A multi-channel hydraulic coordinated control system

Abstract

This invention relates to the field of hydraulic control technology, and specifically discloses a multi-channel hydraulic collaborative control system, comprising: an acquisition module for acquiring task requirements and channel execution data of multiple hydraulic channels, and real-time acquisition of real-time operating data of multiple hydraulic channels; a stage determination module for determining multiple stage tasks and the stage channel set, stage channel data, and stage task instruction data for each stage task; a control module for determining the stage to which the real-time operating data belongs, the execution time tag, the adjustment control instruction, and the adjustment time; and a correction module for correcting the stage task instruction data of all stage tasks and generating a real-time control report. This system can balance single-channel accuracy with multi-channel collaboration, achieving closed-loop precise collaborative control of multiple hydraulic channels, improving the accuracy and stability of hydraulic system operation, providing dual assurance of single-channel accuracy and multi-channel collaboration under complex working conditions, and enabling traceability and optimization of the control process.

Description

Technical Field

[0001] This invention relates to the field of hydraulic control technology, and in particular to a multi-channel hydraulic collaborative control system. Background Technology

[0002] The development of multi-channel hydraulic collaborative control technology is closely related to the needs of industrial automation. Early hydraulic systems primarily used single-channel control, such as steam engine hydraulic pumps, which only achieved simple power transmission without any collaborative 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, machine tool hydraulic slides, and engineering robotic arms. However, each channel was controlled in isolation, relying on mechanical linkages for coarse collaboration, making it prone to overall failure due to single-channel malfunctions. By the late 20th century, with the widespread adoption of computer control, multi-channel systems began to introduce centralized logic control. However, the stage divisions were vague, lacking dynamic correction mechanisms, and the collaborative accuracy was insufficient under complex operating conditions, making it difficult to cope with the temporal coupling requirements of multi-stage tasks. This laid the foundation for subsequent improvements in refined collaborative control technology.

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

[0004] This invention provides a multi-channel hydraulic collaborative control system. By acquiring task requirements and channel execution data from multiple hydraulic channels, it collects real-time operational data from these channels, determines multiple stage tasks and the stage channel set, stage channel data, and stage task instruction data for each stage task. It also determines the stage to which the real-time operational data belongs and its execution time stamp, and identifies adjustment control instructions and adjustment times for the real-time operational data. The system corrects the stage task instruction data for all stages and generates a real-time control report. It can accurately match the stage channel set for each stage task, balancing single-channel accuracy with multi-channel collaboration, achieving closed-loop precise collaborative control of multiple hydraulic channels. This improves the accuracy and stability of the hydraulic system, providing dual assurance of single-channel accuracy and multi-channel collaboration under complex working conditions, and enabling traceability and optimization of the control process.

[0005] This invention provides a multi-channel hydraulic coordinated control system, comprising:

[0006] Acquisition and Data Acquisition Module: Acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operating data of multiple hydraulic channels.

[0007] Phase Determination Module: Based on task requirements and channel execution data, determine multiple phase tasks and the set of phase channels, phase channel data, and phase task instruction data for each phase task;

[0008] Control module: Based on real-time running data and stage task instruction data of all stages, determine the stage to which the real-time running data belongs and the execution time label, and determine the adjustment control instructions and adjustment time for the real-time running data;

[0009] Correction module: Based on the stage and adjustment time of the real-time running data, the module corrects the stage task instruction data of all stages and generates a real-time control report.

[0010] Preferably, a multi-channel hydraulic collaborative control system includes a data acquisition module, comprising:

[0011] Task requirement unit: Acquires task requirements for multiple hydraulic channels, including real-time control requirements and work task requirements;

[0012] Channel execution sub-data unit: acquires channel execution sub-data for each hydraulic channel, including hardware parameter data and dynamic load data of the hydraulic channel;

[0013] Channel execution data unit: Based on the channel execution sub-data of all hydraulic channels, determine the channel execution data of multiple hydraulic channels.

[0014] Preferably, a multi-channel hydraulic collaborative control system, including a data acquisition module, further includes:

[0015] Acquisition frequency unit: Based on the real-time control requirements of the multi-hydraulic channel task, the acquisition frequency of the multi-hydraulic channel is determined;

[0016] Real-time operation sub-data unit: Based on the acquisition frequency and the sensor group of each hydraulic channel, the real-time operation sub-data of each hydraulic channel is acquired in real time. The real-time operation sub-data includes the acquisition time and the real-time parameter values ​​of multiple parameters.

[0017] Real-time operation data unit: Based on the real-time operation sub-data of all hydraulic channels, determine the real-time operation data of multiple hydraulic channels.

[0018] Preferably, a multi-channel hydraulic coordinated control system, a stage determination module, includes:

[0019] Phase Task Data Unit: Analyzes the work task requirements in the multi-hydraulic channel task requirements, determines multiple phase tasks and phase task data for each phase task, whereby the phase task data includes phase task objectives and phase task performance data.

[0020] Stage Channel Set Unit: Based on the stage task data of each stage task, determine the stage channel set for executing the stage task objective of each stage task, wherein the stage channel set includes multiple hydraulic channels;

[0021] Stage Channel Data Unit: Based on the stage task objectives of each stage task, the stage channel set is used to extract the channel execution sub-data of all hydraulic channels in the channel execution data to determine the stage channel data of each stage task;

[0022] Stage Task Instruction Data Unit: Input the stage task data, stage channel set, and stage channel data of each stage task into the simulation control model to generate stage task instruction data for each stage task based on multiple hydraulic channels. The stage task instruction data includes the stage task start time, stage task end time, stage start conditions, stage end requirements, channel control instructions, and collaborative constraint instructions for every two channels in the stage channel set.

[0023] Preferably, a multi-channel hydraulic coordinated control system includes a control module comprising:

[0024] The stage and execution time tag unit: Based on the acquisition time in the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the stage task start time and stage task end time in the stage task instruction data of each stage task, the stage and execution time tag of the real-time operation data are determined. The execution time tag includes the stage task start tag, the stage task duration tag and the stage task end tag.

[0025] Current running data unit: Based on the stage of the real-time running data, the set of stage channels of the stage task is extracted, and the real-time parameter vectors of all hydraulic channels in the real-time running data are determined to be the current running data at the acquisition time;

[0026] Adjustment control instructions and adjustment time units: Based on the current running data, the stage task instruction data of the stage to which the real-time running data belongs, and the execution time tag, determine the adjustment control instructions and adjustment time of the real-time running data. Among them, the adjustment control instructions are start adjustment control instructions, continuous adjustment control instructions, or end adjustment control instructions, and the adjustment time is the start adjustment time, continuous adjustment time, or end adjustment time.

[0027] Preferably, a multi-channel hydraulic coordinated control system, comprising adjusting control commands and adjusting time units, includes:

[0028] Start adjustment control instruction subunit: If the execution time tag of the real-time running data is the stage task start tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage start condition of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage start condition of the channel, input all the real-time running sub-data of the unmet channels and the stage start condition into the simulation control model to generate a start adjustment control instruction.

[0029] Start adjustment time subunit: Execute start adjustment control command until the real-time running sub-data of each channel in the current running data meets the corresponding channel stage start conditions, mark the start execution of the stage task of the stage to which the real-time running data belongs, and record the start adjustment time of the start adjustment control command of the stage task of the stage to which the real-time running data belongs.

[0030] Execution time point subunit: If the execution time label of the real-time running data is the stage task duration label, the execution time point of the real-time running data based on the collection time of the real-time running data, the start time of the stage task, and the start adjustment time is determined.

[0031] Time channel instruction subunit: Based on the execution time point, extract the channel control instructions of each channel belonging to the current running data from the stage task instruction data of the stage to which the real-time running data belongs, and determine the time channel instruction of each channel of the current running data;

[0032] Continuous adjustment control instruction subunit: Determine whether the real-time running sub-data of each channel in the current running data meets the time channel instruction of each channel in the current running data. If the real-time running sub-data of any channel does not meet the time channel instruction of that channel, determine the continuous adjustment control instruction based on all the cooperative constraint instructions in the stage task instruction data of the stage to which the real-time running data belongs, the time channel instruction of all channels that do not meet the requirements, and the simulation control model.

[0033] Continuous adjustment time subunit: Executes continuous adjustment control instructions until the real-time running sub-data of each channel in the current running data meets the time channel instructions of the corresponding channel, and records the continuous adjustment time based on the acquisition time of the execution of the continuous adjustment control instructions;

[0034] End Adjustment Control Instruction Subunit: If the execution time tag of the real-time running data is the stage task end tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage end requirements of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage end requirements of the channel, input all the real-time running sub-data of the channels that do not meet the requirements and the stage start conditions into the simulation control model to generate the end adjustment control instruction.

[0035] End of adjustment time unit: Execute the end of adjustment control command until all real-time running sub-data of all channels in the current running data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time running data belongs as completed, and record the end of adjustment time of the execution end of adjustment control command of the stage task of the stage to which the real-time running data belongs.

[0036] Preferably, a multi-channel hydraulic coordinated control system, comprising a continuously adjusting control command subunit, includes:

[0037] Single-channel deviation vector component: Based on the real-time running sub-data of each channel and the time channel command, determine the single-channel deviation vector of each channel;

[0038] Collaborative Target Component: Converts each collaborative constraint instruction in the stage task instruction data of the stage to which the real-time running data belongs into a collaborative constraint formula, and determines the collaborative target of each collaborative constraint instruction;

[0039] 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 to which the real-time running data belongs, a real-time coordination error matrix of the stage task to which the real-time running data belongs is constructed.

[0040] Sorting component: Sorts all collaborative constraint instructions by constraint priority in the stage task instruction data of the stage to which the real-time running data belongs.

[0041] Collaborative compensation column vector component: Based on the single-channel deviation vector of all channels, the real-time coordination error matrix, and the collaborative objectives of all collaborative constraint instructions, calculate the collaborative compensation column vector of real-time running data;

[0042] The continuous adjustment control command component inputs all single-channel deviation vectors of all channels, time channel commands, all cooperative constraint commands and cooperative compensation column vectors of the stage task command data of the real-time running data to the simulation control model to generate continuous adjustment control commands.

[0043] Preferably, a multi-channel hydraulic coordinated control system, including a correction module, comprises:

[0044] Correction Unit: Based on the adjustment time of real-time running data, corrects the start time and end time of each stage task in the stage task instruction data after the stage task of the real-time running data.

[0045] Real-time control reporting unit: Generates a real-time control report based on the stage to which the real-time running time belongs, the execution time stamp, the adjustment control command, and the adjustment time.

[0046] The beneficial effects of this invention compared to existing technologies are as follows: By acquiring the task requirements and channel execution data of multiple hydraulic channels, real-time operating data of multiple hydraulic channels is collected, multiple stage tasks and the stage channel set, stage channel data, and stage task instruction data of each stage task are determined. The stage to which the real-time operating data belongs and its execution time stamp are determined, and the adjustment control instructions and adjustment time of the real-time operating data are determined. The stage task instruction data of all stage tasks are corrected, and a real-time control report is generated. This allows for precise matching of the stage channel set of each stage task, balancing single-channel accuracy and multi-channel coordination, achieving closed-loop precise coordinated control of multiple hydraulic channels, improving the accuracy and stability of the hydraulic system, providing dual assurance of single-channel accuracy and multi-channel coordination under complex working conditions, and enabling traceability and optimization of the control process.

[0047] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures particularly pointed out in this application.

[0048] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0049] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0050] Figure 1 This is a schematic diagram of a multi-channel hydraulic collaborative control system according to an embodiment of the present invention. Detailed Implementation

[0051] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention. Example 1:

[0052] This invention provides a multi-channel hydraulic coordinated control system, referenced Figure 1 ,include:

[0053] Acquisition and Data Acquisition Module: Acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operating data of multiple hydraulic channels.

[0054] Phase Determination Module: Based on task requirements and channel execution data, determine multiple phase tasks and the set of phase channels, phase channel data, and phase task instruction data for each phase task;

[0055] Control module: Based on real-time running data and stage task instruction data of all stages, determine the stage to which the real-time running data belongs and the execution time label, and determine the adjustment control instructions and adjustment time for the real-time running data;

[0056] Correction module: Based on the stage and adjustment time of the real-time running data, the module corrects the stage task instruction data of all stages and generates a real-time control report.

[0057] In this embodiment, the phase determination module divides the entire work process into different phases based on task requirements and channel execution data. For example, in aviation control, it can be divided into the takeoff and climb phase, the cruise phase, and the landing phase. Each phase determines a corresponding set of phase channels, that is, it clarifies which hydraulic channels participate in the work of that phase, and determines the phase channel data and task command data. For example, in the takeoff and climb phase, the working parameters and action commands of the relevant hydraulic channels such as flaps and landing gear are specified.

[0058] In this embodiment, the multi-channel hydraulic collaborative control system can be applied to aerospace, construction, heavy machinery manufacturing, automobile manufacturing and testing, shipbuilding and shipping, and materials mechanics experimentation and research.

[0059] In this embodiment, the control module determines the current task stage based on real-time running data and stage task instruction data, and adds an execution time tag to the real-time running data. Then, it determines the adjustment control instruction and adjustment time. The adjustment control instruction can be a start adjustment control instruction, a continue adjustment control instruction, or a stop adjustment control instruction, and the adjustment time can be the start adjustment time, the continue adjustment time, or the stop adjustment time.

[0060] The beneficial effects of the above technology are as follows: By acquiring the task requirements and channel execution data of multiple hydraulic channels, real-time operating data of multiple hydraulic channels is collected, multiple stage tasks and the stage channel set, stage channel data, and stage task instruction data of each stage task are determined. The stage to which the real-time operating data belongs and its execution time stamp are determined, and the adjustment control instructions and adjustment time of the real-time operating data are determined. The stage task instruction data of all stage tasks are corrected, and a real-time control report is generated. It can accurately match the stage channel set of each stage task, balancing single-channel accuracy and multi-channel coordination, achieving closed-loop precise coordinated control of multiple hydraulic channels, improving the accuracy and stability of the hydraulic system operation, and providing dual assurance of single-channel accuracy and multi-channel coordination under complex working conditions. It also enables traceability and optimization of the control process. Example 2:

[0061] Based on Example 1, a multi-channel hydraulic collaborative control system includes a data acquisition module, comprising:

[0062] Task requirement unit: Acquires task requirements for multiple hydraulic channels, including real-time control requirements and work task requirements;

[0063] Channel execution sub-data unit: acquires channel execution sub-data for each hydraulic channel, including hardware parameter data and dynamic load data of the hydraulic channel;

[0064] Channel execution data unit: Based on the channel execution sub-data of all hydraulic channels, determine the channel execution data of multiple hydraulic channels.

[0065] In this embodiment, the real-time control requirement clearly defines the dynamic response speed requirements of the hydraulic system. In aviation scenarios, such as when adjusting the aircraft's flight attitude, the hydraulic channels (such as the actuators of ailerons and elevators) need to respond to commands in a very short time (e.g., the delay from receiving the "deviate 3° to the left" command to the actual completion of the action must be ≤50 milliseconds) to cope with sudden airflow or pilot operations; the real-time requirement for flap deployment during takeoff is reflected in "must deploy from 0° to 30° within 10 seconds", otherwise it will affect takeoff lift.

[0066] In this embodiment, the task requires defining the specific action targets and functional boundaries of the hydraulic channels. For example, the task requirements for aircraft landing may include "the landing gear hydraulic channels must complete the transition from the retracted state to the fully extended and locked state within 20 seconds" and "the brake hydraulic channels must establish braking pressure within 0.5 seconds after the landing gear touches the ground," while also specifying the constraints of the task (such as "the flaps must not interfere with the fuselage structure during deployment").

[0067] In this embodiment, for each independent hydraulic channel, basic data supporting its precise movement is collected, divided into two categories: static data reflecting the inherent physical characteristics of the hydraulic channel, including hardware parameter data. Taking aviation hydraulic channels as an example, this includes: the maximum thrust of the hydraulic cylinder (e.g., the maximum thrust of the landing gear actuator ≥ 10000N), stroke range (e.g., the extension / retraction of the flap actuator from 0° to 30° is 500mm), response time (e.g., the time for a servo valve to go from closed to fully open is ≤ 20 milliseconds), and rated working pressure (e.g., 30MPa). These data determine the upper limit of the channel's action capability. Dynamic load data: real-time load information that changes with operating conditions. For example, during aircraft flight, the dynamic load of the flap actuator includes aerodynamic forces at different flight speeds (e.g., aerodynamic forces reaching 8000N at Mach 0.8), alternating loads caused by fuselage vibrations, and impact loads that the landing gear actuator must withstand during landing (e.g., the instantaneous load during landing reaches 15000N). These data directly affect the magnitude of the force / torque that the channel needs to output.

[0068] In this embodiment, the "channel execution sub-data" of all hydraulic channels are integrated and correlated to form a holistic data foundation for multi-channel collaboration. In aviation control, for example: integrating the hardware parameters of the left and right flap actuators to determine their synchronization accuracy benchmark (e.g., due to hardware differences, the left flap response time is 5 milliseconds faster than the right flap, requiring compensation for this difference in collaborative control); correlating the dynamic load data of each channel to analyze load coupling relationships (e.g., when the aircraft turns, the load change of the aileron actuator affects the force on the rudder actuator, requiring evaluation of the total load limit during collaborative action using overall data); the resulting "channel execution data" can support subsequent stage task division (e.g., which channels need to operate in the same stage) and collaborative rule formulation (e.g., load allocation ratio).

[0069] The beneficial effects of the above technologies are: obtaining the task requirements of multiple hydraulic channels and the channel execution data of multiple hydraulic channels can improve 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:

[0070] Based on Embodiment 1, a multi-channel hydraulic collaborative control system, including a data acquisition module, further includes:

[0071] Acquisition frequency unit: Based on the real-time control requirements of the multi-hydraulic channel task, the acquisition frequency of the multi-hydraulic channel is determined;

[0072] Real-time operation sub-data unit: Based on the acquisition frequency and the sensor group of each hydraulic channel, the real-time operation sub-data of each hydraulic channel is acquired in real time. The real-time operation sub-data includes the acquisition time and the real-time parameter values ​​of multiple parameters.

[0073] Real-time operation data unit: Based on the real-time operation sub-data of all hydraulic channels, determine the real-time operation data of multiple hydraulic channels.

[0074] In this embodiment, the acquisition frequency unit sets differentiated acquisition frequency standards for multiple hydraulic channels based on the real-time control requirements of the mission. In aviation control, the real-time requirements of different missions vary significantly: for example, when an aircraft is cruising at high altitude, the task of maintaining a stable attitude with flaps has lower real-time requirements (allowing position data to be acquired every 100ms); however, when encountering strong turbulence at low altitude, control surfaces (such as ailerons and rudders) need to respond quickly to adjust their attitude, resulting in extremely high real-time control requirements. In this case, the acquisition frequency of the corresponding hydraulic channels needs to be increased to 10ms / time or even higher to ensure that minute 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 foundation for the accuracy of subsequent control decisions.

[0075] In this embodiment, the real-time operation sub-data unit collects dynamic operation data for each hydraulic channel individually using the sensor group equipped with each hydraulic channel according to the acquisition frequency, and clarifies the core components of the data. Taking the aircraft landing gear hydraulic channel as an example: the sensor group includes a displacement sensor (monitoring the landing gear extension / retraction), a pressure sensor (detecting the hydraulic cylinder chamber pressure), and a speed sensor (recording the extension / retraction speed); according to the frequency determined by the acquisition frequency unit (e.g., 50ms / time for landing gear extension / retraction during takeoff), the "real-time operation sub-data" of this channel is collected in real time—where the "acquisition time" is accurate to the second, and the "real-time parameter values" include the displacement, pressure, speed, flow rate, etc. at this time, with each parameter value corresponding to the same acquisition time point.

[0076] 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, realizing global visualization of multi-channel status. In aviation scenarios, such as during aircraft flight, multiple hydraulic channels are involved, including flaps, landing gear, and control surfaces. The sub-data of each channel (such as flap angle, landing gear pressure, and control surface displacement) are aggregated and aligned according to 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.

[0077] The beneficial effects of the above technologies are: real-time acquisition of real-time operating data from multiple hydraulic channels can ensure data timeliness while reducing system load, and improve data support for determining the stage to which the real-time operating data belongs, execution time stamps, adjusting control commands, and adjusting time. Example 4:

[0078] Based on Example 1, a multi-channel hydraulic collaborative control system, including a stage determination module, comprises:

[0079] Phase Task Data Unit: Analyzes the work task requirements in the multi-hydraulic channel task requirements, determines multiple phase tasks and phase task data for each phase task, whereby the phase task data includes phase task objectives and phase task performance data.

[0080] Stage Channel Set Unit: Based on the stage task data of each stage task, determine the stage channel set for executing the stage task objective of each stage task, wherein the stage channel set includes multiple hydraulic channels;

[0081] Stage Channel Data Unit: Based on the stage task objectives of each stage task, the stage channel set is used to extract the channel execution sub-data of all hydraulic channels in the channel execution data to determine the stage channel data of each stage task;

[0082] Stage Task Instruction Data Unit: Input the stage task data, stage channel set, and stage channel data of each stage task into the simulation control model to generate stage task instruction data for each stage task based on multiple hydraulic channels. The stage task instruction data includes the stage task start time, stage task end time, stage start conditions, stage end requirements, channel control instructions, and collaborative constraint instructions for every two channels in the stage channel set.

[0083] In this embodiment, the phased task data unit breaks down the overall work task requirements into multiple phased tasks, and clarifies the phased task objectives and performance data for each phase. Taking an aircraft takeoff mission as an example, the work task requirement is "from taxiing on the ground to takeoff and completing the coordinated action of flaps and landing gear," which is divided into phased tasks such as "taxiing preparation phase, takeoff acceleration phase, takeoff climb phase, and cruise phase" after analysis. Phased task objectives: for example, "during the takeoff 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"; phased task performance data: including the action completion time (e.g., flap adjustment needs to be completed within 15 seconds), accuracy requirements (e.g., flap angle error ≤ 0.5°), and load limits (e.g., the aerodynamic drag borne when the landing gear is retracted ≤ 8000N), providing clear standards for the execution of subsequent phases.

[0084] In this embodiment, the stage channel set unit selects the specific hydraulic channels to participate in the execution based on the objective of each stage task. For example, the objective of the "taxiing preparation stage" is "to keep the flaps at 0° and the landing gear down and locked," and the corresponding stage channel set is "left / right flap hydraulic cylinder (standby state), nose / main landing gear locking hydraulic cylinder (working state)." The objective of the "climb stage" involves flap adjustment and landing gear retraction, and the stage channel set is expanded to "left / right flap adjustment hydraulic cylinder, nose / main landing gear retraction hydraulic cylinder, landing gear locking auxiliary hydraulic cylinder," ensuring that all channels related to the stage objective are included in the control range, while irrelevant channels (such as the door hydraulic channel) do not participate, reducing system redundancy.

[0085] In this embodiment, the stage channel data unit extracts specific characteristic data of each channel within the stage channel set from the global channel execution data. Taking the "climbing phase" as an example: the hardware parameters (such as maximum adjustment speed 0.5° / s, thrust limit 10000N) and dynamic load data (such as current aerodynamic drag 6000N, expected to decrease to 3000N as altitude increases) of the "left flap adjustment hydraulic cylinder" are extracted from the channel execution data; simultaneously, the corresponding data of the "main landing gear retraction hydraulic cylinder" (such as retraction speed 0.3m / s, total load to overcome gravity + aerodynamic drag 12000N) are extracted. These data focus only on the channels involved in the current phase, providing targeted parameter support for command generation.

[0086] In this embodiment, the stage task instruction data unit inputs stage task data, stage channel set, and stage channel data into the simulation control model to generate detailed stage instructions. Taking the "climbing phase" as an example: stage start time (t=350 seconds), end time (1250 seconds after liftoff); single channel instructions: such as the stage start condition of the left flap hydraulic cylinder (current angle 30°±0.5°), stage end requirement (angle 10°±0.5°), channel control instructions (0-5 seconds to accelerate to 0.3° / s, 5-10 seconds to constant speed, 10-15 seconds to decelerate to stop); 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)", to ensure multi-channel action coordination and avoid mechanical interference or load imbalance.

[0087] The beneficial effects of the above technologies are as follows: 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. The stage channel set of each stage task can be accurately matched, avoiding resource waste, taking into account both single-channel accuracy and multi-channel collaboration, and improving the accuracy and reliability of control. Example 5:

[0088] Based on Example 1, a multi-channel hydraulic coordinated control system includes a control module comprising:

[0089] The stage and execution time tag unit: Based on the acquisition time in the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the stage task start time and stage task end time in the stage task instruction data of each stage task, the stage and execution time tag of the real-time operation data are determined. The execution time tag includes the stage task start tag, the stage task duration tag and the stage task end tag.

[0090] Current running data unit: Based on the stage of the real-time running data, the set of stage channels of the stage task is extracted, and the real-time parameter vectors of all hydraulic channels in the real-time running data are determined to be the current running data at the acquisition time;

[0091] Adjustment control instructions and adjustment time units: Based on the current running data, the stage task instruction data of the stage to which the real-time running data belongs, and the execution time tag, determine the adjustment control instructions and adjustment time of the real-time running data. Among them, the adjustment control instructions are start adjustment control instructions, continuous adjustment control instructions, or end adjustment control instructions, and the adjustment time is the start adjustment time, continuous adjustment time, or end adjustment time.

[0092] In this embodiment, the stage and execution time tag unit clearly defines the task stage corresponding to the real-time running data and the current stage node. Specifically, it extracts the acquisition time of each channel in the real-time running data (e.g., t=338s) and compares it with the time boundaries in the task instruction data of each stage (e.g., "taxiing preparation stage: t=0-300 seconds, takeoff acceleration stage: t=300-350 seconds, takeoff climb stage: t=350-1250s") to determine which stage it belongs to (e.g., t=338s belongs to the takeoff acceleration stage). At the same time, according to the position of the acquisition time within the stage, it marks the execution time tag: if t=300s (the start time of the stage), it is marked as "stage task start tag"; if t=338s (in the middle of the stage), it is marked as "stage task duration tag"; if t=350s (the end time of the stage), it is marked as "stage task end tag".

[0093] In this embodiment, the current operating data unit filters relevant channel data for the current stage from the global real-time operating data. Based on the stage channel set (such as "left / right flap hydraulic cylinder, main landing gear retraction hydraulic cylinder" involved in the takeoff stage), the unit extracts the real-time parameter values ​​of these channels at the acquisition time from the real-time operating data (such as left flap angle 25°, right flap angle 24.8°, main landing gear retraction pressure 20MPa) to form the current operating data. For example, if the current stage is takeoff, the unit will ignore channel data unrelated to takeoff (such as 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 entities of the current stage and avoids interference from irrelevant data.

[0094] The beneficial effects of the above technologies are as follows: Based on real-time running data and stage task instruction data of all stages, the stage to which the real-time running data belongs and the execution time label are determined, and the adjustment control instructions and adjustment time of the real-time running data are determined. The stage to which it belongs and the execution label can be accurately located, avoiding data redundancy and control lag in multi-stage task switching, and improving the control accuracy under complex working conditions. Example 6:

[0095] Based on Example 5, a multi-channel hydraulic coordinated control system, including adjusting control commands and adjusting time units, includes:

[0096] Start adjustment control instruction subunit: If the execution time tag of the real-time running data is the stage task start tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage start condition of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage start condition of the channel, input all the real-time running sub-data of the unmet channels and the stage start condition into the simulation control model to generate a start adjustment control instruction.

[0097] Start adjustment time subunit: Execute start adjustment control command until the real-time running sub-data of each channel in the current running data meets the corresponding channel stage start conditions, mark the start execution of the stage task of the stage to which the real-time running data belongs, and record the start adjustment time of the start adjustment control command of the stage task of the stage to which the real-time running data belongs.

[0098] Execution time point subunit: If the execution time label of the real-time running data is the stage task duration label, the execution time point of the real-time running data based on the collection time of the real-time running data, the start time of the stage task, and the start adjustment time is determined.

[0099] Time channel instruction subunit: Based on the execution time point, extract the channel control instructions of each channel belonging to the current running data from the stage task instruction data of the stage to which the real-time running data belongs, and determine the time channel instruction of each channel of the current running data;

[0100] Continuous adjustment control instruction subunit: Determine whether the real-time running sub-data of each channel in the current running data meets the time channel instruction of each channel in the current running data. If the real-time running sub-data of any channel does not meet the time channel instruction of that channel, determine the continuous adjustment control instruction based on all the cooperative constraint instructions in the stage task instruction data of the stage to which the real-time running data belongs, the time channel instruction of all channels that do not meet the requirements, and the simulation control model.

[0101] Continuous adjustment time subunit: Executes continuous adjustment control instructions until the real-time running sub-data of each channel in the current running data meets the time channel instructions of the corresponding channel, and records the continuous adjustment time based on the acquisition time of the execution of the continuous adjustment control instructions;

[0102] End Adjustment Control Instruction Subunit: If the execution time tag of the real-time running data is the stage task end tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage end requirements of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage end requirements of the channel, input all the real-time running sub-data of the channels that do not meet the requirements and the stage start conditions into the simulation control model to generate the end adjustment control instruction.

[0103] End of adjustment time unit: Execute the end of adjustment control command until all real-time running sub-data of all channels in the current running data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time running data belongs as completed, and record the end of adjustment time of the execution end of adjustment control command of the stage task of the stage to which the real-time running data belongs.

[0104] In this embodiment, the start adjustment control command subunit ensures that all participating channels meet the preset start conditions at the start of the phase task. When the execution time tag is "phase task start tag" (e.g., t=0 for the taxiing preparation phase), it compares the real-time running sub-data of each channel in the current running data with the start conditions of that phase. For example, the taxiing preparation phase requires "main landing gear locking hydraulic cylinder pressure ≥18MPa" and "steering hydraulic cylinder initial angle ≤0.5°". If the measured main landing gear pressure is 16MPa (not meeting the conditions), then the real-time sub-data (pressure 16MPa, acquisition time t=0) and start conditions (≥18MPa) of that channel are input into the simulation control model. The model will generate targeted start adjustment control commands (e.g., "start the ground auxiliary hydraulic pump, increase the main landing gear oil circuit flow to 12L / min, and continuously replenish pressure") based on the flow-pressure relationship of the hydraulic system, clearing obstacles for the formal start of the phase task.

[0105] In this embodiment, the start adjustment time subunit executes the start adjustment control command and records the time from command execution to all channels meeting the start conditions. Taking the taxiing preparation phase as an example, after executing the command to "increase the main landing gear oil circuit flow," it continuously monitors the pressure changes of the main landing gear through sensors until the pressure reaches 18MPa (e.g., reaching the target at t=10s). At this time, the unit marks the "taxiing preparation phase" as "start execution" in the system, indicating that the phase 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 timing planning of subsequent phase tasks (e.g., the start time of subsequent phases needs to be adjusted based on this), ensuring that all channels enter the task process in a synchronized and ready state.

[0106] In this embodiment, the execution time point subunit calculates the actual effective execution duration within the phase during the duration of the phase task. When the execution time label is "phase task duration label" (e.g., t=100s for the taxiing preparation phase), it uses the phase task start time (t=0) as a baseline, subtracts the start adjustment time (10s), and obtains the current execution time point: 100s-10s=90s, meaning "the taxiing preparation phase has been effectively executed for 90s." This execution time point is crucial for matching the timing requirements in the phase task instruction data (e.g., the phase task instruction may specify "when effectively executed for 90s, the aircraft must taxi to the middle of the runway"), providing a precise time reference for subsequently extracting the corresponding channel control instructions.

[0107] In this embodiment, the time channel instruction subunit extracts the specific control objectives for each channel at the corresponding moment from the phase task instruction data based on the execution time point. For example, in the taxiing preparation phase, when the execution time point is 90s, the phase task instruction data may include content such as "the steering hydraulic cylinder must maintain 3°±0.2° (to ensure the aircraft taxis along the runway centerline)" and "the braking 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 point of 90s to determine the time channel instructions for the steering hydraulic cylinder and the braking hydraulic cylinder, which serve as the standard for evaluating the channel's operating status at the current moment, ensuring that the actions of each channel conform to the timing plan of the phase task.

[0108] In this embodiment, the continuous adjustment time sub-unit executes continuous adjustment control commands and records the duration of the adjustment process. For example, after executing the command "fine-tune the flow rate of the left steering hydraulic cylinder" during the coasting preparation phase, it continuously monitors the angle change of the steering cylinder until the angle drops to 3.1° (meeting the deviation requirement of ±0.2°, such as reaching 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 channel's response speed to the adjustment command and can provide a reference for subsequent adjustments of similar deviations (such as estimating the adjustment time required when the angle deviation occurs again).

[0109] In this embodiment, the end adjustment control command subunit ensures that all channels meet the stage end requirements at the end of the stage task, preparing for stage switching. When the execution time tag is "stage task end tag" (e.g., t=300s for the coasting preparation stage), it checks whether the real-time operation sub-data of each channel meets the end requirements (e.g., "brake hydraulic cylinder pressure needs to be reduced to 2MPa" and "steering hydraulic cylinder needs to be returned to 0°"). If the actual measured brake hydraulic cylinder pressure is 3MPa (not meeting the requirements), the real-time sub-data (3MPa) of that channel and the stage end requirement (≤2MPa) are input into the simulation control model to generate an end adjustment control command (e.g., "open the brake hydraulic cylinder unloading valve to reduce the pressure to 2MPa"), ensuring that the stage task can be completely closed-loop.

[0110] In this embodiment, the end-adjustment time unit executes the end-adjustment control command and marks the phase task as complete after all channels meet the end requirements. Taking the taxiing preparation phase as an example, after executing the command to "open the brake hydraulic cylinder unloading valve," it continuously monitors the pressure change of the brake cylinder until the pressure drops to 2MPa (e.g., reaching the target at t=302s). At this time, the unit will mark the "taxiing preparation phase" as "execution completed" in the system, indicating that the phase task 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 phase (takeoff acceleration phase) (if the start time of the next phase is t=302s), ensuring a seamless transition between phases.

[0111] The beneficial effects of the above technology are as follows: Based on the current operating data, the stage task instruction data of the stage to which the real-time operating data belongs, and the execution time tag, the adjustment control instruction and adjustment time of the real-time operating data are determined. Among them, the adjustment control instruction is the start adjustment control instruction, the continuous adjustment control instruction, or the end adjustment control instruction, and the adjustment time is the start adjustment time, the continuous adjustment time, or the end adjustment time. This can realize a closed-loop adjustment mechanism and generate adaptation instructions, realize the dynamic and precise coordination of multi-channel hydraulic control, and improve the reliability and accuracy of control required for complex tasks. Example 7:

[0112] Based on Example 6, a multi-channel hydraulic coordinated control system continuously adjusts the control command subunit, including:

[0113] Single-channel deviation vector component: Based on the real-time running sub-data of each channel and the time channel command, determine the single-channel deviation vector of each channel;

[0114] Collaborative Target Component: Converts each collaborative constraint instruction in the stage task instruction data of the stage to which the real-time running data belongs into a collaborative constraint formula, and determines the collaborative target of each collaborative constraint instruction;

[0115] 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 to which the real-time running data belongs, a real-time coordination error matrix of the stage task to which the real-time running data belongs is constructed.

[0116] Sorting component: Sorts all collaborative constraint instructions by constraint priority in the stage task instruction data of the stage to which the real-time running data belongs.

[0117] Collaborative compensation column vector component: Based on the single-channel deviation vector of all channels, the real-time coordination error matrix, and the collaborative objectives of all collaborative constraint instructions, calculate the collaborative compensation column vector of real-time running data;

[0118] The continuous adjustment control command component inputs all single-channel deviation vectors of all channels, time channel commands, all cooperative constraint commands and cooperative compensation column vectors of the stage task command data of the real-time running data to the simulation control model to generate continuous adjustment control commands.

[0119] In this embodiment, the single-channel deviation vector component quantifies the deviation between the actual operating state of each channel and the target command. Taking the takeoff and climb phase (t=500s, execution time point 140s) as an example, the real-time operating sub-data of a certain channel (such as the left flap hydraulic cylinder) is "angle 15°, speed 0.8° / s", and 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, which intuitively reflects the degree of deviation of the channel in each parameter dimension, providing basic data for subsequent compensation calculations.

[0120] In this embodiment, the single-channel deviation vector component determines the single-channel deviation vector for each channel based on the real-time running sub-data and time channel instructions for each channel. The calculation formula for the single-channel deviation vector can be expressed as:

[0121] ;

[0122] in, This represents the single-channel bias vector of channel a. This represents the first single-channel deviation vector when the real-time running sub-data of channel a does not meet the time channel command of channel a. , , Let represent the deviation values ​​of the first parameter, the j-th parameter, and the aN1-th parameter when the real-time running sub-data of channel a does not meet the time channel command of channel a, respectively. aN1 represents the number of parameters in the real-time running sub-data of the a-th channel that does not meet the command. The i-th single-channel deviation vector (zero vector) represents the channel when the real-time running sub-data of the a-th channel satisfies the time channel command of the a-th channel.

[0123] In this embodiment, the single-channel deviation proportional gain submatrix of each channel is a diagonal matrix of aN1×aN1, and the diagonal elements represent the compensation intensity of the deviation value of the corresponding parameter.

[0124] In this embodiment, the collaborative goal component transforms the abstract collaborative constraint instructions in the phased tasks into quantifiable mathematical formulas and explicit collaborative goals. For example, during the takeoff and climb phase, the coordinated constraint commands of the multi-hydraulic channels typically revolve around "aerodynamic balance" and "action synchronization." Coordinated constraint command 1: "The angle difference between the left and right flaps must be ≤0.5°." The component will convert this into the coordinated constraint formula "|θleft-θright|≤0.5°" and determine the coordinated target as "θleft-θright=0°" (i.e., the angle difference approaches 0, the optimal state). Coordinated constraint command 2: "The ratio of flap adjustment speed to 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), which is converted into the formula "vflap / vlanding gear=2", and the coordinated target is "vflap=2×vlanding gear". Coordinated constraint command 3: "The deflection directions of the left and right ailerons are opposite, and the absolute values ​​of their angles are equal" (to ensure smooth fuselage turning), which is converted into the formula "θleft aileron=-θright aileron", and the coordinated target is "θleft aileron+θright aileron=0°".

[0125] In this embodiment, the real-time coordination error matrix component, based on the coordination constraint formula, quantifies the deviation between multi-channel real-time operating data and the coordination target, forming a global coordination error record in matrix form. Taking the climb phase t=500s (execution time point 150s) as an example, the phase channel set includes five channels: left flap, right flap, left aileron, right aileron, and landing gear. Combining the real-time data at this time: left flap angle θleft=15.3°, right flap angle θright=14.7°, substituting into the formula "θleft-θright" yields 0.6°, the deviation from the coordination target of 0° is +0.1° (exceeding the 0.5° upper limit), corresponding to matrix row [1,-1,0,0,0]; flap adjustment speed vflare=0.8° / s, The landing gear retraction speed v_landing_gear = 0.35 m / s. Substituting this into the formula "v_flaps - 2 × v_landing_gear", we get 0.8 - 2 × 0.35 = 0.1° / s. The deviation from the cooperative target 0 is +0.1° / s, corresponding to matrix row [0,0,0,0,-2]. The left aileron angle θ_left aileron = 2.1°, and the right aileron angle θ_right aileron = -2.0°. Substituting this into the formula "θ_left aileron + θ_right aileron", we get 0.1°. The deviation from the cooperative target 0° is +0.1°, corresponding to matrix row [0,0,1,1,0].

[0126] In this embodiment, the 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 to which the real-time running data belongs, a real-time coordination error matrix of the stage task to which the real-time running data belongs is constructed. The calculation formula of the real-time coordination error matrix can be expressed as:

[0127] ;

[0128] Where C represents the real-time coordination error matrix of the stage task to which the real-time running data belongs. These represent the weights of the first collaborative constraint instruction on the first channel, the a-th channel, and the N2-th channel, respectively. Let represent the weights of the b-th collaborative constraint instruction on the 1st, a-th, and N2-th channels, respectively. These represent the weights of the N3rd collaborative constraint instruction on the 1st, ath, and N2nd channels, respectively. N2 represents the number of channels in the multi-hydraulic channel, and N3 represents the number of collaborative constraint instructions for the stage task of the real-time running data.

[0129] In this embodiment, each row of the real-time coordination error matrix corresponds to a constraint, and each column corresponds to a channel. Non-zero elements only appear on the relevant channels.

[0130] In this embodiment, all cooperative constraint instructions of the sorting component are sorted according to their importance. For example, during the takeoff and climb phase, "left / right flap angle difference ≤ 0.5°" directly affects the aircraft's aerodynamic balance, and has a higher priority in affecting mission efficiency than "flap to landing gear speed ratio = 2". Therefore, the sorted order is "left / right flap angle difference ≤ 0.5°" and "flap to landing gear speed ratio = 2".

[0131] In this embodiment, the collaborative compensation column vector component calculates the collaborative compensation column vector of real-time running data based on the single-channel deviation vector of all channels, the real-time coordination error matrix, and the collaborative objectives of all collaborative constraint instructions. The formula for calculating the collaborative compensation column vector can be expressed as follows:

[0132] ;

[0133] Where 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 column vector of channel parameter values ​​for all channels, T represents the column vector of collaborative targets for the stage tasks to which the real-time running data belongs, CO represents the column vector of hydraulic coupling for all channels, and e represents the column vector of comprehensive channel deviation for all channels. Let 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. , , Let represent the transposes of the real-time parameter value vectors of the 1st channel, the ath channel, and the N2th channel, respectively. These represent the collaborative objectives of the first, b-th, and N3-th collaborative constraint instructions of the stage task to which the real-time running data belongs, respectively. These represent the single-channel bias vectors of the 1st channel and the N2nd channel, respectively. Let represent the transposes of the single-channel bias vectors of the 1st channel, the ath channel, and the N2th channel, respectively. , , These represent the flow-pressure coupling values ​​for the 1st channel, the ath channel, and the N2th channel, respectively. Let represent the single-channel bias proportional gain submatrices for the 1st channel, the ath channel, and the N2th channel, respectively. Let represent the cooperative constraint gains of the 1st, bth, and N3rd cooperative constraint instructions, respectively. This represents the first gain coefficient. denoted as 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 to which the real-time running data belongs after constraint priority sorting. This indicates that the real-time runtime data is based on the violation value of the b-th collaborative constraint instruction. This represents the absolute value of the violation value based on the b-th collaborative constraint instruction in real-time runtime data. This represents the standard deviation of the violation of the b-th collaborative constraint instruction in real-time operation data, where α represents the pressure balance weight. This represents the hydraulic coupling coefficient between the a-th channel and the c-th channel. This represents the hydraulic pressure of the a-th channel. This represents the average hydraulic pressure across all channels.

[0134] In this embodiment, the pressure balance weight α can be in the range of 0.2-0.5, and the hydraulic coupling coefficient is determined experimentally.

[0135] In this embodiment, the first gain coefficient represents the base gain coefficient, for example: safety constraint: 0.7, performance constraint: 0.3.

[0136] In this embodiment, the second gain coefficient This is the nonlinear response gain, and its value can range from 0.2 to 0.8.

[0137] In this embodiment, if the b-th collaborative constraint command is to synchronize the displacements of channels 1 and 2, and the displacement difference between channels 1 and 2 in the real-time running data is 0.7 mm, then =0.7.

[0138] In this embodiment, the violation standard deviation can be calculated based on all violation values ​​of the b-th collaborative constraint instruction from historical operating data.

[0139] In this embodiment, the continuous adjustment control command component inputs single-channel deviation, time channel command, cooperative constraint command, and cooperative compensation vector into the simulation model to generate the final continuous adjustment command. For example, during the takeoff and climb phase, if the left flap angle deviation is -1° and the cooperative compensation requires an additional +0.2°, the model will combine the time channel command (target 16°) to generate the command "increase the left flap hydraulic cylinder speed to 1.2° / s, for 1s". This corrects the single-channel deviation (from 15° to 16°) and ensures that the angle difference with the right flap meets the target (from 0.8° to 0.3°) through compensation, achieving dual correction of single-channel accuracy and multi-channel coordination.

[0140] The beneficial effects of the above technology are as follows: Executing continuous adjustment control commands until the real-time operating sub-data of each channel in the current operating data meets the corresponding channel time channel command, and recording the continuous adjustment time of executing continuous adjustment control commands based on the acquisition time, can form a closed-loop adjustment mechanism of deviation-constraint-compensation, which breaks through the limitation of independent correction of single channel, solves the problem of overall misalignment caused by the neglect of cooperative constraints, and achieves dual guarantee of single channel accuracy and multi-channel coordination under complex working conditions. Example 8:

[0141] Based on Example 1, a multi-channel hydraulic coordinated control system, including a correction module, comprises:

[0142] Correction Unit: Based on the adjustment time of real-time running data, corrects the start time and end time of each stage task in the stage task instruction data after the stage task of the real-time running data.

[0143] Real-time control reporting unit: Generates a real-time control report based on the stage to which the real-time running time belongs, the execution time stamp, the adjustment control command, and the adjustment time.

[0144] In this embodiment, the correction unit synchronously updates the time boundaries of all subsequent stages based on the adjustment time of the current stage, ensuring the continuity of the entire process. For example, the taxiing preparation stage was originally scheduled to end at t=300s, but due to the start adjustment (10s) and end adjustment (2s), the actual end time is delayed to t=312s. At this time, the correction unit will correct the time boundaries of subsequent stages based on the total adjustment time of these 12s: the start time of the takeoff acceleration stage 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 takeoff climb stage 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 stages does not conflict with the end of the current stage, avoiding the timing chaos of "the previous stage has not ended, and the next stage has started".

[0145] The beneficial effects of the above technologies are as follows: 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, and a real-time control report is generated. This can solve the problem of full-process timing misalignment caused by the adjustment of the current stage. By combining full-dimensional data to generate real-time reports, the control process can be traced and optimized.

[0146] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A multi-channel hydraulic coordinated control system, characterized in that, include: Acquisition and Data Acquisition Module: Acquires the task requirements of multiple hydraulic channels, acquires the channel execution data of multiple hydraulic channels, and collects the real-time operating data of multiple hydraulic channels. Phase Determination Module: Based on task requirements and channel execution data, determine multiple phase tasks and the set of phase channels, phase channel data, and phase task instruction data for each phase task; Control module: Based on real-time running data and stage task instruction data of all stages, determine the stage to which the real-time running data belongs and the execution time label, and determine the adjustment control instructions and adjustment time for the real-time running data; Correction module: Based on the stage to which the real-time running data belongs and the adjustment time, corrects the stage task instruction data of all stage tasks and generates a real-time control report; The phase determination module includes: Phase Task Data Unit: Analyzes the work task requirements in the multi-hydraulic channel task requirements, determines multiple phase tasks and phase task data for each phase task, whereby the phase task data includes phase task objectives and phase task performance data. Stage Channel Set Unit: Based on the stage task data of each stage task, determine the stage channel set for executing the stage task objective of each stage task, wherein the stage channel set includes multiple hydraulic channels; Stage Channel Data Unit: Based on the stage task objectives of each stage task, the stage channel set is used to extract the channel execution sub-data of all hydraulic channels in the channel execution data to determine the stage channel data of each stage task; Stage Task Instruction Data Unit: Input the stage task data, stage channel set, and stage channel data of each stage task into the simulation control model to generate stage task instruction data for each stage task based on multiple hydraulic channels. The stage task instruction data includes the stage task start time, stage task end time, stage start conditions, stage end requirements, channel control instructions, and collaborative constraint instructions for every two channels in the stage channel set.

2. The multi-channel hydraulic coordinated control system according to claim 1, characterized in that, The acquisition module includes: Task requirement unit: Acquires task requirements for multiple hydraulic channels, including real-time control requirements and work task requirements; Channel execution sub-data unit: acquires channel execution sub-data for each hydraulic channel, including hardware parameter data and dynamic load data of the hydraulic channel; Channel execution data unit: Based on the channel execution sub-data of all hydraulic channels, determine the channel execution data of multiple hydraulic channels.

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

4. The multi-channel hydraulic coordinated control system according to claim 1, characterized in that, The control module includes: The stage and execution time tag unit: Based on the acquisition time in the real-time operation sub-data of all hydraulic channels in the real-time operation data, and the stage task start time and stage task end time in the stage task instruction data of each stage task, the stage and execution time tag of the real-time operation data are determined. The execution time tag includes the stage task start tag, the stage task duration tag and the stage task end tag. Current running data unit: Based on the stage of the real-time running data, the set of stage channels of the stage task is extracted, and the real-time parameter vectors of all hydraulic channels in the real-time running data are determined to be the current running data at the acquisition time; Adjustment control instructions and adjustment time units: Based on the current running data, the stage task instruction data of the stage to which the real-time running data belongs, and the execution time tag, determine the adjustment control instructions and adjustment time of the real-time running data. Among them, the adjustment control instructions are start adjustment control instructions, continuous adjustment control instructions, or end adjustment control instructions, and the adjustment time is the start adjustment time, continuous adjustment time, or end adjustment time.

5. A multi-channel hydraulic coordinated control system according to claim 4, characterized in that, Adjusting control commands and adjusting time units, including: Start adjustment control instruction subunit: If the execution time tag of the real-time running data is the stage task start tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage start condition of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage start condition of the channel, input all the real-time running sub-data of the unmet channels and the stage start condition into the simulation control model to generate a start adjustment control instruction. Start adjustment time subunit: Execute start adjustment control command until the real-time running sub-data of each channel in the current running data meets the corresponding channel stage start conditions, mark the start execution of the stage task of the stage to which the real-time running data belongs, and record the start adjustment time of the start adjustment control command of the stage task of the stage to which the real-time running data belongs. Execution time point subunit: If the execution time label of the real-time running data is the stage task duration label, the execution time point of the real-time running data based on the collection time of the real-time running data, the start time of the stage task, and the start adjustment time is determined. Time channel instruction subunit: Based on the execution time point, extract the channel control instructions of each channel belonging to the current running data from the stage task instruction data of the stage to which the real-time running data belongs, and determine the time channel instruction of each channel of the current running data; Continuous adjustment control instruction subunit: Determine whether the real-time running sub-data of each channel in the current running data meets the time channel instruction of each channel in the current running data. If the real-time running sub-data of any channel does not meet the time channel instruction of that channel, determine the continuous adjustment control instruction based on all the cooperative constraint instructions in the stage task instruction data of the stage to which the real-time running data belongs, the time channel instruction of all channels that do not meet the requirements, and the simulation control model. Continuous adjustment time subunit: Executes continuous adjustment control instructions until the real-time running sub-data of each channel in the current running data meets the time channel instructions of the corresponding channel, and records the continuous adjustment time based on the acquisition time of the execution of the continuous adjustment control instructions; End Adjustment Control Instruction Subunit: If the execution time tag of the real-time running data is the stage task end tag, determine whether the real-time running sub-data of each channel in the current running data meets the stage end requirements of each channel in the stage task instruction data of the stage to which the real-time running data belongs. If any channel's real-time running sub-data does not meet the stage end requirements of the channel, input all the real-time running sub-data of the channels that do not meet the requirements and the stage start conditions into the simulation control model to generate the end adjustment control instruction. End of adjustment time unit: Execute the end of adjustment control command until all real-time running sub-data of all channels in the current running data meet the stage end requirements of the channel, mark the stage task of the stage to which the real-time running data belongs as completed, and record the end of adjustment time of the execution end of adjustment control command of the stage task of the stage to which the real-time running data belongs.

6. A multi-channel hydraulic coordinated control system according to claim 5, characterized in that, Continuously adjust the control command subunit, including: Single-channel deviation vector component: Based on the real-time running sub-data of each channel and the time channel command, determine the single-channel deviation vector of each channel; Collaborative Target Component: Converts each collaborative constraint instruction in the stage task instruction data of the stage to which the real-time running data belongs into a collaborative constraint formula, and determines the collaborative target of each collaborative 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 to which the real-time running data belongs, a real-time coordination error matrix of the stage task to which the real-time running data belongs is constructed. Sorting component: Sorts all collaborative constraint instructions by constraint priority in the stage task instruction data of the stage to which the real-time running data belongs. Collaborative compensation column vector component: Based on the single-channel deviation vector of all channels, the real-time coordination error matrix, and the collaborative objectives of all collaborative constraint instructions, calculate the collaborative compensation column vector of real-time running data; The continuous adjustment control command component inputs all single-channel deviation vectors of all channels, time channel commands, all cooperative constraint commands and cooperative compensation column vectors of the stage task command data of the real-time running data to the simulation control model to generate continuous adjustment control commands.

7. A multi-channel hydraulic coordinated control system according to claim 1, characterized in that, The correction module includes: Correction Unit: Based on the adjustment time of real-time running data, corrects the start time and end time of each stage task in the stage task instruction data after the stage task of the real-time running data. Real-time control reporting unit: Generates a real-time control report based on the stage to which the real-time running time belongs, the execution time stamp, the adjustment control command, and the adjustment time.

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