Pneumatic servo valve control precision identification method

Abstract

The invention provides a pneumatic servo valve control precision identification method, and relates to the field of control systems. The problem that in the prior art, the identification precision is not high under the condition that the working range of a valve is large or dynamic working conditions fluctuate severely is solved. The invention provides a pneumatic servo valve control precision identification method which comprises the following steps: acquiring an actual position parameter of a pneumatic servo valve and an air pressure parameter of an air cylinder, and determining a difference value between the actual position parameter and the air pressure parameter; and if the difference value is smaller than the first threshold value, adding the first duration to the pre-stable state duration. And if the difference value is greater than or equal to the first threshold value, introducing a penalty duration to the pre-stable state, adding the first duration to the unstable state duration, and subtracting the penalty duration from the pre-stable state duration. And whether the current pre-stable state duration is larger than a first preset duration or not is determined, and if yes, the control precision of the pneumatic servo valve is determined based on the difference value of the target motion parameter and the current motion parameter of the pneumatic servo valve. The pneumatic servo valve control precision identification method is generally used in the pneumatic servo valve control precision identification process.

Description

Technical Field

[0001] The present application relates to the field of control systems, and in particular to a method for identifying the control accuracy of a pneumatic servo valve. Background Art

[0002] Currently, the industrial sector is placing increasingly higher demands on valve control accuracy. However, existing technologies still need to improve in terms of valve control accuracy identification. The application of existing technologies in pneumatic control systems mainly relies on fixed parameter control methods, which are usually based on static or simplified system models during design. However, under complex or dynamically changing working conditions, such as load fluctuations, changes in air supply pressure, or actuator state switching, the control accuracy exhibits time-varying and nonlinear characteristics. Fixed parameter control methods and the modeling methods behind them have difficulty reflecting this dynamic behavior in real time. When operating within a large range or experiencing drastic dynamic changes, existing technologies have technical problems such as being unable to accurately reflect the actual nonlinear control accuracy and having low identification accuracy due to parameter noise. Summary of the Invention

[0003] The present application provides a method for identifying the control accuracy of a pneumatic servo valve, which solves the technical problem that the existing technology has low identification accuracy when working in a large range or undergoing drastic dynamic changes, and cannot accurately reflect the actual nonlinear control accuracy.

[0004] To achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, a method for identifying the control accuracy of a pneumatic servo valve is provided, comprising: obtaining current motion parameters of the pneumatic servo valve in the process of moving to a specified position, the current motion parameters including: actual position parameters of the pneumatic servo valve and air pressure parameters of the cylinder; determining the difference between the current motion parameters and the motion parameters acquired at the previous moment; when the difference is less than a first threshold, adding the first duration to the pre-stable state duration; when the difference is greater than or equal to the first threshold, introducing a penalty duration to the pre-stable state duration, adding the first duration to the unstable state duration, and subtracting the penalty duration from the pre-stable state duration; determining whether the current pre-stable state duration is greater than a first preset duration, and if so, determining the control accuracy of the pneumatic servo valve based on the difference between the target motion parameters of the pneumatic servo valve and the current motion parameters.

[0006] In combination with the first aspect above, in a possible implementation method, determining the difference between the current motion parameter and the motion parameter collected at the previous moment includes: determining the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous moment; determining the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous moment.

[0007] In a possible implementation manner of the first aspect, the filtered value of the current motion parameter includes a filtered value of a pneumatic valve position and a filtered value of pneumatic pressure; the filtered value of the current motion parameter satisfies the following formula:

[0008]

[0009] wherein, represents the filtered value of the operating position of the pneumatic servo valve at the moment i; P V (i) represents the operating position of the pneumatic servo valve at the moment i; represents the filtered value of the operating position of the pneumatic servo valve at the moment i-1; represents the filtered coefficient of the operating position of the pneumatic servo valve; represents the filtered value of the pneumatic pressure of the pneumatic servo valve cylinder at the moment i; P S (i) represents the pneumatic pressure of the pneumatic servo valve cylinder at the moment i; represents the filtered value of the pneumatic pressure of the pneumatic servo valve cylinder at the moment i-1; represents the filtered coefficient of the pneumatic pressure of the pneumatic servo valve cylinder;

[0010] In a possible implementation manner of the first aspect, the case that the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous moment is less than the first threshold value satisfies the following formula:

[0011]

[0012]

[0013] wherein, and represent the set pneumatic servo valve position threshold value and the pneumatic cylinder pressure threshold value.

[0014] In a possible implementation manner of the first aspect, the pre-stabilization duration satisfies the following formula:

[0015] T PreS (i) = T PreS (i-1) + 1

[0016] wherein, T PreS (i) represents the cumulative pre-stabilization duration at the moment i;

[0017] The unstable duration satisfies the following formula:

[0018] T PreUS (i) = T PreUS (i-1) + 1

[0019] wherein, T PreUS(i) represents the cumulative instability duration at time i;

[0020] In combination with the first aspect above, in one possible implementation, the penalty duration is subtracted from the pre-stabilization duration, and the pre-stabilization duration satisfies the following formula:

[0021] T PreS (i) = T PreS (i-1)-ψ(i)

[0022] Among them, ψ(i) represents the penalty duration for the pre-stabilization duration.

[0023] In combination with the first aspect above, in one possible implementation, the penalty duration for the pre-stabilization duration includes: a square term of the unstable duration, which describes the nonlinear relationship between the penalty term and the unstable duration; a variation amplitude of the observation quantity, which describes the linear relationship between the penalty duration and the variation amplitude of the observation quantity; and the penalty duration ψ(i) satisfies the following formula:

[0024] ψ(i)=ψ1(i)×T PreUS 2 (i)

[0025]

[0026] in, and Indicates the penalty coefficient set for the pneumatic servo valve position and cylinder pressure penalty duration.

[0027] In combination with the first aspect above, in a possible implementation, the current pre-stable state duration T is determined. PreS (i) The case where the duration is greater than the first preset duration satisfies the following formula:

[0028] T PreS (i)>T Set

[0029] Among them, T Set Indicates the minimum time required to enter a stable state.

[0030] After the pneumatic servo valve enters the stable state, the stable time increases cumulatively, and the stable time satisfies the following formula:

[0031] T Stable (i) = T Stable (i-1)+1

[0032] Among them, T Stable (i-1) represents the stable duration at time i-1.

[0033] In the stable state, the real-time control accuracy is calculated. The real-time control accuracy Acc(i) satisfies the following formula:

[0034] Acc(i)=Aim(i)-P v (i)

[0035] Where Aim(i) represents the target value at time i, P v (i) represents the actual value at time i.

[0036] In conjunction with the first aspect above, in one possible implementation, the control accuracy measurement parameters include: the average accuracy within the stable segment, the maximum response trend estimate of the control accuracy, and the minimum response trend estimate of the control accuracy. The maximum response trend estimate of the control accuracy is updated in real time by comparing the maximum accuracy value at the previous moment with the current actual accuracy value. If the maximum accuracy value at the previous moment is less than the current actual accuracy value, the maximum response trend estimate of the control accuracy is updated. The minimum response trend estimate of the control accuracy is updated in real time by comparing the minimum accuracy value at the previous moment with the current actual accuracy value. If the minimum accuracy value at the previous moment is greater than the current actual accuracy value, the minimum response trend estimate of the control accuracy is updated.

[0037] In combination with the first aspect above, in a possible implementation, the accuracy mean Acc avg Satisfies the following formula:

[0038]

[0039] Where Acc(i) represents the accuracy value at time i, T Stable (i) represents the stable duration at time i.

[0040] The estimated value of the maximum response trend of control accuracy satisfies the following formula:

[0041] Acc max (i) = Acc max (i-1)+λ max (Acc(i)-Acc max (i-1))

[0042] Among them, λ max is the filter coefficient;

[0043] The estimated value of the minimum response trend of control accuracy satisfies the following formula:

[0044] Acc min (i) = Acc min (i-1)+λ min (Acc(i)-Acc min (i-1))

[0045] Among them, λ min is the filter coefficient;

[0046] In the second aspect, the present application provides an electronic device, including a communication unit and a processing unit; the communication unit is used to obtain motion parameters such as real-time pneumatic servo valve position parameters and cylinder air pressure parameters; the processing unit is used to input the motion parameters into the pneumatic servo valve control accuracy identification system to determine the real-time accuracy of the pneumatic servo valve, wherein the pneumatic servo valve control accuracy identification system is based on whether the difference between the current motion parameter and the motion parameter collected at the previous moment is greater than a first threshold value. If it is greater than the first threshold value, a penalty time is introduced for the pre-stable state duration of the pneumatic servo valve. If it is less than the first threshold value, the pre-stable state duration is added to the first time duration until the current pre-stable state duration is greater than the first preset time duration, and the pneumatic servo valve is judged to have entered a stable state, and the control accuracy of the pneumatic servo valve in the current stable state is calculated.

[0047] In a third aspect, the present application provides an electronic device comprising: a processor and a storage medium; the storage medium comprising instructions, the processor configured to execute the instructions to implement the method described in the first aspect and any possible implementation of the first aspect. The electronic device may be an electronic device or a chip within the electronic device.

[0048] In a fourth aspect, the present application provides a pneumatic servo valve control accuracy identification system, comprising: a sensor, and an electronic device; wherein the sensor is used to collect the motion parameters of the pneumatic servo valve, and the electronic device is used to obtain the motion parameters of the pneumatic servo valve; the obtained motion parameters are processed by inertial filtering to determine whether the pneumatic servo valve has entered a pre-stable state, and then determine whether the pneumatic servo valve has entered a stable state, and calculate indicators such as the accuracy, maximum accuracy, minimum accuracy, and average accuracy of the pneumatic servo valve when it enters a stable state.

[0049] In a fifth aspect, the present application provides a computer-readable storage medium, which stores instructions. When the instructions are executed on an electronic device, the electronic device executes the method described in the first aspect and any possible implementation of the first aspect.

[0050] In a sixth aspect, the present application provides a computer program product comprising instructions, which, when executed on an electronic device, enables the electronic device to execute the method as described in the first aspect and any possible implementation manner of the first aspect.

[0051] The present application provides a method for identifying the control accuracy of a pneumatic servo valve. This method can compare the current motion parameters of the pneumatic servo valve with the motion parameters collected at the previous moment. Based on the comparison of the current motion parameters of the pneumatic servo valve and the motion parameters collected at the previous moment, the method determines whether the pneumatic servo valve has entered a pre-stable state, thereby further determining whether the pneumatic servo valve has entered a stable state, and characterizing the control accuracy of the pneumatic servo valve in multiple dimensions. Because the present application introduces statistics and calculations of the pre-stable state to further determine whether the valve has entered a formal state, and measures control accuracy using multi-dimensional indicators, it solves the technical problem of the existing technology, which has low identification accuracy when operating within a large range or undergoing drastic dynamic changes, and cannot accurately reflect the actual nonlinear control accuracy.

[0052] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution or beneficial effect is included in at least one embodiment. Therefore, the description of a technical feature, technical solution or beneficial effect in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be implemented without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in specific embodiments that do not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 A system architecture diagram of a pneumatic servo valve control accuracy identification system provided in an embodiment of the present application;

[0054] Figure 2 A flow chart of a method for identifying the control accuracy of a pneumatic servo valve provided in an embodiment of the present application;

[0055] Figure 3 A flow chart of another method for identifying the control accuracy of a pneumatic servo valve provided in an embodiment of the present application;

[0056] Figure 4 A flow chart of another method for identifying the control accuracy of a pneumatic servo valve provided in an embodiment of the present application;

[0057] Figure 5 A flow chart of another method for identifying the control accuracy of a pneumatic servo valve provided in an embodiment of the present application;

[0058] Figure 6 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application;

[0059] Figure 7 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application; DETAILED DESCRIPTION

[0060] In the description of this application, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "a plurality" means two or more. Words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not limit them to be necessarily different.

[0061] It should be noted that, in this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described in this application as "exemplary" or "for example" should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0062] The pneumatic servo valve control accuracy identification method provided in the embodiment of the present application can be applied to Figure 1 In the pneumatic servo valve control accuracy identification system shown in Figure 1 As shown, the communication system includes: a sensor 101 and an electronic device 102.

[0063] Among them, the sensor 101 is used to obtain motion parameters such as the real-time pneumatic servo valve position and cylinder pressure, and the electronic device 102 is used to input the motion parameters into the pneumatic servo valve control accuracy identification system to determine the real-time accuracy of the pneumatic servo valve. Among them, the pneumatic servo valve control accuracy identification system determines the state of the valve based on the difference between the current motion parameters and the motion parameters collected at the previous moment. If the difference is less than the first threshold, the pre-stable state duration is added to the first duration. If the difference is greater than the first threshold, a penalty duration is introduced to the pre-stable state duration, and the penalty duration is subtracted from the pre-stable state duration. Based on the pre-stable state duration and the first set duration, it is determined whether the valve has entered a stable state, thereby monitoring the control accuracy of the pneumatic servo valve.

[0064] In order to solve the technical problems in the prior art that the actual nonlinear control accuracy cannot be accurately reflected when working in a large range or the dynamic changes are drastic, and the identification accuracy is low due to parameter noise, the embodiment of the present application provides a pneumatic servo valve control accuracy identification method, which judges in real time whether the valve enters a pre-stable state based on the difference between the current motion parameters and the motion parameters at the previous moment, and then judges whether the valve enters a stable state, and characterizes the control accuracy of the valve from multiple dimensions, solving the technical problems in the prior art that the actual nonlinear control accuracy cannot be accurately reflected when working in a large range or the dynamic changes are drastic.

[0065] Figure 2 The pneumatic servo valve control accuracy identification method provided in the embodiment of the present application is as follows: Figure 2 As shown, the method includes:

[0066] Step 201: The electronic device obtains current motion parameters of the pneumatic servo valve during the process of moving to a specified position.

[0067] The current motion parameters include: actual position parameters of the pneumatic servo valve and air pressure parameters of the cylinder.

[0068] In some embodiments, the current motion parameters can be directly derived from the original acquired motion parameters or from noise-filtered motion parameters. However, the original motion parameters often contain noise, which can affect the determination of sensor control accuracy. Therefore, in the embodiments of this application, inertial filtering is preferred to filter out noise from the sensor-collected parameters, although this application does not impose any limitations on this.

[0069] As an implementation method, a pneumatic servo valve is controlled by a control device to move to a specified position. During the movement, the electronic device collects the movement position of the pneumatic servo valve in real time using a position sensor, and collects the air pressure parameters of the cylinder corresponding to each movement position in real time using an air pressure sensor.

[0070] Step 202: The electronic device determines the difference between the current motion parameter and the motion parameter collected at the previous moment.

[0071] It should be pointed out that, in the embodiment of the present application, a pre-stable state is introduced as a transition stage for judging whether the pneumatic servo valve enters a stable state, so as to accurately judge the stable state of the pneumatic servo valve.

[0072] As an implementation method, the electronic device collects the position parameters of the pneumatic servo valve during movement in real time through a position sensor, and subtracts the collected current pneumatic servo valve movement position parameters from the collected position parameters of the pneumatic servo valve cloud at the previous moment to determine the difference between the two. The difference in cylinder air pressure can be obtained in the same way.

[0073] As an example, in this embodiment, the case where the difference is less than the set threshold satisfies the following formula:

[0074]

[0075] in, and Indicates the set pneumatic servo valve position and cylinder pressure threshold.

[0076] Step 203: When the electronic device determines that the difference is less than the first threshold, the electronic device adds the first duration to the pre-stable state duration.

[0077] As an example, by adding the first duration when the current state meets the conditions to the pre-stable state duration, dynamic tracking and time quantification judgment of the trend of the pneumatic servo valve system can be achieved, avoiding misjudgment caused by loss disturbance or local fluctuation, so that the system can be further judged whether it meets the stable state conditions only after meeting the pre-stable state conditions.

[0078] As an example, in the embodiment of the present application, the pre-stable state duration T PreS (i) Adding the first duration satisfies the following formula:

[0079] T PreS (i) = T PreS (i-1)+1

[0080] Among them, T PreS (i-1) represents the cumulative pre-stabilization time at time i-1.

[0081] Step 204 : When the electronic device determines that the difference is greater than or equal to the first threshold, a penalty time is introduced, where the unstable state time is added to the first time, and the pre-stable state time is subtracted from the penalty time.

[0082] For example, when the difference is greater than or equal to a first threshold, the pneumatic servo valve has not reached a stable state. By deducting a penalty duration from the pre-stable state duration, this duration reflects the volatility of the system state as it approaches stability. The penalty duration mechanism is introduced to establish a dynamically adjusted evaluation mechanism. This allows the accumulated pre-stable state duration to be appropriately reduced when the system experiences significant fluctuations, improving the reliability of the system's identification process.

[0083] As an example, in the embodiment of the present application, the cumulative unstable time, unstable time T PreUS (i) Satisfy the following formula:

[0084] T PreUS (i) = T PreUS (i-1)+1

[0085] Among them, TPreUS (i-1) represents the duration of instability at time i;

[0086] As an example, in the embodiment of the present application, while the unstable time is cumulatively increased, a penalty term is added to the pre-stable time to correct the pre-stable time, that is, the pre-stable state time is subtracted from the penalty time. When the pre-stable time is subtracted from the penalty time, the pre-stable time T PreS (i) The following formula:

[0087] T PreS (i) = T PreS (i-1)-ψ(i)

[0088] Among them, T PreS (i-1) represents the accumulated pre-stabilization duration at time i-1, and ψ(i) represents the penalty duration for the stabilization duration.

[0089] In a possible implementation manner, as an example, in an embodiment of the present application, the penalty term for the pre-stabilization duration includes: a square term of the unstable duration and a variation amplitude of the observation quantity.

[0090] In one possible implementation, as an example, the square term of the instability duration is used to describe the nonlinear relationship between the penalty value and the duration of instability, that is, as the instability duration increases, the degree of penalty tends to increase in a weighted manner, thereby more effectively curbing the tendency of misjudgment caused by the instability of the system over a long period of time; the amplitude of change of the observation quantity is used to express the linear correlation between the penalty value and the amplitude of change of the motion parameter, which is used to characterize the dynamic intensity of the system at that moment.

[0091] In one possible implementation, as an example, the penalty term satisfies the following formula:

[0092] ψ(i)=ψ1(i)×T PreUS 2 (i)

[0093]

[0094] Among them, T PreUS (i) represents the duration of instability at time i, and Indicates the penalty coefficient set for the valve position and cylinder pressure penalty items, Indicates the valve position filter value at time i, Represents the filtered value of the cylinder pressure at time i.

[0095] In step 205, the electronic device determines whether the current pre-stable state duration is greater than the first preset duration. If yes, the control accuracy of the pneumatic servo valve is determined based on the difference between the target motion parameter and the current motion parameter of the pneumatic servo valve.

[0096] As an example, in the embodiments of the present application, the real-time control accuracy Acc(i) satisfies the following formula:

[0097] Acc(i) = Aim(i) - P v (i)

[0098] wherein Aim(i) represents the target value at time i, P V (i) represents the actual value at time i.

[0099] In the embodiments of the present application, the pre-stable duration is designed as a transition stage for distinguishing the stable state of the pneumatic servo valve, so that the stable state of the pneumatic servo valve is more accurately grasped, the control accuracy of the pneumatic servo valve is identified, and the problem that the actual nonlinear control accuracy cannot be accurately reflected when working in a large range or having a severe dynamic change in the prior art is solved.

[0100] In addition, in the related art, there is also the problem that the original data is disturbed by noise. Since the signals collected by the sensors in the pneumatic servo system are disturbed by mechanical vibration, electrical noise, pressure pulsation and other factors, the original motion data (such as position, speed, acceleration, etc.) presents high-frequency jitter and discontinuous fluctuation characteristics. In the prior art, the original values are directly used to participate in the control accuracy identification, which causes the estimation result to be unstable, reduces the overall identification accuracy and reliability. Moreover, in the measurement process of the control accuracy in most prior arts, only a single static index is considered, and the upper and lower boundaries of the dynamic response process are not described and trend analysis is not performed, so that when the system has a certain fluctuation or has not completely stabilized, the identification result cannot truly reflect the control ability of the system

[0101] The embodiments of the present application provide a kind of inertial filtering motion data processing method, to effectively suppress the multiple noise contained in the original motion data collected by sensor problem.

[0102] In a possible implementation manner, in combination with Figure 2 As shown in Figure 3 The difference between the current motion parameter and the motion parameter collected at the previous time in step 202 can be realized by the following steps 301-302.

[0103] In step 301, the electronic device determines the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous time.

[0104] As an example, in this embodiment, the original motion parameters collected by the sensor are processed by inertial filtering to suppress noise interference while reducing the impact of transient fluctuations, so as to improve the robustness of pre-stable state identification.

[0105] As an example, in the embodiment of the present application, the inertial filtering of the pneumatic servo valve position and the cylinder pressure satisfies the following formula:

[0106]

[0107] in, P represents the filtered value of the operating position of the pneumatic servo valve at time i; V (i) represents the operating position of the pneumatic servo valve at time i; represents the filtered value of the operating position of the pneumatic servo valve at time i-1; Indicates the filter coefficient of the pneumatic servo valve position; P represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i; S (i) represents the air pressure in the pneumatic servo valve cylinder at time i; represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i-1; It is the filter coefficient of the cylinder pressure of the pneumatic servo valve.

[0108] Step 302: The electronic device determines a difference between a filtered value of the current motion parameter and a filtered value of the motion parameter acquired at a previous moment.

[0109] As an example, in this embodiment, the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous moment satisfies the following formula:

[0110]

[0111]

[0112] in, Indicates the filtered value of the current pneumatic servo valve movement position, Indicates the filtered value of the pneumatic servo valve movement position at the previous moment, Indicates the filtered value of the current cylinder pressure, Indicates the filtered value of the cylinder pressure at the previous moment.

[0113] The motion data processing method using inertial filtering in the embodiments of the present application is intended to effectively suppress various noises contained in the original motion data collected by the sensor, such as process noise and measurement noise, and solves the technical problem of insufficient motion state identification accuracy caused by parameter noise accumulation and coupling effects in the prior art.

[0114] In the embodiments of the present application, an evaluation index updated in real time is provided, including: an accuracy mean value, a control accuracy maximum response trend estimation value, and a control accuracy minimum response trend estimation value, aiming to solve the problem that the traditional method can only rely on a single index and cannot comprehensively reflect the dynamic accuracy range, fluctuation amplitude, and potential abnormal points of the valve in the entire control process.

[0115] In a possible implementation manner, the method is combined with Figure 2 As shown in FIG. 5, the determination of the control accuracy of the pneumatic servo valve in step 205 can be implemented through steps 401-403. Figure 4 As shown in FIG. 5, the determination of the control accuracy of the pneumatic servo valve in step 205 can be implemented through steps 401-403.

[0116] In step 401, the electronic device determines an accuracy measurement index in the stable section, including: an accuracy mean value, a control accuracy maximum response trend estimation value, and a control accuracy minimum response trend estimation value.

[0117] As an example, in the embodiments of the present application, the accuracy mean value Acc avg satisfies the following formula:

[0118]

[0119] wherein Acc(i) represents the accuracy value at time i, T Stable (i) represents the stable duration at time i.

[0120] In step 402, the control accuracy maximum response trend estimation value is updated in real time, and the control accuracy maximum response trend estimation value at the last time is compared with the current actual accuracy value. If the control accuracy maximum response trend estimation value at the last time is less than the current actual accuracy value, the control accuracy maximum response trend estimation value is updated.

[0121] In a possible implementation manner, as an example, the control accuracy maximum response trend estimation value is used to measure the extreme response characteristics of the accuracy index of the pneumatic servo valve control system in the dynamic adjustment process, is obtained through recursive calculation in an inertial filtering manner, reflects the maximum error trend or control deviation trend that the system can reach before stabilization, and is one of important bases for identifying the control effect and the adjustment ability.

[0122] As an example, in the embodiments of the present application, the control accuracy maximum response trend estimation value Acc max (i) satisfies the following formula:

[0123] Acc max (i) = Acc max (i-1) + λ max (Acc(i)-Acc max (i-1))

[0124] Among them, λ max is the filter coefficient.

[0125] Step 403: The control accuracy minimum response trend estimation value is updated in real time. The minimum accuracy value at the previous moment is compared with the current actual accuracy value. If the minimum accuracy value at the previous moment is greater than the current actual accuracy value, the minimum accuracy value is updated.

[0126] In one possible implementation method, as an example, a minimum response trend estimate of control accuracy is further introduced in an embodiment of the present application to evaluate the lower boundary trend of the pneumatic servo valve control system during the response process, and together with the maximum response trend estimate, it constitutes the upper and lower envelope modeling of the system's dynamic behavior, thereby more comprehensively evaluating the control accuracy performance and stability.

[0127] As an example, in the embodiment of the present application, the control accuracy minimum response trend estimation value Acc min (i) Satisfy the following formula:

[0128] Acc min (i) = Acc min (i-1)+λ min (Acc(i)-Acc min (i-1))

[0129] Among them, λ min is the filter coefficient.

[0130] In an embodiment of the present application, a multi-dimensional dynamic evaluation method for the control accuracy of a pneumatic servo valve is provided, in which the overall average level of the control accuracy is reflected by the accuracy mean, the maximum response trend estimate of the control accuracy captures the worst instantaneous performance or positive deviation in the control process, and the minimum response trend estimate of the control accuracy captures the optimal instantaneous performance or negative deviation in the control process, thereby constructing a multi-dimensional accuracy evaluation system, which solves the problem that the traditional method relies on only a single indicator and cannot fully reflect the dynamic accuracy range, fluctuation amplitude and potential abnormal points of the valve in the entire control process.

[0131] In another possible implementation, combining Figure 2 ,like Figure 3 As shown, the method for determining the control accuracy of the pneumatic servo valve can also be implemented by following steps 501 to 503:

[0132] Step 501: When the electronic device determines that the current pre-stable state duration is greater than a first preset duration, the stabilization duration of the pneumatic servo valve is increased by the first duration.

[0133] As an example, in an embodiment of the present application, when the electronic device determines that the pneumatic servo valve has entered a pre-stable state, the electronic device further determines whether the current pre-stable state duration is greater than a first preset duration, thereby determining whether the pneumatic servo valve has entered a stable state. When the pre-stable state duration is greater than the first preset duration, the pneumatic servo valve enters a stable state.

[0134] As an example, after a pneumatic servo valve enters a stable state, the stable time increases cumulatively, and the stable time satisfies the following formula:

[0135] T Stable (i) = T Stable (i-1)+1

[0136] Among them, T Stable (i-1) represents the stable duration at time i-1.

[0137] Step 502: The electronic device obtains multiple stable durations within a historical time period, and multiple control precisions corresponding to each stable duration.

[0138] As an example, in an embodiment of the present application, after the pneumatic servo valve enters a stable state, it may still fluctuate within a certain range. Therefore, multiple control accuracies are obtained at moments corresponding to multiple stable time periods.

[0139] As an example, the real-time control accuracy Acc(i) satisfies the following formula:

[0140] Acc(i)=Aim(i)-P v (i)

[0141] Where Aim(i) represents the target value at time i, P v (i) represents the actual value at time i.

[0142] Step 503: The electronic device determines a control accuracy evaluation parameter of the pneumatic servo valve based on the multiple control accuracies and the stability time.

[0143] In some application embodiments, in the process of measuring control accuracy, only single static indicators such as steady-state error and mean square error (MSE) are considered, and there is a lack of upper and lower boundary characterization and trend analysis of the dynamic response process. In the implementation of this application, the upper and lower boundaries and trends of control accuracy are measured by the accuracy mean, the maximum response trend estimate of control accuracy, and the minimum response trend estimate of control accuracy.

[0144] As an example, in one possible implementation, the mean accuracy Acc avg Satisfies the following formula:

[0145]

[0146] Where Acc(i) represents the accuracy value at time i, T Stable (i) represents the stable duration at time i.

[0147] The estimated value of the maximum response trend of control accuracy satisfies the following formula:

[0148] Acc max (i) = Acc max (i-1)+λ max (Acc(i)-Acc max (i-1))

[0149] Among them, λ max is the filter coefficient;

[0150] The estimated value of the minimum response trend of control accuracy satisfies the following formula:

[0151] Acc min (i) = Acc min (i-1)+λ min (Acc(i)-Acc min (i-1))

[0152] Among them, λ min is the filter coefficient;

[0153] In the embodiment of the present application, since the control accuracy corresponding to multiple stable state durations in the stable state is obtained, the control accuracy is reflected by the accuracy mean and the real-time updated control accuracy maximum response trend estimation value and control accuracy minimum response trend estimation value, which solves the problem that the existing technology only considers a single static indicator and lacks the upper and lower boundary characterization and trend analysis of the dynamic response process, thereby improving the system's ability to describe the control accuracy.

[0154] The above mainly introduces the scheme of the embodiment of the present application from the perspective of device implementation. It can be understood that each device, for example, the pneumatic servo valve control accuracy identification device, in order to realize the above functions, includes at least one of the hardware structure and software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0155] The embodiment of the present application can divide the pneumatic servo valve control accuracy identification device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0156] In the case of an integrated unit, Figure 6 A possible structural diagram of an electronic device involved in the above embodiment (denoted as electronic device 60 ) is shown. The electronic device 60 includes a processing unit 601 and a communication unit 602 , and may further include a storage unit 603 . Figure 6 The structural schematic diagram shown can be used to illustrate the structure of the electronic device involved in the above embodiments.

[0157] when Figure 6 The structural schematic diagram shown is used to illustrate the structure of the electronic device involved in the above embodiment. The processing unit 601 is used to control and manage the actions of the electronic device, the communication unit 602 is used for the electronic device to communicate with other devices, and the storage unit 603 is used to store program codes and data of the electronic device.

[0158] For example, processing unit 601 is used to determine the real-time status of the pneumatic servo valve and calculate the control accuracy of the pneumatic servo valve. Communication unit 602 is used to collect the position parameters and cylinder pressure parameters of the pneumatic servo valve. Based on the collected motion parameters, it is determined whether the pneumatic servo valve has entered a pre-stable state, and further determines the duration of the pneumatic servo valve entering a stable state, and calculates the control accuracy of the pneumatic servo valve in this stable state.

[0159] In one possible implementation, a filtered value of a current motion parameter of the pneumatic servo valve during movement to a specified position is determined. The filtered value of the current motion parameter satisfies the following formula:

[0160]

[0161]

[0162] in, P represents the filtered value of the operating position of the pneumatic servo valve at time i; V (i) represents the operating position of the pneumatic servo valve at time i; represents the filtered value of the operating position of the pneumatic servo valve at time i-1; Indicates the filter coefficient of the pneumatic servo valve position; P represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i; S (i) represents the air pressure in the pneumatic servo valve cylinder at time i; represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i-1; is the filter coefficient of the cylinder pressure of the pneumatic servo valve;

[0163] In one possible implementation, it is determined whether a difference between a filtered value of a current motion parameter and a filtered value of a motion parameter acquired at a previous moment is less than a first threshold. If the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter acquired at a previous moment is less than the first threshold, the following formula is satisfied:

[0164]

[0165]

[0166] in, and Indicates the set pneumatic servo valve position threshold and cylinder pressure threshold.

[0167] In one possible implementation, if the difference is less than a first threshold, the first duration is added to the pre-stable state duration. If the difference is greater than the first threshold, a penalty duration is introduced for the pre-stable state duration: the unstable state duration is added to the first duration, and the penalty duration is subtracted from the pre-stable state duration.

[0168] In one possible implementation, the pre-stabilization time T PreS (i) Formula:

[0169] T PreS (i) = T PreS (i-1)+1

[0170] Among them, T PreS (i-1) represents the cumulative pre-stabilization time at time i-1;

[0171] In one possible implementation, the instability duration T PreUS (i) Satisfy the following formula:

[0172] T PreUS (i) = T PreUS (i-1)+1

[0173] Among them, T PreUS (i-1) represents the cumulative unstable duration at time i-1;

[0174] In one possible implementation, the penalty period is subtracted from the pre-stabilization period, and the pre-stabilization period satisfies the following formula:

[0175] T PreS (i)=T PreS (i-1)-ψ(i)

[0176] wherein ψ(i) represents a penalty duration for the pre-stabilization duration.

[0177] In a possible implementation, the penalty duration for the pre-stabilization duration includes: a square term of the unstable duration, describing a nonlinear relationship between the penalty term and the unstable duration; a variation amplitude of the observation, characterizing a linear relationship between the penalty term and the variation amplitude of the observation; and the penalty duration ψ(i) satisfies the following formula:

[0178] ψ(i)=ψ1(i)×T PreUS 2 (i)

[0179]

[0180] wherein T PreUS (i) represents an unstable duration at time i, and represent penalty coefficients set for penalty terms of the pneumatic servo valve position and the cylinder air pressure, represents a valve position filtered value at time i, represents a filtered value of the cylinder air pressure at time i.

[0181] In a possible implementation, the current pre-stabilization state duration T PreS (i) is greater than a first preset duration, and the following formula is satisfied:

[0182] T PreS (i)>T Set

[0183] wherein T Set represents a set minimum duration for entering the stable state;

[0184] In a possible implementation, the stable duration is accumulated and increased after the pneumatic servo valve enters the stable state, and the following formula is satisfied:

[0185] T Stable (i)=T Stable (i-1)+1

[0186] T Stable (i-1) is a stable duration at time i-1.

[0187] In a possible implementation, in the stable state, a measurement index of real-time control accuracy is calculated, and the real-time control accuracy satisfies the following formula:

[0188] Acc(i)=Aim(i)-Pv (i)

[0189] Where Aim(i) represents the target value at time i, P v (i) represents the actual value at time i.

[0190] In one possible implementation, the control accuracy measurement indicators include: the mean accuracy within the stable segment, the estimated maximum response trend of control accuracy, and the estimated minimum response trend of control accuracy. The estimated maximum response trend of control accuracy is updated in real time by comparing the maximum accuracy value at the previous moment with the current actual accuracy value. If the maximum accuracy value at the previous moment is less than the current actual accuracy value, the maximum accuracy value is updated. The estimated minimum response trend of control accuracy is updated in real time by comparing the minimum accuracy value at the previous moment with the current actual accuracy value. If the minimum accuracy value at the previous moment is greater than the current actual accuracy value, the minimum accuracy value is updated.

[0191] In one possible implementation, the mean accuracy satisfies the following formula:

[0192]

[0193] Control accuracy maximum response trend estimation value Acc max (i) Satisfy the following formula:

[0194] Acc max (i) = Acc max (i-1)+λ max (Acc(i)-Acc max (i-1))

[0195] Among them, λ max is the filter coefficient, Acc max (i-1) represents the maximum response trend estimated at the i-1th moment;

[0196] Control accuracy minimum response trend estimation value Acc min (i) Satisfy the following formula:

[0197] Acc min (i) = Acc min (i-1)+λ min (Acc(i)-Acc min (i-1))

[0198] Among them, λ min is the filter coefficient, Acc min (i-1) represents the minimum response trend estimated at the i-1th moment;

[0199] Among them, the communication unit can also be called a transceiver unit. The antenna and control circuit with transceiver functions in the electronic device 60 can be regarded as the communication unit 602 of the electronic device 60, and the processor with processing function can be regarded as the processing unit 601 of the electronic device 60. Optionally, the device used to implement the receiving function in the communication unit 602 can be regarded as the communication unit, and the communication unit is used to perform the receiving steps in the embodiment of the present application. The communication unit can be a receiver, a receiver, a receiving circuit, etc. The device used to implement the sending function in the communication unit 602 can be regarded as a sending unit, and the sending unit is used to perform the sending steps in the embodiment of the present application. The sending unit can be a transmitter, a transmitter, a sending circuit, etc.

[0200] Figure 6 If the integrated units are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the various embodiments of the present application. The storage medium for storing computer software products includes various media that can store program codes, such as USB flash drives, mobile hard drives, read-only memories, random access memories, magnetic disks or optical disks.

[0201] Figure 6 A unit in a can also be called a module, for example, a processing unit can be called a processing module.

[0202] The embodiment of the present application also provides a hardware structure diagram of an electronic device (denoted as electronic device 70), see Figure 7 The electronic device 70 includes a processor 701 and, optionally, a memory 702 connected to the processor 701 .

[0203] In the first possible implementation, see Figure 7 The electronic device 70 further includes a transceiver 703. The processor 701, the memory 702, and the transceiver 703 are connected via a bus. The transceiver 703 is used to communicate with other devices or a communication network. Optionally, the transceiver 703 may include a transmitter and a receiver. The device used to implement the receiving function in the transceiver 703 can be considered a receiver, and the receiver is used to perform the receiving steps in the embodiments of the present application. The device used to implement the transmitting function in the transceiver 703 can be considered a transmitter, and the transmitter is used to perform the transmitting steps in the embodiments of the present application.

[0204] Based on the first possible implementation, Figure 7 The structural schematic diagram shown can be used to illustrate the structure of the electronic device involved in the above embodiments.

[0205] During implementation, each step of the method provided in this embodiment can be completed by hardware integrated logic circuits in a processor or by software instructions. The steps of the method disclosed in the embodiments of this application can be directly implemented as execution by a hardware processor, or as a combination of hardware and software modules in a processor.

[0206] The processor in this application may include, but is not limited to, at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller unit (MCU), or an artificial intelligence processor, and other types of computing devices that run software. Each computing device may include one or more cores for executing software instructions to perform operations or processing. The processor may be a separate semiconductor chip, or it may be integrated into a semiconductor chip together with other circuits. For example, it may form an SoC (system on chip) with other circuits (such as a codec circuit, a hardware acceleration circuit, or various bus and interface circuits), or it may be integrated into an ASIC as a built-in processor of the ASIC. The ASIC with the integrated processor may be packaged separately or together with other circuits. In addition to the core for executing software instructions to perform operations or processing, the processor may further include necessary hardware accelerators, such as a field programmable gate array (FPGA), a PLD (programmable logic device), or a logic circuit that implements dedicated logic operations.

[0207] The memory in the embodiments of the present application may include at least one of the following types: read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or electrically erasable programmable read-only memory (EEPROM). In some scenarios, the memory may also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited to this.

[0208] An embodiment of the present application also provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enables the computer to execute any of the above methods.

[0209] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute any of the above methods.

[0210] An embodiment of the present application also provides a chip, which includes a processor and an interface circuit, the interface circuit is coupled to the processor, the processor is used to run a computer program or instruction to implement the above method, and the interface circuit is used to communicate with other modules outside the chip.

[0211] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more media that can be integrated. The available media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVDs), or semiconductor media (eg, solid state disks (SSDs)).

[0212] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0213] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, the present application is intended to include such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

Claims

1. A method for identifying the control accuracy of a pneumatic servo valve, characterized in that: include: Acquiring current motion parameters of the pneumatic servo valve during its movement to a specified position, wherein the current motion parameters include: actual position parameters of the pneumatic servo valve and air pressure parameters of the cylinder; Determining a difference between the current motion parameter and the motion parameter acquired at a previous moment; When the difference is less than the first threshold, adding the first duration to the pre-stable state duration; When the difference is greater than or equal to the first threshold, a penalty duration is introduced into the pre-stable state duration, that is, the unstable state duration is added to the first duration, and the penalty duration is subtracted from the pre-stable state duration; Determine whether the current pre-stable state duration is greater than a first preset duration; if so, determine the control accuracy of the pneumatic servo valve based on a difference between the target motion parameter of the pneumatic servo valve and the current motion parameter.

2. The method according to claim 1, characterized in that The determining of the difference between the current motion parameter and the motion parameter acquired at the previous moment specifically involves determining the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter acquired at the previous moment.

3. The method according to claim 2, characterized in that The filter value of the current motion parameter includes the filter value of the pneumatic servo valve position and the filter value of the cylinder pressure; the filter value of the pneumatic servo valve position Satisfies the following formula: in, P represents the filtered value of the operating position of the pneumatic servo valve at time i; V (i) represents the operating position of the pneumatic servo valve at time i; represents the filtered value of the operating position of the pneumatic servo valve at time i-1; Indicates the filter coefficient of the pneumatic servo valve position; The cylinder pressure filter value Satisfies the following formula: P represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i; S (i) represents the air pressure in the pneumatic servo valve cylinder at time i; represents the filtered value of the cylinder pressure of the pneumatic servo valve at time i-1; It is the filter coefficient of the cylinder pressure of the pneumatic servo valve.

4. The method according to claim 2, characterized in that The penalty duration is determined based on the square term of the unstable state duration and the amplitude of the difference change; wherein, the square term of the unstable state duration is used to characterize the nonlinear relationship between the penalty duration and the unstable state duration, and the amplitude of the difference change is used to characterize the linear relationship between the amplitude of the difference between the current motion parameter and the motion parameter collected at the previous moment.

5. The method according to claim 4, characterized in that The penalty duration ψ(i) satisfies the following formula: ψ(i)=ψ1(i)×T PreUS 2 (i) Among them, T PreUS (i) represents the duration of instability at time i, ε PV and ε PS Indicates the penalty coefficient set for the pneumatic servo valve position and cylinder pressure penalty items, Indicates the valve position filter value at time i, Represents the filtered value of the cylinder pressure at time i.

6. The method according to any one of claims 1 to 5, characterized in that After determining the control accuracy of the pneumatic servo valve, the method further includes: In the case of determining whether the current pre-stable state duration is greater than a first preset duration, increasing the stabilization duration of the pneumatic servo valve by the first duration; Obtain multiple stable durations within a historical time period, as well as multiple control precisions corresponding to each stable duration; Based on the multiple control accuracies and the stabilization time, a control accuracy evaluation parameter of the pneumatic servo valve is determined.

7. The method according to claim 6, characterized in that The control accuracy evaluation parameters include the accuracy mean, the control accuracy maximum response trend estimation value and the control accuracy minimum response trend estimation value; The accuracy mean Acc avg Satisfies the formula: Where Acc(i) represents the accuracy value at time i, T Stable (i) represents the stable duration at time i. The estimated value of the maximum response trend of the control accuracy satisfies the formula: Acc max (i)=Acc max (i-1)+λ max (Acc(i)-Acc max (i-1)) Among them, λ max is the filter coefficient, Acc max (i) represents the maximum response trend estimated at the i-th moment; The control accuracy minimum response trend estimation value satisfies the formula: Acc min (i)=Acc min (i-1)+λ min (Acc(i)-Acc min (i-1)) Among them, λ min is the filter coefficient, Acc min (i) represents the minimum response trend estimated at the i-th moment.

8. The method according to claim 7, characterized in that The determining the control accuracy of the pneumatic servo valve based on the difference between the target motion parameter of the pneumatic servo valve and the current motion parameter includes: When the current pre-stable state duration is longer than a first preset duration, determining that the pneumatic servo valve enters a stable state; The stable state duration of the pneumatic servo valve is accumulated, and the accumulated stable state duration T Stable (i) Satisfy: T Stable (i)=T Stable (i-1)+1; Based on the formula Acc(i) = Aim(i) - P v (i) calculating the control accuracy of the pneumatic servo valve; Among them, T Stable (i-1) is the stable duration at time i-1, Aim(i) represents the target value at time i, P v (i) represents the actual value at time i.

9. The method according to claim 8, characterized in that When the difference between the filtered value of the current motion parameter and the filtered value of the motion parameter collected at the previous moment is less than the first threshold, the formula is satisfied: in, and Indicates the set pneumatic servo valve position threshold and cylinder pressure threshold.

10. An electronic device, characterized in that: including a communication unit and a processing unit; Wherein, the communication unit is used to obtain motion parameters such as real-time pneumatic servo valve position parameters and cylinder pressure parameters; The processing unit is used to input the motion parameters into the pneumatic servo valve control accuracy identification system to determine the real-time control accuracy of the pneumatic servo valve, wherein the pneumatic servo valve control accuracy identification system is based on whether the difference between the current motion parameters and the motion parameters collected at the previous moment is greater than a first threshold value. If it is greater than the first threshold value, a penalty duration is introduced for the pre-stable state duration of the pneumatic servo valve, and the unstable duration is added to the first duration. If it is less than the first threshold value, the pre-stable state duration is added to the first duration until the current pre-stable state duration is greater than the first preset duration. It is judged that the valve enters a stable state and the control accuracy of the pneumatic servo valve in the current stable state is calculated.

Images