Multi-channel hydraulic cooperative control system

Abstract

The invention relates to the technical field of hydraulic control, and particularly discloses a multi-channel hydraulic cooperative control system, which comprises an acquisition module for acquiring task requirements and channel execution data of multiple hydraulic channels and acquiring real-time operation data of the multiple hydraulic channels in real time; the stage determining module is used for determining a plurality of stage tasks and a stage channel set, stage channel data and stage task instruction data of each stage task; the control module is used for determining a stage to which the real-time operation data belongs, executing a time label, adjusting a control instruction and adjusting time; and the correction module is used for correcting the stage task instruction data of all stage tasks and generating a real-time control report. Single-channel precision and multi-channel cooperation can be considered, closed-loop precise cooperative control of multiple hydraulic channels is achieved, the accuracy and stability of hydraulic system operation are improved, double guarantee of single-channel precision and multi-channel cooperation under complex working conditions is achieved, and traceability and optimization of the control process are achieved.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic control technology, and in particular to a multi-channel hydraulic coordinated control system. Background Art

[0002] The development of multi-channel hydraulic collaborative control technology is closely related to the needs of industrial automation. Early hydraulic systems were mainly single-channel control, such as steam engine hydraulic pumps, which only achieved simple power transmission and had no coordination requirements. In the mid-20th century, heavy industry promoted the application of multi-channel hydraulics, such as independent hydraulic circuits for aircraft flaps and landing gear, hydraulic slides for machine tools, and engineering robot arms. However, each channel was controlled in isolation and relied on mechanical linkage to achieve rough coordination, which was prone to overall failure due to single-channel failure. At the end of the 20th century, computer control became popular, and multi-channel systems began to introduce centralized logic control. However, the stage division was vague, and there was a lack of dynamic correction mechanism. The coordination accuracy was insufficient under complex working conditions, making it difficult to meet the timing coupling requirements of multi-stage tasks. This laid the foundation for the subsequent improvement of refined collaborative control technology.

[0003] Therefore, the present invention proposes a multi-channel hydraulic coordinated control system. Summary of the Invention

[0004] The present invention provides a multi-channel hydraulic collaborative control system, which acquires the task requirements and channel execution data of multiple hydraulic channels, collects the real-time operation data of multiple hydraulic channels in real time, determines multiple stage tasks and the stage channel set, stage channel data and stage task instruction data of each stage task, determines the stage to which the real-time operation data belongs and the execution time tag, determines the adjustment control instruction and adjustment time of the real-time operation data, modifies the stage task instruction data of all stage tasks, and generates a real-time control report. It can accurately match the stage channel set of each stage task, take into account both single-channel accuracy and multi-channel coordination, realize closed-loop precise collaborative control of multiple hydraulic channels, improve the accuracy and stability of hydraulic system operation, achieve dual protection of single-channel accuracy and multi-channel coordination under complex working conditions, and realize traceability and optimizability of the control process.

[0005] The present invention provides a multi-channel hydraulic coordinated control system, comprising: Acquisition module: acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operation data of multiple hydraulic channels in real time; Phase determination module: Based on task requirements and channel execution data, determine multiple phase tasks and the phase channel set, phase channel data and phase task instruction data of each phase task; Control module: Based on the real-time operation data and the stage task instruction data of all stage tasks, determine the stage to which the real-time operation data belongs and the execution time tag, and determine the adjustment control instruction and adjustment time of the real-time operation data; Correction module: Corrects the stage task instruction data of all stage tasks based on the stage to which the real-time operation data belongs and the adjustment time, and generates a real-time control report.

[0006] Preferably, a multi-channel hydraulic coordinated control system, an acquisition module, includes: Task requirement unit: obtains the task requirements of multiple hydraulic channels, where the task requirements include control real-time requirements and work task requirements; Channel execution sub-data unit: obtains channel execution sub-data of each hydraulic channel, wherein the channel execution sub-data includes hardware parameter data and dynamic load data of the hydraulic channel; Channel execution data unit: determines channel execution data of multiple hydraulic channels based on channel execution sub-data of all hydraulic channels.

[0007] Preferably, a multi-channel hydraulic coordinated control system, an acquisition module, further includes: Acquisition frequency unit: determines the acquisition frequency of multiple hydraulic channels based on the real-time control requirements in the task requirements of multiple hydraulic channels; Real-time operation sub-data unit: based on the acquisition frequency and the sensor group of each hydraulic channel, real-time acquisition of the real-time operation sub-data of each hydraulic channel, wherein the real-time operation sub-data includes the acquisition time and the real-time parameter values ​​of multiple parameters; Real-time operation data unit: determines the real-time operation data of multiple hydraulic channels based on the real-time operation sub-data of all hydraulic channels.

[0008] Preferably, a multi-channel hydraulic coordinated control system, a stage determination module, includes: Phase task data unit: parses the work task requirements in the task requirements of multiple hydraulic channels, determines multiple phase tasks and phase task data of each phase task, wherein the phase task data includes phase task objectives and phase task performance data; A stage channel set unit: determining a stage channel set for executing a stage task target of each stage task based on the stage task data of each stage task, wherein the stage channel set includes a plurality of hydraulic channels; Phase channel data unit: based on the phase channel set of the phase task target of each phase task, extracts the channel execution sub-data of all hydraulic channels in the channel execution data to determine the phase channel data of each phase task; Phase task instruction data unit: The phase task data, phase channel set and phase channel data of each phase task are input into the simulation control model to generate phase task instruction data for multiple hydraulic channels based on each phase task, wherein the phase task instruction data include the phase task start time, the phase task end time, the phase start conditions of each channel in the phase channel set, the phase end requirements, the channel control instructions and the collaborative constraint instructions of every two channels in the phase channel set.

[0009] Preferably, a multi-channel hydraulic coordinated control system, a control module, includes: The phase and execution time label unit determines the phase and execution time label of the real-time operation data based on the collection time of the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the phase task start time and phase task end time in the phase task instruction data of each phase task, wherein the execution time label includes the phase task start label, the phase task duration label and the phase task end label; Current operation data unit: based on the stage channel set of the stage task of the stage to which the real-time operation data belongs, extracts the real-time parameter vectors of all hydraulic channels in the real-time operation data to determine the current operation data at the collection time; Adjustment control instructions and adjustment time units: Based on the current operation data, the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the execution time label, the adjustment control instructions and adjustment time of the real-time operation data are determined, wherein the adjustment control instruction is a start adjustment control instruction, a continuous adjustment control instruction, or an end adjustment control instruction, and the adjustment time is a start adjustment time, a continuous adjustment time, or an end adjustment time.

[0010] Preferably, a multi-channel hydraulic coordinated control system, adjusting control instructions and adjusting time units, includes: Start adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task start tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage start condition of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage start condition of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate a start adjustment control instruction; Start adjustment time subunit: executes the start adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the stage start condition of the corresponding channel, marks the start execution of the stage task of the stage to which the real-time operation data belongs, and records the start adjustment time of the execution start adjustment control instruction of the stage task of the stage to which the real-time operation data belongs; Execution time point subunit: If the execution time tag of the real-time operation data is a stage task duration tag, the execution time point of the real-time operation data based on the collection time of the real-time operation data, the stage task start time, and the start adjustment time is determined; The time channel instruction subunit extracts the channel control instruction of each channel in the current operation data from the stage task instruction data of the stage to which the real-time operation data belongs based on the execution time point, and determines the time channel instruction of each channel in the current operation data; Continuously adjusting the control instruction subunit: judging whether the real-time operation sub-data of each channel in the current operation data satisfies the time channel instruction of each channel in the current operation data; if the real-time operation sub-data of any channel does not satisfy the time channel instruction of the channel, determining the continuously adjusting control instruction based on the real-time operation sub-data of all unsatisfied channels, the time channel instruction, all the coordinated constraint instructions in the stage task instruction data of the stage to which the real-time operation data belongs, and the simulation control model; Continuous adjustment time subunit: executes the continuous adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the time channel instruction of the corresponding channel, and records the continuous adjustment time of executing the continuous adjustment control instruction based on the acquisition time; End adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task end tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage end requirement of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage end requirement of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate an end adjustment control instruction; End adjustment time unit: execute the end adjustment control instruction until the real-time operation sub-data of all channels in the current operation data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time operation data belongs as completed, and record the end adjustment time of the execution end adjustment control instruction of the stage task of the stage to which the real-time operation data belongs.

[0011] Preferably, a multi-channel hydraulic coordinated control system continuously adjusts the control instruction subunit, including: Single channel deviation vector component: determines the single channel deviation vector of each channel based on the real-time running sub-data of each channel and the time channel instruction; Collaboration target component: converts each collaboration constraint instruction in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs into a collaboration constraint formula, and determines the collaboration target of each collaboration constraint instruction; Real-time coordination error matrix component: based on the coordination constraint formulas of all coordination constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, constructs the real-time coordination error matrix of the stage task of the stage to which the real-time operation data belongs; Sorting component: sorting the constraint priorities of all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time running data belongs; Cooperative compensation column vector component: Calculates the cooperative compensation column vector of real-time operation data based on the single-channel deviation vectors of all channels, the real-time coordination error matrix, and the cooperative targets of all cooperative constraint instructions; Continuously adjust the control instruction component: input the single-channel deviation vectors of all channels, time channel instructions, all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the collaborative compensation column vector into the simulation control model to generate continuously adjust the control instructions.

[0012] Preferably, a multi-channel hydraulic coordinated control system, correction module, includes: Correction unit: based on the adjustment time of the real-time operation data, corrects the stage task start time and stage task end time in the stage task instruction data of each stage task after the stage task of the stage to which the real-time operation data belongs; Real-time control reporting unit: Generates real-time control reports based on the phase of real-time running time, execution time tag, adjustment control instructions and adjustment time.

[0013] The beneficial effects of the present invention compared to the prior art are as follows: by obtaining the task requirements and channel execution data of multiple hydraulic channels, real-time collection of real-time operation data of multiple hydraulic channels, determining multiple stage tasks and the stage channel set, stage channel data and stage task instruction data of each stage task, determining the stage to which the real-time operation data belongs and the execution time tag, and determining the adjustment control instruction and adjustment time of the real-time operation data, correcting the stage task instruction data of all stage tasks, and generating a real-time control report. The stage channel set of each stage task can be accurately matched, taking into account both single-channel accuracy and multi-channel coordination, realizing closed-loop precise coordinated control of multiple hydraulic channels, improving the accuracy and stability of hydraulic system operation, achieving dual protection of single-channel accuracy and multi-channel coordination under complex working conditions, and realizing traceability and optimizability of the control process.

[0014] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures specifically pointed out in this application document.

[0015] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings: Figure 1 Schematic diagram of a multi-channel hydraulic coordinated control system in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. Embodiment 1:

[0018] The present invention provides a multi-channel hydraulic coordinated control system, referring to Figure 1 ,include: Acquisition module: acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operation data of multiple hydraulic channels in real time; Phase determination module: Based on task requirements and channel execution data, determine multiple phase tasks and the phase channel set, phase channel data and phase task instruction data of each phase task; Control module: Based on the real-time operation data and the stage task instruction data of all stage tasks, determine the stage to which the real-time operation data belongs and the execution time tag, and determine the adjustment control instruction and adjustment time of the real-time operation data; Correction module: Corrects the stage task instruction data of all stage tasks based on the stage to which the real-time operation data belongs and the adjustment time, and generates a real-time control report.

[0019] In this embodiment, the phase determination module divides the entire operation process into different phases based on task requirements and channel execution data. For example, in aviation control, these phases can be divided into liftoff, cruise, and landing phases. Each phase defines a corresponding phase channel set, specifically which hydraulic channels are involved in that phase's operation, as well as the phase channel data and task instruction data. For example, during the liftoff and climb phase, the operating parameters and action instructions for the relevant hydraulic channels, such as the flaps and landing gear, are specified.

[0020] In this embodiment, the multi-channel hydraulic collaborative control system can be applied to the aerospace field, construction field, heavy machinery manufacturing field, automobile manufacturing and testing field, shipbuilding and shipping field, material mechanics experiment and scientific research field, etc.

[0021] In this embodiment, the control module determines which stage task is currently in effect based on real-time operation data and stage task instruction data, and tags the real-time operation data with an execution time tag. The control module then determines an adjustment control instruction and an adjustment time, where the adjustment control instruction is a start adjustment control instruction, a continuous adjustment control instruction, or an end adjustment control instruction, and the adjustment time is a start adjustment time, a continuous adjustment time, or an end adjustment time.

[0022] The beneficial effects of the above technology are as follows: by obtaining the task requirements and channel execution data of multiple hydraulic channels, real-time collection of real-time operation data of multiple hydraulic channels, determining multiple stage tasks and the stage channel set, stage channel data and stage task instruction data of each stage task, determining the stage to which the real-time operation data belongs and the execution time tag, and determining the adjustment control instruction and adjustment time of the real-time operation data, correcting the stage task instruction data of all stage tasks, and generating a real-time control report. It can accurately match the stage channel set of each stage task, taking into account both single-channel accuracy and multi-channel coordination, realize closed-loop precise coordinated control of multiple hydraulic channels, improve the accuracy and stability of hydraulic system operation, achieve dual protection of single-channel accuracy and multi-channel coordination under complex working conditions, and realize traceability and optimizability of the control process. Example 2:

[0023] Based on Example 1, a multi-channel hydraulic coordinated control system, an acquisition module, includes: Task requirement unit: obtains the task requirements of multiple hydraulic channels, where the task requirements include control real-time requirements and work task requirements; Channel execution sub-data unit: obtains channel execution sub-data of each hydraulic channel, wherein the channel execution sub-data includes hardware parameter data and dynamic load data of the hydraulic channel; Channel execution data unit: determines channel execution data of multiple hydraulic channels based on channel execution sub-data of all hydraulic channels.

[0024] In this embodiment, the real-time control requirement specifies the dynamic response speed requirements for the hydraulic system. In aviation scenarios, for example, when adjusting the aircraft's flight attitude, hydraulic channels (such as the aileron and elevator actuators) must respond to commands within a very short time (for example, the delay from receiving the "left 3°" command to actual action must be ≤50 milliseconds) to cope with sudden airflow or pilot operation. The real-time requirement for flap deployment during takeoff is reflected in the requirement that "flaps must deploy from 0° to 30° within 10 seconds," otherwise takeoff lift will be affected.

[0025] In this embodiment, the work task needs to: define the specific action objectives and functional boundaries of the hydraulic channels. For example, the task requirements for landing an aircraft may include "the landing gear hydraulic channel must complete the transition from retracted to fully extended and locked within 20 seconds" and "the brake hydraulic channel must establish brake pressure within 0.5 seconds after landing gear touches the ground." At the same time, the task constraints must be clearly defined (for example, "flaps must not interfere with the fuselage structure during deployment").

[0026] In this embodiment, fundamental data supporting precise operation is collected for each independent hydraulic channel. This data is categorized into two types: Hardware parameter data, which represents static data reflecting the inherent physical characteristics of the hydraulic channel. For example, for an aviation hydraulic channel, this includes information such as the hydraulic cylinder's maximum thrust (e.g., landing gear actuator maximum thrust ≥ 10,000 N), travel range (e.g., flap actuator extension from 0° to 30° is 500 mm), response time (e.g., servo valve time from closed to fully open ≤ 20 milliseconds), and rated operating pressure (e.g., 30 MPa). These data determine the channel's upper limit of operation capability. Dynamic load data, which represents real-time load information that changes with operating conditions, also provides real-time information on loads that vary with operating conditions. For example, during flight, the dynamic loads on a flap actuator include aerodynamic forces at varying flight speeds (e.g., 8,000 N at Mach 0.8), alternating loads caused by fuselage vibration, and impact loads on the landing gear actuator during landing (e.g., instantaneous loads reaching 15,000 N). These data directly influence the force / torque output required by the channel.

[0027] In this embodiment, the "channel execution sub-data" of all hydraulic channels are integrated and linked to form an overall data foundation for multi-channel coordination. In aviation control, for example: the hardware parameters of the left and right flap actuators are integrated to determine the synchronization accuracy benchmark between the two (for example, due to hardware differences, the left flap response time is 5 milliseconds faster than the right flap, and this difference needs to be compensated in coordinated control); the dynamic load data of each channel is linked to analyze the load coupling relationship (for example, when the aircraft turns, the load change of the aileron actuator will affect the force of the rudder actuator, and the total load limit during coordinated action needs to be evaluated through overall data); the resulting "channel execution data" can support the subsequent task division (such as which channels need to be operated in the same stage) and the formulation of coordination rules (such as the load distribution ratio).

[0028] The beneficial effects of the above technology are: obtaining the task requirements of multiple hydraulic channels, obtaining the channel execution data of multiple hydraulic channels, and improving data support for determining multiple stage tasks and the stage channel set, stage channel data and stage task instruction data of each stage task. Example 3:

[0029] Based on Example 1, a multi-channel hydraulic coordinated control system, an acquisition module, further includes: Acquisition frequency unit: determines the acquisition frequency of multiple hydraulic channels based on the real-time control requirements in the task requirements of multiple hydraulic channels; Real-time operation sub-data unit: based on the acquisition frequency and the sensor group of each hydraulic channel, real-time acquisition of the real-time operation sub-data of each hydraulic channel, wherein the real-time operation sub-data includes the acquisition time and the real-time parameter values ​​of multiple parameters; Real-time operation data unit: determines the real-time operation data of multiple hydraulic channels based on the real-time operation sub-data of all hydraulic channels.

[0030] In this embodiment, the acquisition frequency unit establishes differentiated acquisition frequency standards for multiple hydraulic channels based on the real-time control requirements of the task. In aviation control, the real-time requirements of different tasks vary significantly: for example, when the aircraft is cruising at high altitude, the task of maintaining a stable attitude of the flaps has lower real-time requirements (position data can be collected once every 100ms); when encountering strong airflow at low altitude, the control surfaces (such as ailerons and rudder) need to respond quickly to adjust their attitude, and the real-time control requirements are extremely high. At this time, the acquisition frequency of the corresponding hydraulic channel needs to be increased to 10ms / time or even higher to ensure that tiny attitude changes and load fluctuations can be captured, providing sufficiently dense data support for real-time control. The determination of the acquisition frequency is directly related to the "timeliness" of the data and is the basis for the accuracy of subsequent control decisions.

[0031] In this embodiment, the real-time operation sub-data unit collects dynamic operation data for each hydraulic channel individually, using the sensor group equipped for each hydraulic channel, at a specific acquisition frequency. This data also defines the core components of the data. For example, in an aircraft landing gear hydraulic channel, the sensor group includes a displacement sensor (to monitor landing gear extension and retraction), a pressure sensor (to detect hydraulic cylinder chamber pressure), and a speed sensor (to record retraction and extension speed). At a frequency determined by the acquisition frequency unit (e.g., 50ms per retraction and extension during takeoff), the "real-time operation sub-data" for that channel is collected in real time. The "acquisition time" is accurate to the second, and the "real-time parameter values" include displacement, pressure, speed, flow, and other parameters at that time. Each parameter value corresponds to the same acquisition time.

[0032] In this embodiment, the real-time operation data unit integrates the real-time operation sub-data of all hydraulic channels into system-level real-time operation data, enabling global visualization of multi-channel status. In aviation scenarios, such as aircraft flight, multiple hydraulic channels such as flaps, landing gear, and rudders are involved. The sub-data for each channel (such as flap angle, landing gear pressure, and rudder displacement) are aggregated and aligned based on the acquisition time (e.g., using t = 10:05:30.120 as the time base) to form real-time operation data containing all channel parameters.

[0033] The beneficial effects of the above technology are: real-time collection of real-time operating data of multiple hydraulic channels can ensure the timeliness of data while reducing system load, and improve data support for determining the stage to which real-time operating data belongs, executing time tags, adjusting control instructions and adjusting time. Embodiment 4:

[0034] Based on Example 1, a multi-channel hydraulic coordinated control system, a stage determination module, includes: Phase task data unit: parses the work task requirements in the task requirements of multiple hydraulic channels, determines multiple phase tasks and phase task data of each phase task, wherein the phase task data includes phase task objectives and phase task performance data; A stage channel set unit: determining a stage channel set for executing a stage task target of each stage task based on the stage task data of each stage task, wherein the stage channel set includes a plurality of hydraulic channels; Phase channel data unit: based on the phase channel set of the phase task target of each phase task, extracts the channel execution sub-data of all hydraulic channels in the channel execution data to determine the phase channel data of each phase task; Phase task instruction data unit: The phase task data, phase channel set and phase channel data of each phase task are input into the simulation control model to generate phase task instruction data for multiple hydraulic channels based on each phase task, wherein the phase task instruction data include the phase task start time, the phase task end time, the phase start conditions of each channel in the phase channel set, the phase end requirements, the channel control instructions and the collaborative constraint instructions of every two channels in the phase channel set.

[0035] In this embodiment, the phase task data unit breaks down the overall task requirements into multiple phase tasks, and specifies the phase task objectives and phase task performance data for each phase. Taking the aircraft takeoff mission as an example, the task requirement is "from taxiing on the ground to liftoff and completing the coordinated action of flaps and landing gear." After analysis, it is divided into phase tasks such as "sliding preparation phase, takeoff acceleration phase, liftoff and climb phase, and cruise phase." Phase task objectives: For example, "During the liftoff and climb phase, the flaps need to be adjusted from the takeoff position (30°) to the cruise position (10°), and the landing gear needs to be retracted at the same time." Phase task performance data: This includes action completion time (such as flap adjustment needs to be completed within 15 seconds), accuracy requirements (such as flap angle error ≤ 0.5°), and load limits (such as aerodynamic drag ≤ 8000N when the landing gear is retracted), providing clear standards for subsequent phase execution.

[0036] In this embodiment, the stage channel aggregation unit selects the specific hydraulic channels involved in execution based on the objectives of each stage's mission. For example, if the mission objective of the "taxi preparation phase" is "maintain flaps at 0° and landing gear extended and locked," the corresponding stage channel aggregation is "left / right flap hydraulic cylinder (standby state), front / main landing gear locking hydraulic cylinder (operating state)." The mission objective of the "liftoff and climb phase" involves flap adjustment and landing gear retraction, so the stage channel aggregation is expanded to "left / right flap adjustment hydraulic cylinder, front / main landing gear retraction hydraulic cylinder, and landing gear locking auxiliary hydraulic cylinder." This ensures that all channels relevant to the phase objective are included in the control scope, while irrelevant channels (such as the door hydraulic channel) are not involved, thus reducing system redundancy.

[0037] In this embodiment, the phase channel data unit extracts specific characteristic data for each channel within the phase channel set from the global channel execution data. For example, during the "liftoff phase," the hardware parameters (e.g., maximum adjustment speed of 0.5° / s, thrust limit of 10,000N) and dynamic load data (e.g., current aerodynamic drag of 6,000N, expected to decrease to 3,000N with increasing altitude) of the "left flap adjustment hydraulic cylinder" are extracted from the channel execution data. The corresponding data for the "main landing gear retraction and extension hydraulic cylinder" (e.g., retraction and extension speed of 0.3m / s, total load to overcome gravity + aerodynamic drag of 12,000N) are also simultaneously extracted. This data focuses solely on the channels involved in the current phase, providing targeted parameter support for command generation.

[0038] In this embodiment, the phase task instruction data unit inputs phase task data, phase channel sets, and phase channel data into the simulation control model to generate detailed phase instructions. For example, for the "liftoff and climb phase," the phase instructions include: phase start time (t = 350 seconds) and end time (1250 seconds after liftoff); single-channel instructions, such as the phase start condition for the left flap hydraulic cylinder (current angle 30° ± 0.5°), phase end requirement (angle 10° ± 0.5°), and channel control instructions (acceleration to 0.3° / s from 0-5 seconds, constant speed from 5-10 seconds, and deceleration to a stop from 10-15 seconds); and coordinated constraint instructions, such as "the angle difference between the left and right flap hydraulic cylinders must be ≤ 0.3° (synchronization constraint)" and "the landing gear retraction hydraulic cylinder must be activated after the flap angle is ≤ 15° (sequential constraint)." These ensure coordinated multi-channel actions and avoid mechanical interference or load imbalance.

[0039] The beneficial effects of the above technology are: based on task requirements and channel execution data, multiple stage tasks and the stage channel set, stage channel data and stage task instruction data of each stage task are determined, which can accurately match the stage channel set of each stage task, avoid resource waste, take into account single-channel accuracy and multi-channel coordination, and improve the accuracy and reliability of control. Example 5:

[0040] Based on Example 1, a multi-channel hydraulic coordinated control system, a control module, includes: The phase and execution time label unit determines the phase and execution time label of the real-time operation data based on the collection time of the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the phase task start time and phase task end time in the phase task instruction data of each phase task, wherein the execution time label includes the phase task start label, the phase task duration label and the phase task end label; Current operation data unit: based on the stage channel set of the stage task of the stage to which the real-time operation data belongs, extracts the real-time parameter vectors of all hydraulic channels in the real-time operation data to determine the current operation data at the collection time; Adjustment control instructions and adjustment time units: Based on the current operation data, the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the execution time label, the adjustment control instructions and adjustment time of the real-time operation data are determined, wherein the adjustment control instruction is a start adjustment control instruction, a continuous adjustment control instruction, or an end adjustment control instruction, and the adjustment time is a start adjustment time, a continuous adjustment time, or an end adjustment time.

[0041] In this embodiment, the phase and execution time label unit clearly defines the task phase corresponding to the real-time operation data and the current phase node. Specifically, it extracts the acquisition time of each channel in the real-time operation data (such as t=338s) and compares it with the time boundary in the task instruction data of each phase (such as "taxi preparation phase: t=0-300 seconds, takeoff acceleration phase: t=300-350 seconds, takeoff climb phase: t=350-1250s") to determine which phase it currently belongs to (such as t=338s belongs to the takeoff acceleration phase). At the same time, the execution time label is marked according to the position of the acquisition time within the phase: if t=300s (the start time of the phase), it is marked as a "phase task start label"; if t=338s (in the middle of the phase), it is marked as a "phase task continuation label"; if t=350s (the end time of the phase), it is marked as a "phase task end label".

[0042] In this embodiment, the current operation data unit filters out the relevant channel data for the current stage from the global real-time operation data. Based on the stage channel set of the stage (such as the "left / right flap hydraulic cylinder and main landing gear retraction and extension hydraulic cylinder" involved in the takeoff stage), the real-time parameter values ​​of these channels at the time of collection (such as the left flap angle of 25°, the right flap angle of 24.8°, and the main landing gear retraction and extension pressure of 20MPa) are extracted from the real-time operation data to form the current operation data. For example, if the current stage is takeoff, the unit will ignore the data of channels unrelated to takeoff (such as the door hydraulic channel) and only retain the parameters of key channels such as flaps and landing gear, ensuring that subsequent control focuses on the core execution body of the current stage and avoiding interference from irrelevant data.

[0043] The beneficial effects of the above technology are: based on real-time operation data and the stage task instruction data of all stage tasks, the stage to which the real-time operation data belongs and the execution time label are determined, and the adjustment control instructions and adjustment time of the real-time operation data are determined. The stage and execution label can be accurately located, avoiding data redundancy and control lag in multi-stage task switching, and improving control accuracy under complex working conditions. Example 6:

[0044] Based on Example 5, a multi-channel hydraulic coordinated control system, adjusting control instructions and adjusting time units, includes: Start adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task start tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage start condition of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage start condition of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate a start adjustment control instruction; Start adjustment time subunit: executes the start adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the stage start condition of the corresponding channel, marks the start execution of the stage task of the stage to which the real-time operation data belongs, and records the start adjustment time of the execution start adjustment control instruction of the stage task of the stage to which the real-time operation data belongs; Execution time point subunit: If the execution time tag of the real-time operation data is a stage task duration tag, the execution time point of the real-time operation data based on the collection time of the real-time operation data, the stage task start time, and the start adjustment time is determined; The time channel instruction subunit extracts the channel control instruction of each channel in the current operation data from the stage task instruction data of the stage to which the real-time operation data belongs based on the execution time point, and determines the time channel instruction of each channel in the current operation data; Continuously adjusting the control instruction subunit: judging whether the real-time operation sub-data of each channel in the current operation data satisfies the time channel instruction of each channel in the current operation data; if the real-time operation sub-data of any channel does not satisfy the time channel instruction of the channel, determining the continuously adjusting control instruction based on the real-time operation sub-data of all unsatisfied channels, the time channel instruction, all the coordinated constraint instructions in the stage task instruction data of the stage to which the real-time operation data belongs, and the simulation control model; Continuous adjustment time subunit: executes the continuous adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the time channel instruction of the corresponding channel, and records the continuous adjustment time of executing the continuous adjustment control instruction based on the acquisition time; End adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task end tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage end requirement of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage end requirement of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate an end adjustment control instruction; End adjustment time unit: execute the end adjustment control instruction until the real-time operation sub-data of all channels in the current operation data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time operation data belongs as completed, and record the end adjustment time of the execution end adjustment control instruction of the stage task of the stage to which the real-time operation data belongs.

[0045] In this embodiment, the startup adjustment control command subunit ensures that all participating channels meet the preset startup conditions at the start of a phase mission. When the execution time tag is the "phase mission start tag" (e.g., t=0 during the taxi preparation phase), it compares the real-time operating sub-data of each channel in the current operational data with the startup conditions for that phase. For example, the taxi preparation phase requires "main landing gear locking hydraulic cylinder pressure ≥ 18 MPa" and "steering hydraulic cylinder initial angle ≤ 0.5°." If the measured main landing gear pressure is 16 MPa (not meeting these conditions), the real-time sub-data for that channel (pressure 16 MPa, acquisition time t=0) and the startup condition (≥ 18 MPa) are input into the simulation control model. Based on the flow-pressure relationship of the hydraulic system, the model generates targeted startup adjustment control commands (e.g., "Start the ground auxiliary hydraulic pump, increase the main landing gear oil flow to 12 L / min, and continuously replenish pressure"), clearing the way for the official start of the phase mission.

[0046] In this embodiment, the start adjustment time sub-unit executes the start adjustment control instruction and records the time from the execution of the instruction to the time when all channels meet the start conditions. Taking the taxi preparation stage as an example, after executing the instruction of "increasing the oil flow of the main landing gear", it will continue to monitor the pressure changes of the main landing gear through the sensor until the pressure reaches 18MPa (such as meeting the standard at t=10s). At this time, the unit will mark "start execution" for the "taxi preparation stage" in the system to make it clear that the stage task has officially started. At the same time, the start adjustment time is recorded as 10s (from t=0 to t=10s). This time data will be used as a reference for the time planning of subsequent stage tasks (such as the start time of the subsequent stage needs to be adjusted based on this) to ensure that all channels enter the task process in a synchronized and ready state.

[0047] In this embodiment, the execution time point sub-unit calculates the actual effective execution time of the current moment within the stage during the duration of the stage task. When the execution time tag is the "stage task duration tag" (such as t=100s in the taxi preparation stage), it will use the stage task start time (t=0) as the benchmark, deduct the startup adjustment time (10s), and obtain the current execution time point: 100s-10s=90s, that is, "the taxi preparation stage has been effectively executed for 90s." This execution time point is the key to matching the timing requirements in the stage task instruction data (for example, the stage task instruction may stipulate that "when the effective execution is 90s, the aircraft must taxi to the middle of the runway"), providing an accurate time reference for the subsequent extraction of the channel control instructions of the corresponding time.

[0048] In this embodiment, the time-channel instruction subunit extracts the specific control objectives for each channel at the corresponding moment from the stage-task instruction data based on the execution time. For example, during the taxi preparation phase, at the execution time of 90 seconds, the stage-task instruction data might include information such as "the steering hydraulic cylinder must maintain a 3°±0.2° angle (to ensure the aircraft taxis along the runway centerline)" and "the brake hydraulic cylinder pressure must be stabilized at 5MPa (to prevent excessive taxiing speed)." This unit extracts this information from the instruction data based on the execution time of 90 seconds and determines the time-channel instructions for the steering and brake hydraulic cylinders. This serves as the standard for evaluating the channel's operating status at the current moment, ensuring that each channel's actions conform to the stage-task's timing plan.

[0049] In this embodiment, the continuous adjustment time sub-unit executes the continuous adjustment control instruction and records the duration of the adjustment process. For example, after executing the "fine-tune the left steering hydraulic cylinder flow" instruction during the taxiing preparation phase, it will continuously monitor the angle change of the steering cylinder until the angle drops to 3.1° (satisfying the ±0.2° deviation requirement, such as meeting the standard at t=155s). At this time, the unit records the continuous adjustment time as 5s (from t=150s to t=155s). This time data reflects the response speed of the channel to the adjustment instruction and can provide a reference for subsequent adjustments to similar deviations (for example, if the angle deviation occurs again, the time required for adjustment can be estimated based on this).

[0050] In this embodiment, the end adjustment control instruction sub-unit ensures that all channels meet the end-of-stage requirements at the end of the stage task and prepares for the stage switch. When the execution time label is the "stage task end label" (such as t=300s in the taxiing preparation stage), it will check whether the real-time operation sub-data of each channel meets the end requirements (such as "the brake hydraulic cylinder pressure needs to be reduced to 2MPa" and "the steering hydraulic cylinder needs to be returned to 0°"). If the brake hydraulic cylinder pressure is measured to be 3MPa (does not meet the requirements), the real-time sub-data of the channel (3MPa) and the stage end requirements (≤2MPa) are input into the simulation control model to generate the end adjustment control instruction (such as "open the brake hydraulic cylinder unloading valve and reduce the pressure to 2MPa") to ensure that the stage task can be completely closed.

[0051] In this embodiment, the end adjustment time unit executes the end adjustment control instruction and marks the stage task completed after all channels meet the end requirements. Taking the taxi preparation stage as an example, after executing the "open the brake hydraulic cylinder unloading valve" instruction, it will continue to monitor the pressure changes in the brake cylinder until the pressure drops to 2MPa (such as meeting the standard at t=302s). At this time, the unit will mark the "taxi preparation stage" as "completed execution" in the system to make it clear that the task of this stage has ended. At the same time, the end adjustment time is recorded as 2s (from t=300s to t=302s). This time data will be used as a reference for the start time of the next stage (takeoff acceleration stage) (if the start time of the next stage is t=302s) to ensure seamless connection between stages.

[0052] The beneficial effects of the above technology are: based on the current operation data, the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the execution time label, the adjustment control instruction and adjustment time of the real-time operation data are determined, wherein the adjustment control instruction is a start adjustment control instruction, a continuous adjustment control instruction or an end adjustment control instruction, and the adjustment time is a start adjustment time, a continuous adjustment time or an end adjustment time. A closed-loop adjustment mechanism can be realized and adaptation instructions can be generated to achieve dynamic and precise coordination of multi-channel hydraulic control, thereby improving the reliability and accuracy of control required to execute complex tasks. Example 7:

[0053] Based on Example 6, a multi-channel hydraulic coordinated control system continuously adjusts the control instruction subunit, including: Single channel deviation vector component: determines the single channel deviation vector of each channel based on the real-time running sub-data of each channel and the time channel instruction; Collaboration target component: converts each collaboration constraint instruction in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs into a collaboration constraint formula, and determines the collaboration target of each collaboration constraint instruction; Real-time coordination error matrix component: based on the coordination constraint formulas of all coordination constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, constructs the real-time coordination error matrix of the stage task of the stage to which the real-time operation data belongs; Sorting component: sorting the constraint priorities of all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time running data belongs; Cooperative compensation column vector component: Calculates the cooperative compensation column vector of real-time operation data based on the single-channel deviation vectors of all channels, the real-time coordination error matrix, and the cooperative targets of all cooperative constraint instructions; Continuously adjust the control instruction component: input the single-channel deviation vectors of all channels, time channel instructions, all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the collaborative compensation column vector into the simulation control model to generate continuously adjust the control instructions.

[0054] In this embodiment, the single-channel deviation vector component quantifies the deviation between each channel's actual operating state and the target command. For example, during the liftoff phase (t=500s, execution time 140s), the real-time operating sub-data for a channel (such as the left flap hydraulic cylinder) is "angle 15°, speed 0.8° / s," while the corresponding time channel command is "angle 16°, speed 1.0° / s." This component integrates the difference between the two (angle deviation -1°, speed deviation -0.2° / s) into a single-channel deviation vector, visually reflecting the degree of deviation in each parameter dimension for that channel and providing baseline data for subsequent compensation calculations.

[0055] In this embodiment, the single-channel deviation vector component determines the single-channel deviation vector of each channel based on the real-time operation sub-data of each channel and the time channel instruction. The calculation formula of the single-channel deviation vector can be expressed as: ; in, Represents the single channel bias vector of channel a, The first single channel deviation vector indicates that the real-time operation sub-data of the a-th channel does not meet the channel time channel instruction of the a-th channel. 、 、 They respectively represent the deviation value of the 1st parameter, the deviation value of the jth parameter, and the deviation value of the aN1th parameter when the real-time operation sub-data of the ath channel does not meet the channel time channel instruction of the ath channel. aN1 represents the number of parameters in the real-time operation sub-data of the ath channel that does not meet the requirements. Indicates the i-th single-channel deviation vector (zero vector) when the real-time operation sub-data of the a-th channel meets the channel of the time channel instruction of the a-th channel.

[0056] In this embodiment, the single-channel deviation proportional gain sub-matrix of each channel is a diagonal matrix of aN1×aN1, and the diagonal elements respectively represent the compensation strength of the deviation value of the corresponding parameter.

[0057] In this embodiment, the collaborative target component converts the abstract collaborative constraint instructions in the stage tasks into quantifiable mathematical formulas and clear collaborative targets. For example, during the takeoff and climb phase, the coordinated constraint instructions of multiple hydraulic channels usually revolve around "aerodynamic balance" and "action synchronization". Coordinated constraint instruction 1: "The angle difference between the left flap and the right flap must be ≤0.5°", the component will convert it into the coordinated constraint formula "|θleft-θright|≤0.5°", and determine the coordinated target as "θleft-θright=0°" (that is, the angle difference approaches 0, the optimal state); Coordinated constraint instruction 2: "The ratio of the flap adjustment speed to the landing gear retraction speed must be maintained at 2:1" (to ensure that the change in flap aerodynamic drag matches the landing gear retraction rhythm), converted into the formula "vflaps / vlanding gear=2", and the coordinated target is "vflaps=2×vlanding gear"; Coordinated constraint instruction 3: "The deflection directions of the left aileron and the right aileron are opposite, and the absolute values ​​of the angles are equal" (to ensure smooth steering of the fuselage), converted into the formula "θleft aileron=-θright aileron", and the coordinated target is "θleft aileron+θright aileron=0°".

[0058] In this embodiment, the real-time coordination error matrix component quantifies the deviation between the multi-channel real-time operation data and the coordination target based on the coordination constraint formula, forming a global coordination error record in matrix form. Taking the takeoff and climb phase t=500s (execution time point 150s) as an example, the phase channel set includes 5 channels: left flap, right flap, left aileron, right aileron, and landing gear. Combined with the real-time data at this time: the left flap angle θleft = 15.3°, the right flap angle θright = 14.7°, substituting into the formula "θleft - θright" to get 0.6°, the deviation from the coordination target 0° is +0.1° (exceeding the upper limit of 0.5°), corresponding to the matrix row [1,-1,0,0,0]; the flap adjustment speed vflap = 0.8° / s, The landing gear retraction and extension speed vlandinggear = 0.35 m / s. Substituting this into the formula "vflaps - 2 × vlandinggear" yields 0.8 - 2 × 0.35 = 0.1° / s, with a deviation from the coordinated target of 0 of +0.1° / s, corresponding to the matrix row [0, 0, 0, 0, -2]. The left aileron angle θleftaileron = 2.1°, and the right aileron angle θrightaileron = -2.0°. Substituting this into the formula "θleftaileron + θrightaileron" yields 0.1°, with a deviation from the coordinated target of 0 of +0.1°, corresponding to the matrix row [0, 0, 1, 1, 0].

[0059] In this embodiment, the real-time coordination error matrix component is constructed based on the coordination constraint formulas of all coordination constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs. The calculation formula of the real-time coordination error matrix can be expressed as: ; Among them, C represents the real-time coordination error matrix of the stage task of the stage to which the real-time operation data belongs, They represent the weights of the first collaborative constraint instruction on the first channel, the ath channel, and the N2th channel, respectively. They represent the weights of the bth collaborative constraint instruction on the 1st channel, the ath channel, and the N2th channel, respectively. They represent the weights of the N3th collaborative constraint instruction on the 1st channel, the ath channel, and the N2th channel respectively, N2 represents the number of channels of the multi-hydraulic channel, and N3 represents the number of collaborative constraint instructions of the stage task of the stage to which the real-time operation data belongs.

[0060] In this embodiment, each row of the real-time coordination error matrix corresponds to a constraint, each column corresponds to a channel, and non-zero elements appear only on the relevant channels.

[0061] In this embodiment, all coordinated constraint instructions in the sorting component are sorted by importance. For example, during the takeoff phase, "left / right flap angle difference ≤ 0.5°" directly affects the aircraft's aerodynamic balance and has a higher priority than "flap to landing gear speed ratio = 2" in terms of mission efficiency. Therefore, the sorting order is "left / right flap angle difference ≤ 0.5°" and "flap to landing gear speed ratio = 2."

[0062] In this embodiment, the collaborative compensation column vector component calculates the collaborative compensation column vector of the real-time operation data based on the single-channel deviation vectors of all channels, the real-time coordination error matrix, and the collaborative targets of all collaborative constraint instructions. The calculation formula for calculating the collaborative compensation column vector can be expressed as: ; Among them, U represents the collaborative compensation column vector, Kp represents the single channel deviation proportional gain matrix, Kc represents the collaborative constraint gain matrix, X represents the channel parameter value column vector of all channels, T represents the collaborative target column vector of the stage task of the stage to which the real-time operation data belongs, CO represents the hydraulic coupling column vector of all channels, and e represents the comprehensive channel deviation column vector of all channels. Respectively represent the real-time parameter value vectors of the 1st channel, the ath channel, and the N2th channel based on the real-time running sub-data, 、 、 Respectively represent the transpose of the real-time parameter value vectors of the 1st channel, the ath channel, and the N2th channel, They represent the collaborative targets of the 1st collaborative constraint instruction, the bth collaborative constraint instruction, and the N3th collaborative constraint instruction of the stage task of the stage to which the real-time operation data belongs, respectively. Represent the single channel deviation vectors of the 1st channel and the N2th channel respectively, Represent the transpose of the single channel deviation vector of the 1st channel, the ath channel, and the N2th channel respectively, 、 、 Respectively represent the flow-pressure coupling values ​​of the 1st channel, the ath channel, and the N2th channel, Represent the single channel deviation proportional gain submatrices of the 1st channel, the ath channel, and the N2th channel respectively, They represent the collaborative constraint gains of the 1st collaborative constraint instruction, the bth collaborative constraint instruction, and the N3th collaborative constraint instruction, respectively. represents the first gain coefficient, represents the second gain coefficient, rank(b) represents the order of the b-th collaborative constraint instruction in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs after the constraint priority is sorted, Indicates that the real-time running data is based on the violation value of the b-th collaborative constraint instruction. Indicates the absolute value of the violation value of the bth coordination constraint instruction based on the real-time running data. represents the violation standard deviation of the real-time operation data based on the b-th collaborative constraint instruction, α represents the pressure balance weight, represents the hydraulic coupling coefficient between the ath channel and the cth channel, represents the hydraulic pressure of the ath channel, Indicates the average hydraulic pressure of all channels.

[0063] In this embodiment, the pressure balance weight α may be in the range of 0.2-0.5, and the hydraulic coupling coefficient is calibrated based on experiments.

[0064] In this embodiment, the first gain coefficient represents a basic gain coefficient, for example, safety constraint: 0.7, performance constraint: 0.3.

[0065] In this embodiment, the second gain coefficient is the nonlinear response gain, and its value range can be 0.2-0.8.

[0066] In this embodiment, if the bth collaborative constraint instruction is the displacement synchronization of channels 1 and 2, and the displacement difference between channels 1 and 2 in the real-time operation data is 0.7 mm, then =0.7.

[0067] In this embodiment, the violation standard deviation can be calculated based on historical operation data and all violation values ​​of the bth coordination constraint instruction.

[0068] In this embodiment, the continuous adjustment control command component inputs the single-channel deviation, time channel command, coordination constraint command, and coordination compensation vector into the simulation model to generate the final continuous adjustment command. For example, during the liftoff phase, if the left flap angle deviation is -1° and the coordination compensation requires an additional +0.2°, the model will combine the time channel command (target 16°) and generate the command "Increase the left flap hydraulic cylinder speed to 1.2° / s for 1 second." This not only corrects the single-channel deviation (from 15° to 16°), but also ensures that the angle difference with the right flap meets the target (from 0.8° to 0.3°) through the compensation amount, achieving dual correction of single-channel accuracy and multi-channel coordination.

[0069] The beneficial effects of the above technology are: executing continuous adjustment control instructions until the real-time operation sub-data of each channel in the current operation data meets the time channel instructions of the corresponding channel, recording the continuous adjustment time of executing the continuous adjustment control instructions based on the acquisition time, and forming a closed-loop adjustment mechanism of deviation-constraint-compensation, breaking through the limitations of single-channel independent correction, solving the overall imbalance problem caused by the neglect of collaborative constraints, and achieving dual protection of single-channel accuracy and multi-channel collaboration under complex working conditions. Example 8:

[0070] Based on Example 1, a multi-channel hydraulic coordinated control system, a correction module, includes: Correction unit: based on the adjustment time of the real-time operation data, corrects the stage task start time and stage task end time in the stage task instruction data of each stage task after the stage task of the stage to which the real-time operation data belongs; Real-time control reporting unit: Generates real-time control reports based on the phase of real-time running time, execution time tag, adjustment control instructions and adjustment time.

[0071] In this embodiment, the correction unit synchronously updates the time boundaries of all subsequent phases based on the current phase's adjustment time, ensuring consistent timing throughout the entire process. For example, the taxi preparation phase was originally scheduled to end at t=300s, but due to a start adjustment (10s) and an end adjustment (2s), the actual end time is delayed to t=312s. In this case, the correction unit adjusts the time boundaries of subsequent phases based on this 12-second total adjustment time: the start time of the takeoff acceleration phase is delayed from t=300s to t=312s, and the end time is delayed from t=350s to t=362s; the start time of the liftoff climb phase is delayed from t=350s to t=362s, and the end time is delayed from t=1250s to t=1262s, and so on. This correction ensures that the start of subsequent phases does not conflict with the end of the current phase, avoiding timing confusion such as "the previous phase has not yet ended, while the next phase has already started."

[0072] The beneficial effects of the above technology are: based on the stage to which the real-time operation data belongs and the adjustment time, the stage task instruction data of all stage tasks are corrected to generate a real-time control report, which can solve the problem of full-process timing misalignment caused by the current stage adjustment, and generate real-time reports based on full-dimensional data to achieve traceability and optimisation of the control process.

[0073] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A multi-channel hydraulic coordinated control system, characterized in that: include: Acquisition module: acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operation data of multiple hydraulic channels in real time; Phase determination module: Based on task requirements and channel execution data, determine multiple phase tasks and the phase channel set, phase channel data and phase task instruction data of each phase task; Control module: Based on the real-time operation data and the stage task instruction data of all stage tasks, determine the stage to which the real-time operation data belongs and the execution time tag, and determine the adjustment control instruction and adjustment time of the real-time operation data; Correction module: Corrects the stage task instruction data of all stage tasks based on the stage to which the real-time operation data belongs and the adjustment time, and generates a real-time control report.

2. A multi-channel hydraulic coordinated control system according to claim 1, characterized in that: Get the acquisition module, including: Task requirement unit: obtains the task requirements of multiple hydraulic channels, where the task requirements include control real-time requirements and work task requirements; Channel execution sub-data unit: obtains channel execution sub-data of each hydraulic channel, wherein the channel execution sub-data includes hardware parameter data and dynamic load data of the hydraulic channel; Channel execution data unit: determines channel execution data of multiple hydraulic channels based on channel execution sub-data of all hydraulic channels.

3. The multi-channel hydraulic coordinated control system according to claim 1, characterized in that: Acquisition module also includes: Acquisition frequency unit: determines the acquisition frequency of multiple hydraulic channels based on the real-time control requirements in the task requirements of multiple hydraulic channels; Real-time operation sub-data unit: based on the acquisition frequency and the sensor group of each hydraulic channel, real-time acquisition of the real-time operation sub-data of each hydraulic channel, wherein the real-time operation sub-data includes the acquisition time and the real-time parameter values ​​of multiple parameters; Real-time operation data unit: determines the real-time operation data of multiple hydraulic channels based on the real-time operation sub-data of all hydraulic channels.

4. A multi-channel hydraulic coordinated control system according to claim 1, characterized in that: Phase determination module, including: Phase task data unit: parses the work task requirements in the task requirements of multiple hydraulic channels, determines multiple phase tasks and phase task data of each phase task, wherein the phase task data includes phase task objectives and phase task performance data; A stage channel set unit: determining a stage channel set for executing a stage task target of each stage task based on the stage task data of each stage task, wherein the stage channel set includes a plurality of hydraulic channels; Phase channel data unit: based on the phase channel set of the phase task target of each phase task, extracts the channel execution sub-data of all hydraulic channels in the channel execution data to determine the phase channel data of each phase task; Phase task instruction data unit: The phase task data, phase channel set and phase channel data of each phase task are input into the simulation control model to generate phase task instruction data for multiple hydraulic channels based on each phase task, wherein the phase task instruction data include the phase task start time, the phase task end time, the phase start conditions of each channel in the phase channel set, the phase end requirements, the channel control instructions and the collaborative constraint instructions of every two channels in the phase channel set.

5. The multi-channel hydraulic coordinated control system according to claim 1, characterized in that: Control module, including: The phase and execution time label unit determines the phase and execution time label of the real-time operation data based on the collection time of the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the phase task start time and phase task end time in the phase task instruction data of each phase task, wherein the execution time label includes the phase task start label, the phase task duration label and the phase task end label; Current operation data unit: based on the stage channel set of the stage task of the stage to which the real-time operation data belongs, extracts the real-time parameter vectors of all hydraulic channels in the real-time operation data to determine the current operation data at the collection time; Adjustment control instructions and adjustment time units: Based on the current operation data, the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the execution time label, the adjustment control instructions and adjustment time of the real-time operation data are determined, wherein the adjustment control instruction is a start adjustment control instruction, a continuous adjustment control instruction, or an end adjustment control instruction, and the adjustment time is a start adjustment time, a continuous adjustment time, or an end adjustment time.

6. A multi-channel hydraulic coordinated control system according to claim 5, characterized in that: Adjust control instructions and adjust time units, including: Start adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task start tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage start condition of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage start condition of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate a start adjustment control instruction; Start adjustment time subunit: executes the start adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the stage start condition of the corresponding channel, marks the start execution of the stage task of the stage to which the real-time operation data belongs, and records the start adjustment time of the execution start adjustment control instruction of the stage task of the stage to which the real-time operation data belongs; Execution time point subunit: If the execution time tag of the real-time operation data is a stage task duration tag, the execution time point of the real-time operation data based on the collection time of the real-time operation data, the stage task start time, and the start adjustment time is determined; The time channel instruction subunit extracts the channel control instruction of each channel in the current operation data from the stage task instruction data of the stage to which the real-time operation data belongs based on the execution time point, and determines the time channel instruction of each channel in the current operation data; Continuously adjusting the control instruction subunit: judging whether the real-time operation sub-data of each channel in the current operation data satisfies the time channel instruction of each channel in the current operation data; if the real-time operation sub-data of any channel does not satisfy the time channel instruction of the channel, determining the continuously adjusting control instruction based on the real-time operation sub-data of all unsatisfied channels, the time channel instruction, all the coordinated constraint instructions in the stage task instruction data of the stage to which the real-time operation data belongs, and the simulation control model; Continuous adjustment time subunit: executes the continuous adjustment control instruction until the real-time operation sub-data of each channel in the current operation data meets the time channel instruction of the corresponding channel, and records the continuous adjustment time of executing the continuous adjustment control instruction based on the acquisition time; End adjustment control instruction subunit: if the execution time tag of the real-time operation data is a stage task end tag, determine whether the real-time operation sub-data of each channel in the current operation data meets the stage end requirement of each channel in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs; if the real-time operation sub-data of any channel does not meet the stage end requirement of the channel, input the real-time operation sub-data of all unsatisfied channels and the stage start conditions into the simulation control model to generate an end adjustment control instruction; End adjustment time unit: execute the end adjustment control instruction until the real-time operation sub-data of all channels in the current operation data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time operation data belongs as completed, and record the end adjustment time of the execution end adjustment control instruction of the stage task of the stage to which the real-time operation data belongs.

7. The multi-channel hydraulic coordinated control system according to claim 6, characterized in that: Continuously adjust the control command subunit, including: Single channel deviation vector component: determines the single channel deviation vector of each channel based on the real-time running sub-data of each channel and the time channel instruction; Collaboration target component: converts each collaboration constraint instruction in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs into a collaboration constraint formula, and determines the collaboration target of each collaboration constraint instruction; Real-time coordination error matrix component: based on the coordination constraint formulas of all coordination constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, constructs the real-time coordination error matrix of the stage task of the stage to which the real-time operation data belongs; Sorting component: sorting the constraint priorities of all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time running data belongs; Cooperative compensation column vector component: Calculates the cooperative compensation column vector of real-time operation data based on the single-channel deviation vectors of all channels, the real-time coordination error matrix, and the cooperative targets of all cooperative constraint instructions; Continuously adjust the control instruction component: input the single-channel deviation vectors of all channels, time channel instructions, all collaborative constraint instructions in the stage task instruction data of the stage task of the stage to which the real-time operation data belongs, and the collaborative compensation column vector into the simulation control model to generate continuously adjust the control instructions.

8. The multi-channel hydraulic coordinated control system according to claim 1, characterized in that: Correction modules, including: Correction unit: based on the adjustment time of the real-time operation data, corrects the stage task start time and stage task end time in the stage task instruction data of each stage task after the stage task of the stage to which the real-time operation data belongs; Real-time control reporting unit: Generates real-time control reports based on the phase of real-time running time, execution time tag, adjustment control instructions and adjustment time.

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