampling period), measure the pipeline pressure at each sampling moment, and use Indicates that after a period of time, the pressure in the tube tends to be stable, using a finite set Characterize the response characteristics of the entire pipeline during the inflation process.

[0065] The response characteristics obtained by the above method can be considered as the change curve of the pipeline pressure when a fixed control parameter is applied to the proportional solenoid valve. Assuming that the current time is time k, the predicted value of the proportional solenoid valve control parameter at the next N time points can be obtained. The calculation method is as follows:

[0066] in, represents the predicted value of the proportional solenoid valve control parameter at time k for time k+i, Represents the control amount of the proportional solenoid valve at time k.

[0067] In the actual control process, the control parameters of the proportional solenoid valve are in a dynamic adjustment process. Assume that there are M different proportional solenoid valve openings. Under this effect, the real-time pipeline pressure output value at each moment in the future is:

[0068] The output prediction function of the system at time k for the next P moments can be expressed as:

[0069] Where A is a dynamic matrix, M≤P≤N, and the matrix is determined according to the response characteristics of the pipeline.

[0070]

[0071] After obtaining the predicted results of the pipeline pressure, it is necessary to predict the control amount of the proportional solenoid valve. Assuming that the current time is k, predict M predicted proportional solenoid valve control amounts from this time onwards, and make the pipeline pressure at the future time P as close as possible to the target value required by the pressure increase rate under each predicted proportional solenoid valve control amount. ; In addition, to prevent the proportional solenoid valve from controlling the amount If the fluctuation is too large, increase the constraint value and comprehensively obtain the method for determining the control amount of the proportional solenoid valve at time k as follows:

[0072] in, Indicates the weight of the pipeline pressure tracking error change, Indicates the weight of the change in the proportional solenoid valve control quantity.

[0073] Combining the above prediction function, the vector form of rolling optimization can be obtained as follows:

[0074] in: , , .

[0075] In order to seek Satisfy the minimum value of the above formula, for the above formula about Take the derivative and set it equal to 0, and only take The first element of the object can be used to obtain the predicted value of the proportional solenoid valve control quantity:

[0076] in, . The above method can be used to predict the pipeline pressure. In order to ensure the effectiveness of the proportional solenoid valve control parameters, it is also necessary to perform real-time feedback correction on the proportional solenoid valve control amount according to the actual pipeline pressure. The correction method is as follows: At time k, the optimal control increment of the proportional solenoid valve control amount is obtained according to the prediction algorithm. , based on this, the pipeline pressure predicted by the model at the next N moments can be obtained as When the next moment arrives, take the first element of the pipeline pressure output by the model prediction at the previous moment, that is, the predicted pipeline pressure value at the current moment The actual pipeline pressure value at the current moment Compare and get the error of pipeline pressure value :

[0077] The weighted error sequence obtained by weighting the error is used to correct the prediction model. Its calculation expression is as follows:

[0078] in, is the predicted control quantity of the proportional solenoid valve after correction at the next moment, and h is the N-dimensional error weighted sequence.

[0079] By using this method to obtain the corrected predicted control value for the proportional solenoid valve, the process is repeated at the next sampling cycle to predict and provide real-time feedback correction for the proportional solenoid valve's control value. Because the proportional solenoid valve's control value is adjusted in advance, it can more quickly adapt to changing pipeline pressure trends and meet the need for real-time control of the pipeline pressure increase rate.

[0080] like Figure 4 As shown, the following is an embodiment of the control system for the relay valve forward amount test provided by the embodiment of the present disclosure. This system and the control method for the relay valve forward amount test of the above-mentioned embodiments belong to the same inventive concept. For details not fully described in the embodiment of the control system for the relay valve forward amount test, please refer to the embodiment of the control method for the relay valve forward amount test mentioned above.

[0081] A control system for relay valve overrun quantity testing, comprising:

[0082] The pipeline response characteristic test module is used to test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between future pressure output and control quantity.

[0083] The prediction and optimization control module is used to predict the pipeline pressure output at a future time based on the dynamic matrix model, establish an optimization objective function in combination with the target pressure increase rate, and solve the optimal control quantity to adjust the proportional pressure regulating valve opening in real time.

[0084] The feedback correction module is used to compare the predicted pressure value with the actual measured value to obtain the error, dynamically correct the prediction model parameters using the weighted error sequence, and adjust the subsequent control quantity to compensate for system hysteresis and external interference.

[0085] The iterative control module is used to complete predictive control, rolling optimization and feedback correction operations in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

[0086] The control system for relay valve advance quantity testing provided in this embodiment accurately predicts the pipeline pressure and solves the optimal control quantity by constructing a dynamic matrix model, thereby realizing real-time and precise adjustment of the proportional pressure regulating valve opening, ensuring that the pressure can change rapidly and stably as expected during the test, and providing reliable pressure conditions for accurately evaluating the relay valve advance quantity; at the same time, the error feedback mechanism is used to dynamically correct the model parameters, effectively compensate for system lag and external interference, avoid the test results being affected by system instability factors, greatly improve the accuracy, stability and efficiency of the relay valve advance quantity test, and ensure that the test results can truly reflect the relay valve advance quantity performance.

[0087] Figure 5 A schematic diagram of the hardware structure of an electronic device for implementing various embodiments of the present invention.

[0088] The control method for the relay valve forward amount test provided in the embodiment of the present application can be applied to electronic devices. Those skilled in the art will understand that the electronic device structure involved in the embodiment of the present invention does not constitute a limitation on the electronic device, and the electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. In the embodiment of the present invention, the electronic device includes but is not limited to laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the embodiments of the present application described and / or required herein.

[0089] The electronic device may include a processor, an external memory interface, an internal memory, a universal serial bus (USB) interface, a charging management module, a power management module, a battery, a wireless communication module, an audio module, a speaker, a microphone, a sensor module, a button, a camera, a display, and a SIM card interface, etc.

[0090] A processor may include one or more processing units, such as a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0091] The processor can be the nerve center and command center of the electronic device. The controller can generate operation control signals based on the instruction opcode and timing signal to complete the control of instruction fetching and execution.

[0092] The processor may also include a memory for storing instructions and data. In some embodiments, the memory in the processor is a cache memory. This memory can store instructions or data that the processor has just used or is reusing. If the processor needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated accesses, reduces processor latency, and thus improves system efficiency.

[0093] The external memory interface can be used to connect an external memory card, such as a MicroSD card, to expand the storage capacity of an electronic device. The external memory card communicates with the processor through the external memory interface, enabling data storage. For example, files such as music and videos can be stored on the external memory card.

[0094] Internal memory can be used to store computer-executable program code, which includes instructions. The processor executes the instructions stored in the internal memory to perform various functional applications and data processing of the electronic device. The internal memory can include a program storage area and a data storage area. The internal memory can include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, universal flash storage (UFS), etc.

[0095] The wireless communication function of an electronic device can be implemented through an antenna, a wireless communication module, a modem processor, and a baseband processor.

[0096] Wireless communication modules can provide wireless communication solutions for electronic devices, including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared technology (IR), etc.

[0097] Electronic devices can implement audio functions through audio modules, speakers, receivers, microphones, headphone jacks, and application processors.

[0098] Electronic devices can achieve shooting functions through ISP, camera, video codec, GPU, display and application processor.

[0099] Electronic devices can achieve display functions through GPU, display screen and application processor.

[0100] A GPU is a microprocessor for image processing that connects the display screen to the application processor. The GPU performs mathematical and geometric calculations for graphics rendering. A processor may include one or more GPUs, which execute program instructions to generate or modify display information.

[0101] The display screen is used to display images, videos, etc. The display screen includes a display panel.

[0102] The above-mentioned electronic equipment realizes the control method of the relay valve forward measurement test of the present application by collaboratively controlling the proportional pressure regulating valve opening through dynamic matrix modeling and rolling optimization algorithm, thereby achieving fast and accurate pressure tracking. At the same time, with the help of the error correction mechanism, system lag and external interference are eliminated in real time, achieving the beneficial effect of significantly shortening the relay valve forward measurement test cycle and quickly obtaining high-quality test data.

[0103] The storage medium provided in the present application stores a program product that can implement a control method for testing the forward amount of a relay valve.

[0104] The control methods for the relay valve overshoot test include: Test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set of parameters representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control variable. Based on the dynamic matrix model, the pipeline pressure output at a future moment is predicted, and an optimization objective function is established in combination with the target pressure increase rate to solve the optimal control variable to adjust the proportional pressure regulating valve opening in real time; The predicted pressure value is compared with the actual measured value to obtain the error, and the weighted error sequence is used to dynamically correct the prediction model parameters and adjust the subsequent control quantity to compensate for the system hysteresis and external interference; The above process is executed cyclically, and predictive control, rolling optimization and feedback correction operations are completed in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

[0105] In some possible embodiments, the control method for the relay valve forward quantity test disclosed herein can be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps described in the above "Exemplary Method" section of this specification according to various exemplary embodiments of the present disclosure.

[0106] The storage medium of the present disclosure can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0107] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a relay valve overshoot test, characterized in that: include: Test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set of parameters representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control variable. Based on the dynamic matrix model, the pipeline pressure output at a future moment is predicted, and an optimization objective function is established in combination with the target pressure increase rate to solve the optimal control variable to adjust the proportional pressure regulating valve opening in real time; The predicted pressure value is compared with the actual measured value to obtain the error, and the weighted error sequence is used to dynamically correct the prediction model parameters and adjust the subsequent control quantity to compensate for the system hysteresis and external interference; The above process is executed cyclically, and predictive control, rolling optimization and feedback correction operations are completed in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

2. The control method for relay valve forward amount test according to claim 1, characterized in that: The relay valve piping system includes a relay valve and a control terminal arranged on a test bench. The relay valve is connected to an air inlet pipeline and an air outlet pipeline. The air inlet pipeline is sequentially provided with a proportional pressure regulating valve FR, a shut-off valve A, a pressure sensor Y1, and an air reservoir C1. The air outlet pipeline is sequentially provided with a pressure sensor Y2 and an air reservoir C2. The control terminal is respectively connected to the proportional pressure regulating valve FR, the shut-off valve A, the pressure sensor Y1, the pressure sensor Y2, the air reservoir C2, and the air reservoir C1 for signals. The control terminal dynamically adjusts the opening of the proportional pressure regulating valve FR by sending a regulating control current to the proportional pressure regulating valve FR, thereby dynamically adjusting the inflation rate; Stop valve A, used to automatically close after the target pressure is reached during the inflation process; Gas cylinders C1 and C2 are used to store gas and maintain constant pipeline pressure; Pressure sensor Y1 and pressure sensor Y2 are used to monitor and record the pressure values of the intake and outlet pipes in real time and send them to the control terminal. The control terminal calculates the pressure difference between the intake and outlet pipes and, based on the measured pressure difference, comprehensively evaluates and determines key performance indicators of the relay valve, such as the forward amount, response speed and pressure stability.

3. The control method for the relay valve forward amount test according to claim 2, characterized in that: The test of the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve is performed by constructing a finite set of parameters representing the dynamic response of the pipeline based on the pressure data within the sampling period, including: When the intake pipe is in a stable state, the proportional pressure regulating valve FR is controlled to maintain a preset fixed opening; The pressure change data of the relay valve pipeline system is collected at a preset sampling period T until the pressure stabilizes, and the pressure increment coefficient sequence of N sampling periods is obtained. ; The following formula is used to quantify the dynamic characteristics of pipeline pressure as the opening changes: in, represents the pressure prediction value at time k for time k+i, represents the proportional pressure regulating valve opening increment applied at time k, Indicates the predicted value of baseline pressure when no control amount is applied.

4. The control method for the relay valve forward amount test according to claim 3, characterized in that: The generating of the dynamic matrix model to describe the relationship between the future pressure output and the control quantity includes: Set the prediction time domain P and control time domain M, based on the pressure increment coefficient sequence , construct the dynamic matrix A: Among them, M≤P≤N.

5. The control method for relay valve forward amount test according to claim 4, characterized in that: The method of predicting the pipeline pressure output at a future moment based on the dynamic matrix model, establishing an optimization objective function in combination with a target pressure increase rate, and solving the optimal control variable to adjust the proportional pressure regulating valve opening in real time includes: The real-time pipeline pressure prediction equation under the action of M future control variables is defined as: Then the output prediction function for the next P moments at time k can be expressed as: in, is the pressure prediction vector for the next P moments, is the baseline pressure prediction vector without applying control amount, is the incremental vector of the control quantity in the future M moments; Assume that the target pipeline pressure value at P moments in the future is ; Define the following optimization objective function to minimize the pressure tracking error and control quantity fluctuation: in, Indicates the weight of the pipeline pressure tracking error change, Indicates the weight of the change in the control amount of the proportional solenoid valve; The vector form of the optimization objective function is: in, , , ; For the optimization objective function Take the derivative and set it equal to 0, and only take The first element of the object can be used to obtain the optimal control increment of k at the current moment: in, ; The opening of the proportional pressure regulating valve is adjusted according to the optimal control increment at the current moment k.

6. The control method for relay valve forward quantity test according to claim 5, characterized in that: The predicted pressure value is compared with the actual measured value to obtain an error, and the prediction model parameters are dynamically corrected using a weighted error sequence to adjust subsequent control quantities to compensate for system hysteresis and external interference, including: At time k+1, the actual pressure measurement value y(k+1) is obtained and compared with the predicted value y1(k+1 / k) to obtain the error: Define the error correction vector h=[h1,h2,…,h N ] T , weighting the error to obtain the weighted error sequence used to modify the prediction model, and its calculation expression is as follows: in, is the predicted control quantity of the proportional solenoid valve after correction at the next moment, Historical forecast pressure vector.

7. The control method for relay valve forward amount test according to claim 6, characterized in that: Cutting off the gas source until the pipeline pressure and control time reach corresponding target values includes: When the pressure sensor Y2 detects that the outlet pressure reaches 200kPa and the control time does not exceed 2 seconds, the shut-off valve A is controlled to cut off the gas source to complete the pressure boosting process.

8. A control system for relay valve overshoot test, characterized in that: The system adopts the control method of the relay valve overshoot test as claimed in any one of claims 1 to 7; the application is to the control terminal; The system comprises: The pipeline response characteristics test module is used to test the pressure response characteristics of the relay valve pipeline system under different openings of the proportional pressure regulating valve. Based on the pressure data within the sampling period, a finite set representing the dynamic response of the pipeline is constructed, and a dynamic matrix model is generated to describe the relationship between the future pressure output and the control variable. A prediction and optimization control module is used to predict the pipeline pressure output at a future time based on the dynamic matrix model, establish an optimization objective function in combination with the target pressure increase rate, and solve the optimal control variable to adjust the opening of the proportional pressure regulating valve in real time; Feedback correction module, which is used to compare the predicted pressure value with the actual measured value to obtain the error, dynamically correct the prediction model parameters using the weighted error sequence, and adjust the subsequent control quantity to compensate for system hysteresis and external interference; The iterative control module is used to complete predictive control, rolling optimization and feedback correction operations in each sampling cycle until the pipeline pressure and control time reach the corresponding target values and the gas source is cut off.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the control method for the relay valve forward amount test as described in any one of claims 1 to 7 are implemented.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the control method for the relay valve forward amount test as claimed in any one of claims 1 to 7 are implemented.

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