A distributed independent control system and a strong adaptive control method thereof

Abstract

The application relates to the field of adaptive control, and discloses a distributed independent control system and a strong adaptive control method thereof. First, a distributed independent control system combined with double pumps is provided, a double-pump control loop is designed to reduce motor power, improve energy efficiency, and reduce the volume of an oil tank; then, a decomposition control strategy is designed for the double-pump system in the distributed independent hydraulic system, effectively solving the interference problem of force / position under the double-pump loop; meanwhile, an adaptive control mechanism is integrated, online adaptive adjustment of unknown parameters is realized, and the flexibility and reliability of system control are further improved; finally, the high-efficiency and high-precision motion control effect of a multi-degree-of-freedom hydraulic mechanical arm of the distributed independent control system is achieved.

Description

Technical Field

[0001] This invention relates to the field of adaptive control, and in particular to a distributed independent control system and its strongly adaptive control method. Background Technology

[0002] Hydraulic robotic arms, characterized by high energy density, compact structure, and good environmental adaptability, are widely used in engineering machinery, aerospace, marine equipment, and the nuclear industry. Hydraulic robotic arms are generally driven by electro-hydraulic control systems. Traditional electro-hydraulic control systems control one actuator through a directional valve, resulting in mechanical coupling between the inlet and outlet valves. This leads to pressure / velocity interference, significant throttling losses, and low energy efficiency. Considering the requirements for fluid degassing and cooling, the oil tank is relatively large. Furthermore, the centralized power supply of the entire system necessitates a high-power motor. Additionally, the closed-loop structure formed by the hydraulic actuator and the rigid linkage of the robotic arm results in strong kinematic and dynamic coupling. Virtual decomposition methods can address the coupling problem in closed-loop structures, but these methods cannot guarantee boundedness well under model uncertainties and disturbances, exhibiting weak robustness. Moreover, they are often used in valve-controlled systems and are difficult to integrate directly with pump-controlled systems. Therefore, designing a distributed independent control system and its control method that is energy-efficient, has a small oil tank size, and avoids pressure / velocity coupling interference to achieve high-precision motion control has become an urgent problem to be solved. Summary of the Invention

[0003] Based on this, this invention proposes a distributed independent control system and its strong adaptive control method. It proposes a distributed independent control system combining two pumps, reducing motor power, improving energy efficiency, and reducing oil tank volume by designing a dual-pump control loop. Then, a decomposed control strategy is designed for the dual-pump system in the distributed independent hydraulic system, effectively solving the force / position interference problem in the dual-pump loop. Simultaneously, an adaptive control mechanism is incorporated to achieve online adaptive adjustment of unknown parameters, further improving the flexibility and reliability of system control. This invention achieves efficient and high-precision motion control of a multi-degree-of-freedom hydraulic robotic arm using a distributed independent control system.

[0004] The technical solution of the present invention is as follows:

[0005] A distributed independent control system and its strongly adaptive control method are disclosed. The distributed independent control system includes multiple actuators, each of which is a hydraulic cylinder. Each actuator is connected to a drive control loop and a signal acquisition unit, and is connected to a strongly adaptive controller via signal lines. Based on the received signals from the signal acquisition unit, the drive control loop is controlled to make the actuator move as desired. Each actuator has a rod-type cavity and a rodless cavity.

[0006] The signal acquisition unit includes:

[0007] Two pressure sensors are installed in the rod-side chamber and rodless chamber of the actuator, respectively, and are connected to the strong adaptive controller to monitor their respective pressures.

[0008] A displacement sensor is mounted on the piston rod of the actuator and connected to the strong adaptive controller to monitor the displacement of the actuator;

[0009] Each of the aforementioned drive control loops includes:

[0010] The first hydraulic pump connects the rodless chamber of the actuator to the oil tank;

[0011] The first control component, after being connected to the first hydraulic pump, is connected to the DC bus to form the control circuit of the first hydraulic pump;

[0012] The second hydraulic pump connects the rodless chamber and the rod chamber of the actuator.

[0013] The second control component, after being connected to the second hydraulic pump, is connected to the DC bus to form the control circuit of the second hydraulic pump.

[0014] Furthermore, the first control component has the same structure as the second control component, and the first control component includes:

[0015] The motor is connected to the first hydraulic pump;

[0016] A servo driver is connected to the motor, and the servo driver is connected to the DC bus.

[0017] This invention proposes a distributed independent control system and its strongly adaptive control method, comprising:

[0018] The end-effector trajectory of the hydraulic manipulator is obtained, and the closed-chain system of the hydraulic manipulator is decomposed into an open-chain system. The rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components are calculated through kinematics. The rigid body required velocity and rigid body required angular velocity are based on the joint required velocity of the hydraulic manipulator, and the joint required velocity is obtained according to the expected displacement parameters of the hydraulic cylinder.

[0019] The rigid body driving force of the hydraulic robotic arm component is calculated based on the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm component. The rigid body driving force is based on the rigid body dynamics control equation with introduced model uncertainty terms and self-disturbance terms. The hydraulic cylinder driving force is calculated based on the rigid body driving force of the hydraulic robotic arm component. The hydraulic cylinder driving force is based on the force decomposition relationship.

[0020] A hydraulic control model is constructed to calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus.

[0021] Calculate the hydraulic pump motor control voltage of the hydraulic cylinder, wherein the hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related terms;

[0022] The pump control signal is reconstructed according to the parameter adaptive method, which is based on the adaptive law to obtain the final output signal of the hydraulic pump motor.

[0023] Based on the final output signal of the hydraulic pump motor, a distributed independent control system is controlled to make the actuator move as desired.

[0024] Furthermore, the steps of obtaining the end effector trajectory of the hydraulic robotic arm, decomposing the closed-chain system of the hydraulic robotic arm into an open-chain system, and calculating the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm components through kinematics specifically include:

[0025] The end effector trajectory of a hydraulic robotic arm is obtained, wherein the hydraulic robotic arm is controlled based on the joint space of the hydraulic robotic arm;

[0026] The displacement of the hydraulic cylinder is obtained based on the end effector trajectory of the hydraulic manipulator to calculate the joint angle and joint angular velocity of the hydraulic manipulator. Then, the required joint speed is calculated based on the joint angle and joint angular velocity of the hydraulic manipulator. The specific algorithm for calculating the required joint speed is as follows:

[0027] ,

[0028] in, Indicates the speed required by the joint. Indicates the desired velocity of the joint. Indicates the desired angle of the joint. Indicates the actual angle of the joint. This indicates the joint angle error feedback gain. ;

[0029] The closed-chain system of the hydraulic robotic arm is decomposed into an open-chain system. Based on the joint speed requirements and the geometric relationship of the hydraulic robotic arm components, the rigid body speed requirements and rigid body angular velocity requirements of the hydraulic robotic arm components are calculated.

[0030] Furthermore, the step of calculating the rigid body driving force of the hydraulic robotic arm component based on its rigid body required velocity and rigid body required angular velocity specifically includes:

[0031] The required rigid body driving force is calculated based on the rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components. The required rigid body driving force is based on the rigid body dynamics control equation of velocity error feedback, which is as follows:

[0032] ,

[0033] in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body.

[0034] Furthermore, the rigid body dynamics governing equations based on the introduction of model uncertainties and active disturbance rejection terms specifically include:

[0035] Introducing model uncertainties into the governing equations of rigid body dynamics and self-disruption term The specific algorithm for the rigid body dynamics governing equations is as follows:

[0036]

[0037] in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body. , For the weights of the RBF neural network, It is a Gaussian activation function. , The derivative of the required velocity of the rigid body. To estimate the error of the RBF neural network, we introduce... ,definition for Estimated value for The estimated value and the governing equations of rigid body dynamics can ultimately be written as:

[0038]

[0039] Then, the required driving force of the hydraulic cylinder is obtained by force decomposition calculation. .

[0040] Furthermore, the step of constructing a hydraulic control model and calculating the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor specifically includes:

[0041] The net pressure in the hydraulic cylinder chamber is calculated based on the piston friction and driving force of the hydraulic cylinder. The specific algorithm for calculating the net pressure in the hydraulic cylinder chamber is as follows:

[0042] ,

[0043] ,

[0044] in, This indicates the net pressure in the hydraulic cylinder chamber. This represents the driving force of the hydraulic cylinder, which is numerically equal to the required driving force of the hydraulic cylinder. , This represents the frictional force of the hydraulic cylinder piston. Indicates the damping and viscous friction coefficient. Indicates the piston speed of the hydraulic cylinder. Represents the Coulomb coefficient of friction. This represents the inverse trigonometric function of arctan, used to describe Coulomb friction. This represents the Stribeck effect coefficient. Indicates Stribeck's speed. This represents an exponential factor, which is used to control the rate at which friction decreases with speed;

[0045] The compressibility dynamic equations for the chamber fluid of a hydraulic cylinder are constructed as follows:

[0046] ,

[0047] ,

[0048] in, and These represent the areas of the rod-side cavity and the rodless cavity, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. and Let represent the derivatives of the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. Indicates the bulk modulus of a fluid;

[0049] The dynamic model of the servo motor with internal velocity closed loop and fast control response is established as follows:

[0050] ,

[0051] Represents the scaling factor. Represents the motor speed. Represents the motor control voltage;

[0052] Constructing the selection function:

[0053] ,

[0054] in, This represents a selection function, where s represents any unknown variable;

[0055] The specific algorithms for calculating the flow rates of the rod-side chamber, rodless chamber, and first hydraulic pump of the hydraulic cylinder are as follows:

[0056] ,

[0057] ,

[0058] ,

[0059] in, This indicates the output flow rate of the first hydraulic pump. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the motor speeds of the first and second hydraulic pumps, respectively. and These represent the rod-side pressure and rodless-side pressure of the hydraulic cylinder, respectively. The rod-side pressure and rodless-side pressure of the hydraulic cylinder are obtained by measurement using pressure sensors. and These represent the control voltages of the first and second hydraulic pumps, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively.

[0060] The pressure in the two chambers of a hydraulic cylinder can be converted into the net pressure of the hydraulic cylinder chambers, expressed as:

[0061] ,

[0062] in, This indicates the net pressure in the hydraulic cylinder chamber;

[0063] The relationship between the net pressure in the hydraulic cylinder chamber and the control voltage of the hydraulic pump motor is as follows:

[0064]

[0065] This represents the derivative of the net pressure in the hydraulic cylinder chamber. and These represent the control voltage related items for the first and second hydraulic pumps, respectively.

[0066] The specific algorithm for the control voltage-related terms is as follows:

[0067] ,

[0068] in, , These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder.

[0069] Furthermore, the step of calculating the hydraulic pump motor control voltage of the hydraulic cylinder specifically includes:

[0070] Obtain the control voltage related terms of the hydraulic pump, and calculate the hydraulic pump motor control voltage based on the control voltage related terms. The specific algorithm for calculating the hydraulic pump motor control voltage is as follows:

[0071] ,

[0072] in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

[0073] Furthermore, the step of reconstructing the pump control signal according to the parameter adaptive method specifically includes:

[0074] Uncertainty parameters An adaptive term is introduced to reconstruct the control signal. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively.

[0075] Define uncertain parameters The estimated value is The parameter estimation error is The model estimates the discontinuous projection as follows:

[0076]

[0077] Where t represents any unknown, and m represents a discontinuous projection function.

[0078] The adaptive law for parameters is:

[0079] ,

[0080] in, It is a diagonal adaptive law matrix. ,in, and These represent the upper and lower bounds of the parameter, respectively. k ad For the weighting coefficients, r2 is an adaptive function that adapts the uncertain parameters online through a parameter adaptation law. ;

[0081] The control voltage of pump A and pump B can be reconfigured as follows:

[0082] ,

[0083] in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the rod chamber pressure and the rodless chamber pressure, respectively. and These represent the estimated leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. The parameters are then adapted online using an adaptive law. and These represent the estimated leakage coefficients for the forward and reverse rotation of the second hydraulic pump motor, respectively. The parameters are then adapted online using an adaptive law. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

[0084] This invention proposes a strongly adaptive virtual decomposition control system for a distributed independent control system, comprising:

[0085] The rigid body demand velocity calculation module is used to obtain the end trajectory of the hydraulic manipulator, decompose the closed-chain system of the hydraulic manipulator into an open-chain system, and calculate the rigid body demand velocity and rigid body demand angular velocity of the hydraulic manipulator components through kinematics. The rigid body demand velocity and rigid body demand angular velocity are based on the joint demand velocity of the hydraulic manipulator, and the joint demand velocity is obtained according to the expected displacement parameters of the hydraulic cylinder.

[0086] The rigid body and hydraulic cylinder demand driving force calculation module is used to calculate the rigid body demand driving force of the hydraulic robotic arm component based on the rigid body demand velocity and rigid body demand angular velocity of the hydraulic robotic arm component. The rigid body demand driving force is based on the rigid body dynamics control equation with introduced model uncertainty terms and self-disturbance terms. The hydraulic cylinder demand driving force is calculated based on the rigid body demand driving force of the hydraulic robotic arm component. The hydraulic cylinder demand driving force is based on the force decomposition relationship.

[0087] The pressure conversion calculation module is used to construct a hydraulic control model and calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus.

[0088] The control voltage calculation module is used to calculate the hydraulic pump motor control voltage of the hydraulic cylinder. The hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related terms.

[0089] An adaptive reconfiguration module is used to reconfigure the pump control signal according to a parameter adaptive method, which is based on an adaptive law to obtain the final output signal of the hydraulic pump motor.

[0090] The signal output module is used to control the distributed independent control system based on the final output signal of the hydraulic pump motor, so that the actuator moves as desired.

[0091] The present invention also provides a computer device, the computer device including a memory and a processor, wherein:

[0092] The memory is used to store computer programs;

[0093] When the processor executes the computer program stored in the memory, it implements the distributed independent control system and its strongly adaptive control method as described above.

[0094] The beneficial effects of this invention are as follows:

[0095] 1. This invention proposes a distributed independent control system combining two pumps. By designing a dual-pump control loop, the motor power is reduced, avoiding the mechanical coupling between the inlet and outlet valves caused by the traditional electro-hydraulic control system that controls one actuator through one directional valve, resulting in pressure / speed interference. Since there is no valve control loop in the circuit, the throttling loss is greatly reduced and the overall energy efficiency of the control system is improved. Considering the small throttling loss, the fluid degassing and fluid cooling requirements are also small, and the oil tank volume is reduced.

[0096] 2. This invention designs a decomposed control strategy for a dual-pump system in a distributed independent hydraulic system, avoiding the strong coupling problem in kinematics and dynamics caused by the closed-chain structure formed by the hydraulic actuator and the rigid link of the robotic arm in traditional designs. Based on the rigid body dynamics control equations that introduce model uncertainties and self-disturbance terms, the boundedness and robustness are effectively improved.

[0097] 3. This invention incorporates an adaptive control mechanism, introducing uncertain parameters into the adaptive term. Through the parameter adaptive law, it realizes online adaptive adjustment of unknown parameters, further improving the flexibility and reliability of system control, and achieving efficient and high-precision motion control of the multi-degree-of-freedom hydraulic robotic arm in a distributed independent control system.

[0098] Specifically, to obtain the end effector trajectory of the hydraulic robotic arm, the closed-chain system of the hydraulic robotic arm is decomposed into an open-chain system. The rigid body required velocities and angular velocities of the hydraulic robotic arm components are calculated using kinematics. These rigid body required velocities and angular velocities are based on the joint required velocities of the hydraulic robotic arm, which are obtained from the desired displacement parameters of the hydraulic cylinders. The rigid body required driving force of the hydraulic robotic arm components is calculated based on these rigid body required driving forces. This driving force is based on the rigid body dynamics control equations that incorporate model uncertainties and active disturbance rejection terms. The required driving force of the hydraulic cylinders is then calculated based on the rigid body required driving force of the hydraulic robotic arm components. The cylinder demand driving force is based on force decomposition relationships; a hydraulic control model is constructed to calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus; the control voltage of the hydraulic pump motor is calculated, including a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, which is based on control voltage related terms; the pump control signal is reconstructed according to a parameter adaptive method based on an adaptive law to obtain the final output signal of the hydraulic pump motor; based on the final output signal of the hydraulic pump motor, a distributed independent control system is controlled to make the actuator move as desired. Attached Figure Description

[0099] Figure 1 This is a flowchart of the distributed independent control system and its strongly adaptive control method proposed in the first embodiment of the present invention;

[0100] Figure 2 This is a schematic diagram of the structure of the strongly adaptive virtual decomposition control system of the distributed independent control system proposed in the second embodiment of the present invention;

[0101] Figure 3 This is a hydraulic control logic diagram of the first embodiment of the present invention;

[0102] Figure 4 This is a hydraulic actuation logic diagram of the first embodiment of the present invention;

[0103] Figure label:

[0104] 101 - First actuator A, 102 - Second actuator B, 103 - Third actuator C;

[0105] 201-First hydraulic pump A, 202-Second hydraulic pump A, 203-First hydraulic pump B, 204-Second hydraulic pump B, 205-First hydraulic pump C, 206-Second hydraulic pump C;

[0106] 301 - First motor A, 302 - Second motor A, 303 - First motor B, 304 - Second motor B, 305 - First motor C, 306 - Second motor C;

[0107] 401 - First servo driver A, 402 - Second servo driver A, 403 - First servo driver B, 404 - Second servo driver B, 405 - First servo driver C, 406 - Second servo driver C;

[0108] 501 - First pressure sensor A, 502 - Second pressure sensor A, 503 - First pressure sensor B, 504 - Second pressure sensor B, 505 - First pressure sensor C, 506 - Second pressure sensor C;

[0109] 601 - First displacement sensor, 602 - Second displacement sensor, 603 - Third displacement sensor;

[0110] Fuel tank 7;

[0111] DC bus 8;

[0112] Strong adaptive controller 9;

[0113] Distributed independent control system 10.

[0114] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0115] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0116] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0117] In the description of this invention, unless otherwise specified and limited, it should be noted that the term "connection" should be interpreted broadly. For example, it can be a mechanical connection or an electrical connection, or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms according to the specific circumstances. In addition, "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0118] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0119] Example 1

[0120] like Figure 4 As shown, this embodiment provides a distributed independent control system and its strongly adaptive control method. The distributed independent control system 10 includes multiple actuators, each of which is a hydraulic cylinder. Each actuator is connected to a drive control loop and a signal acquisition unit, and is connected to a strongly adaptive controller 9 via signal lines. Based on the received signals from the signal acquisition unit, the drive control loop is controlled to make the actuator move as desired. Each actuator has a rod-type cavity and a rodless cavity.

[0121] The signal acquisition unit includes:

[0122] Two pressure sensors are installed in the rod-side chamber and rodless chamber of the actuator, respectively, and are connected to the strong adaptive controller 9 to monitor their respective pressures;

[0123] A displacement sensor is mounted on the piston rod of the actuator and connected to the strong adaptive controller 9 to monitor the displacement of the actuator;

[0124] Each of the aforementioned drive control loops includes:

[0125] The first hydraulic pump connects the rodless chamber of the actuator to the oil tank;

[0126] The first control component, after being connected to the first hydraulic pump, is connected to the DC bus 8 to form the control circuit of the first hydraulic pump;

[0127] The second hydraulic pump connects the rodless chamber and the rod chamber of the actuator.

[0128] The second control component, after being connected to the second hydraulic pump, is connected to the DC bus 8 to form the control circuit of the second hydraulic pump.

[0129] It should be noted that, in this embodiment, the first control component and the second control component have the same structure and are respectively connected to the strong adaptive controller 9. The first control component includes:

[0130] The motor is connected to the first hydraulic pump, and the motor speed signal is provided by the strong adaptive controller 9;

[0131] A servo driver is connected to the motor, and the servo driver is connected to DC bus 8, wherein DC bus 8 is used to supply power to the system.

[0132] It should be noted that, in this embodiment, the actuator includes a first actuator A101, a second actuator B102, and a third actuator C103;

[0133] The first hydraulic pump includes:

[0134] The first hydraulic pump A201 has its inlet connected to the oil tank 7 and its outlet connected to the rodless chamber of the first actuator A101.

[0135] The first hydraulic pump B203 has its inlet connected to the oil tank 7 and its outlet connected to the rodless chamber of the second actuator B102.

[0136] The first hydraulic pump C205 has its inlet connected to the oil tank 7 and its outlet connected to the rodless chamber of the third actuator C103.

[0137] The second hydraulic pump includes:

[0138] The second hydraulic pump A202 has its inlet connected to the rodless chamber of the first actuator A101 and its outlet connected to the rod chamber of the first actuator A101.

[0139] The second hydraulic pump B204 has its inlet connected to the rodless chamber of the second actuator B102 and its outlet connected to the rod chamber of the second actuator B102.

[0140] The second hydraulic pump C206 has its inlet connected to the rodless chamber of the third actuator C103, and its outlet connected to the rod chamber of the third actuator C103.

[0141] The motor includes:

[0142] The first motor A301 is connected to the first hydraulic pump A201 to drive the first hydraulic pump A201;

[0143] The second motor A302 is connected to the second hydraulic pump A202 to drive the second hydraulic pump A202;

[0144] The first motor B303 is connected to the first hydraulic pump B203 to drive the first hydraulic pump B203;

[0145] The second motor B304 is connected to the second hydraulic pump B204 to drive the second hydraulic pump B204;

[0146] The first motor C305 is connected to the first hydraulic pump C205 to drive the first hydraulic pump C205;

[0147] The second motor C306 is connected to the second hydraulic pump C206 to drive the second hydraulic pump C206;

[0148] Multiple servo drives are connected to DC bus 8, and the specific servo drives are as follows:

[0149] The first servo driver A401 is connected to the first motor A301 to control the speed of the first motor A301;

[0150] The second servo driver A402 is connected to the second motor A302 to control the speed of the second motor A302;

[0151] The first servo driver B403 is connected to the first motor B303 to control the speed of the first motor B303;

[0152] The second servo driver B404 is connected to the second motor B304 to control the speed of the second motor B304;

[0153] The first servo driver C405 is connected to the first motor C305 to control the speed of the first motor C305;

[0154] The second servo driver C406 is connected to the second motor C306 to control the speed of the second motor C306.

[0155] Multiple pressure sensors are respectively connected to the strong adaptive controller 9, wherein the pressure sensors are:

[0156] The first pressure sensor A501 is connected to the rodless cavity of the first actuator A101 to monitor the pressure in the rodless cavity of the first actuator A101;

[0157] The second pressure sensor A502 is connected to the rod chamber of the first actuator A101 to monitor the pressure in the rod chamber of the first actuator A101;

[0158] The first pressure sensor B503 is connected to the rodless chamber of the second actuator B102 to monitor the pressure in the rodless chamber of the second actuator B102.

[0159] The second pressure sensor B504 is connected to the rod cavity of the second actuator B102 to monitor the pressure in the rod cavity of the second actuator B102.

[0160] The first pressure sensor C505 is connected to the rodless chamber of the third actuator C103 to monitor the pressure in the rodless chamber of the third actuator C103.

[0161] The second pressure sensor C506 is connected to the rod chamber of the third actuator C103 to monitor the pressure in the rod chamber of the third actuator C103.

[0162] The plurality of displacement sensors are respectively connected to the strong adaptive controller 9, wherein the displacement sensors include:

[0163] The first displacement sensor 601 is connected to the piston rod of the first actuator A101 to monitor the displacement of the first actuator A101;

[0164] The second displacement sensor 602 is connected to the piston rod of the second actuator B102 to monitor the displacement of the second actuator B102;

[0165] The third displacement sensor 603 is connected to the piston rod of the third actuator C103 to monitor the displacement of the third actuator C103.

[0166] Please see Figure 1 The diagram shows a flowchart of the distributed independent control system and its strongly adaptive control method proposed in the first embodiment of the present invention. This distributed independent control system and its strongly adaptive control method include steps S01 to S06, wherein:

[0167] Step S01: Obtain the end effector trajectory of the hydraulic robotic arm, decompose the closed-chain system of the hydraulic robotic arm into an open-chain system, and calculate the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm components through kinematics.

[0168] It should be noted that, in this embodiment, the rigid body required velocity and the rigid body required angular velocity are based on the joint required velocity of the hydraulic manipulator, and the joint required velocity is obtained according to the expected displacement parameters of the hydraulic cylinder.

[0169] The end effector trajectory of a hydraulic robotic arm is obtained, wherein the hydraulic robotic arm is controlled based on the joint space of the hydraulic robotic arm;

[0170] The displacement of the hydraulic cylinder is obtained based on the end effector trajectory of the hydraulic manipulator to calculate the joint angle and joint angular velocity of the hydraulic manipulator. Then, the required joint speed is calculated based on the joint angle and joint angular velocity of the hydraulic manipulator. The specific algorithm for calculating the required joint speed is as follows:

[0171] ,

[0172] in, Indicates the speed required by the joint. Indicates the desired velocity of the joint. Indicates the desired angle of the joint. Indicates the actual angle of the joint. This indicates the joint angle error feedback gain. ;

[0173] The closed-chain system of the hydraulic robotic arm is decomposed into an open-chain system. Based on the joint speed requirements and the geometric relationship of the hydraulic robotic arm components, the rigid body speed requirements and rigid body angular velocity requirements of the hydraulic robotic arm components are calculated.

[0174] Step S02: Calculate the rigid body driving force required by the hydraulic robotic arm component based on the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm component;

[0175] It should be noted that, in this embodiment, the rigid body demand driving force is based on the rigid body dynamics control equation that introduces model uncertainty terms and self-disturbance terms. The hydraulic cylinder demand driving force is calculated based on the rigid body demand driving force of the hydraulic robotic arm component. The hydraulic cylinder demand driving force is based on the force decomposition relationship.

[0176] The required rigid body driving force is calculated based on the rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components. The required rigid body driving force is based on the rigid body dynamics control equation of velocity error feedback, which is as follows:

[0177] ,

[0178] in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body;

[0179] The rigid body dynamics governing equations based on the introduction of model uncertainties and active disturbance rejection terms specifically include:

[0180] Introducing model uncertainties into the governing equations of rigid body dynamics and self-disruption term The specific algorithm for the rigid body dynamics governing equations is as follows:

[0181]

[0182] in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body. , For the weights of the RBF neural network, It is a Gaussian activation function. , The derivative of the required velocity of the rigid body. To estimate the error of the RBF neural network, we introduce... ,definition for Estimated value for The estimated value and the governing equations of rigid body dynamics can ultimately be written as:

[0183]

[0184] Then, the required driving force of the hydraulic cylinder is obtained by force decomposition calculation. .

[0185] Step S03: Construct a hydraulic control model and calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor;

[0186] It should be noted that, in this embodiment, the net chamber pressure is based on the chamber fluid compressibility dynamics equation of fluid bulk modulus;

[0187] The net pressure in the hydraulic cylinder chamber is calculated based on the piston friction and driving force of the hydraulic cylinder. The specific algorithm for calculating the net pressure in the hydraulic cylinder chamber is as follows:

[0188] ,

[0189] ,

[0190] in, This indicates the net pressure in the hydraulic cylinder chamber. This represents the driving force of the hydraulic cylinder, which is numerically equal to the required driving force of the hydraulic cylinder. , This represents the frictional force of the hydraulic cylinder piston. Indicates the damping and viscous friction coefficient. Indicates the piston speed of the hydraulic cylinder. Represents the Coulomb coefficient of friction. This represents the inverse trigonometric function of arctan, used to describe Coulomb friction. This represents the Stribeck effect coefficient. Indicates Stribeck's speed. This represents an exponential factor, which is used to control the rate at which friction decreases with speed;

[0191] The compressibility dynamic equations for the chamber fluid of a hydraulic cylinder are constructed as follows:

[0192] ,

[0193] ,

[0194] in, and These represent the areas of the rod-side cavity and the rodless cavity, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. and Let represent the derivatives of the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. Indicates the bulk modulus of a fluid;

[0195] The dynamic model of the servo motor with internal velocity closed loop and fast control response is established as follows:

[0196] ,

[0197] Represents the scaling factor. Represents the motor speed. Represents the motor control voltage;

[0198] Constructing the selection function:

[0199] ,

[0200] in, This represents a selection function, where s represents any unknown variable;

[0201] The specific algorithms for calculating the flow rates of the rod-side chamber, rodless chamber, and first hydraulic pump of the hydraulic cylinder are as follows:

[0202] ,

[0203] ,

[0204] ,

[0205] in, This indicates the output flow rate of the first hydraulic pump. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the motor speeds of the first and second hydraulic pumps, respectively. and These represent the rod-side pressure and rodless-side pressure of the hydraulic cylinder, respectively. The rod-side pressure and rodless-side pressure of the hydraulic cylinder are obtained by measurement using pressure sensors. and These represent the control voltages of the first and second hydraulic pumps, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively.

[0206] The pressure in the two chambers of a hydraulic cylinder can be converted into the net pressure of the hydraulic cylinder chambers, expressed as:

[0207] ,

[0208] in, This indicates the net pressure in the hydraulic cylinder chamber;

[0209] The relationship between the net pressure in the hydraulic cylinder chamber and the control voltage of the hydraulic pump motor is as follows:

[0210]

[0211] This represents the derivative of the net pressure in the hydraulic cylinder chamber. and These represent the control voltage related items for the first and second hydraulic pumps, respectively.

[0212] The specific algorithm for the control voltage-related terms is as follows:

[0213] ,

[0214] in, , These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder.

[0215] Step S04: Calculate the control voltage of the hydraulic pump motor for the hydraulic cylinder;

[0216] It should be noted that, in this embodiment, the hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related items;

[0217] Obtain the control voltage related terms of the hydraulic pump, and calculate the hydraulic pump motor control voltage based on the control voltage related terms. The specific algorithm for calculating the hydraulic pump motor control voltage is as follows:

[0218] ,

[0219] in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

[0220] Step S05: Reconstruct the pump control signal according to the parameter adaptive method to obtain the final output signal of the hydraulic pump motor;

[0221] It should be noted that, in this embodiment, the parameter adaptation method is based on an adaptive law;

[0222] Uncertainty parameters An adaptive term is introduced to reconstruct the control signal. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively.

[0223] Define uncertain parameters The estimated value is The parameter estimation error is The model estimates the discontinuous projection as follows:

[0224]

[0225] Where t represents any unknown, and m represents a discontinuous projection function.

[0226] The adaptive law for parameters is:

[0227] ,

[0228] in, It is a diagonal adaptive law matrix. ,in, and These represent the upper and lower bounds of the parameter, respectively. k ad For the weighting coefficients, r2 is an adaptive function that adapts the uncertain parameters online through a parameter adaptation law. ;

[0229] The control voltage of pump A and pump B can be reconfigured as follows:

[0230] ,

[0231] in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the rod chamber pressure and the rodless chamber pressure, respectively. and These represent the estimated leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. The parameters are then adapted online using an adaptive law. and These represent the estimated leakage coefficients for the forward and reverse rotation of the second hydraulic pump motor, respectively. The parameters are then adapted online using an adaptive law. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

[0232] Step S06: Based on the final output signal of the hydraulic pump motor, control the distributed independent control system so that the actuator moves as desired.

[0233] It should be noted that for the specific control logic of the hydraulic robotic arm in this embodiment, please refer to [link / reference needed]. Figure 3 For the specific execution logic of the hydraulic robotic arm control, please refer to [link / reference]. Figure 4 ;

[0234] In summary, based on the aforementioned distributed independent control system and its strong adaptive control method, a distributed independent control system combining dual pumps is proposed. This system reduces motor power, improves energy efficiency, and reduces oil tank volume by designing a dual-pump control loop. Furthermore, a decomposed control strategy is designed for the dual-pump system within the distributed independent hydraulic system, effectively solving the force / position interference problem in the dual-pump loop. Simultaneously, an adaptive control mechanism is incorporated to achieve online adaptive adjustment of unknown parameters, further enhancing the flexibility and reliability of system control. This invention achieves efficient and high-precision motion control for a multi-degree-of-freedom hydraulic robotic arm within a distributed independent control system. Specifically, to obtain the end effector trajectory of the hydraulic robotic arm, the closed-chain system of the hydraulic robotic arm is decomposed into an open-chain system. The rigid body required velocities and angular velocities of the hydraulic robotic arm components are calculated using kinematics. These rigid body required velocities and angular velocities are based on the joint required velocities of the hydraulic robotic arm, which are obtained from the desired displacement parameters of the hydraulic cylinders. The rigid body required driving force of the hydraulic robotic arm components is calculated based on the rigid body dynamics control equations that incorporate model uncertainties and active disturbance rejection terms. The required driving force of the hydraulic cylinders is then calculated based on the rigid body required driving force of the hydraulic robotic arm components. The driving force is determined based on force decomposition relationships; a hydraulic control model is constructed to calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor, wherein the net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus; the control voltage of the hydraulic pump motor of the hydraulic cylinder is calculated, wherein the control voltage of the hydraulic pump motor includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, wherein the control voltage of the hydraulic pump motor is based on control voltage related terms; the pump control signal is reconstructed according to a parameter adaptive method, wherein the parameter adaptive method is based on an adaptive law, to obtain the final output signal of the hydraulic pump motor; based on the final output signal of the hydraulic pump motor, a distributed independent control system is controlled to make the actuator move as desired.

[0235] Please see Figure 2The diagram shows a schematic representation of a strongly adaptive virtual decomposition control system for a distributed independent control system proposed in the second embodiment of the present invention. The system includes:

[0236] The rigid body demand velocity calculation module 100 is used to obtain the end trajectory of the hydraulic manipulator, decompose the closed-chain system of the hydraulic manipulator into an open-chain system, and calculate the rigid body demand velocity and rigid body demand angular velocity of the hydraulic manipulator components through kinematics. The rigid body demand velocity and rigid body demand angular velocity are based on the joint demand velocity of the hydraulic manipulator, and the joint demand velocity is obtained according to the expected displacement parameters of the hydraulic cylinder.

[0237] The rigid body and hydraulic cylinder demand driving force calculation module 200 is used to calculate the rigid body demand driving force of the hydraulic robotic arm component based on the rigid body demand velocity and rigid body demand angular velocity of the hydraulic robotic arm component. The rigid body demand driving force is based on the rigid body dynamics control equation with introduced model uncertainty terms and self-disturbance terms. The hydraulic cylinder demand driving force is calculated based on the rigid body demand driving force of the hydraulic robotic arm component. The hydraulic cylinder demand driving force is based on the force decomposition relationship.

[0238] The pressure conversion calculation module 300 is used to construct a hydraulic control model and calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus.

[0239] The control voltage calculation module 400 is used to calculate the hydraulic pump motor control voltage of the hydraulic cylinder. The hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related terms.

[0240] The adaptive reconfiguration module 500 is used to reconfigure the pump control signal according to the parameter adaptive method, which is based on the adaptive law to obtain the final output signal of the hydraulic pump motor.

[0241] The signal output module 600 is used to control the distributed independent control system based on the final output signal of the hydraulic pump motor, so that the actuator moves as desired.

[0242] The present invention also proposes a computer device, including a memory and a processor, wherein the memory is used to store computer programs, and the processor is used to execute the computer programs stored in the memory to realize the above-mentioned distributed independent control system and its strongly adaptive control method.

[0243] Those skilled in the art will understand that the logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can mean any means that can contain stored, communicated, propagated, or transmitted programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0244] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0245] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0246] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0247] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A strongly adaptive control method for a distributed independent control system, characterized in that, Includes the following steps: The end-effector trajectory of the hydraulic manipulator is obtained, and the closed-chain system of the hydraulic manipulator is decomposed into an open-chain system. The rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components are calculated through kinematics. The rigid body required velocity and rigid body required angular velocity are based on the joint required velocity of the hydraulic manipulator, and the joint required velocity is obtained according to the expected displacement parameters of the hydraulic cylinder. The rigid body driving force of the hydraulic robotic arm component is calculated based on the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm component. The rigid body driving force is based on the rigid body dynamics control equation with introduced model uncertainty terms and self-disturbance terms. The hydraulic cylinder driving force is calculated based on the rigid body driving force of the hydraulic robotic arm component. The hydraulic cylinder driving force is based on the force decomposition relationship. A hydraulic control model is constructed to calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus. Calculate the hydraulic pump motor control voltage of the hydraulic cylinder, wherein the hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related terms; The pump control signal is reconstructed according to the parameter adaptive method, which is based on the adaptive law to obtain the final output signal of the hydraulic pump motor. Based on the final output signal of the hydraulic pump motor, a distributed independent control system is controlled to make the actuator move as desired.

2. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The distributed independent control system (10) includes multiple actuators, each of which is a hydraulic cylinder. Each actuator is connected to a drive control loop and a signal acquisition unit. Each drive control loop is connected to a strong adaptive controller (9) via a signal line. Based on the received signal from the signal acquisition unit, the drive control loop is controlled to make the actuator move as desired. Each actuator has a rod-type cavity and a rodless cavity. The signal acquisition unit includes: Two pressure sensors are installed in the rod-side chamber and rodless chamber of the actuator, respectively, and are connected to the strong adaptive controller (9) to monitor their respective pressures; A displacement sensor is mounted on the piston rod of the actuator and connected to the strong adaptive controller (9) to monitor the displacement of the actuator; Each of the aforementioned drive control loops includes: The first hydraulic pump connects the rodless chamber of the actuator to the oil tank; The first control component, after being connected to the first hydraulic pump, is connected to the DC bus (8) to form the control circuit of the first hydraulic pump; The second hydraulic pump connects the rodless chamber and the rod chamber of the actuator. The second control component, after being connected to the second hydraulic pump, is connected to the DC bus (8) to form the control circuit of the second hydraulic pump.

3. The strongly adaptive control method for a distributed independent control system according to claim 2, characterized in that, The first control component has the same structure as the second control component, and the first control component includes: The motor is connected to the first hydraulic pump; A servo driver is connected to the motor, and the servo driver is connected to the DC bus (8).

4. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The steps of obtaining the end effector trajectory of the hydraulic manipulator, decomposing the closed-chain system of the hydraulic manipulator into an open-chain system, and calculating the rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components through kinematics specifically include: The end effector trajectory of a hydraulic robotic arm is obtained, wherein the hydraulic robotic arm is controlled based on the joint space of the hydraulic robotic arm; The displacement of the hydraulic cylinder is obtained based on the end effector trajectory of the hydraulic manipulator to calculate the joint angle and joint angular velocity of the hydraulic manipulator. Then, the required joint speed is calculated based on the joint angle and joint angular velocity of the hydraulic manipulator. The specific algorithm for calculating the required joint speed is as follows: ， in, Indicates the speed required by the joint. Indicates the desired velocity of the joint. Indicates the desired angle of the joint. Indicates the actual angle of the joint. This indicates the joint angle error feedback gain. ; The closed-chain system of the hydraulic robotic arm is decomposed into an open-chain system. Based on the joint speed requirements and the geometric relationship of the hydraulic robotic arm components, the rigid body speed requirements and rigid body angular velocity requirements of the hydraulic robotic arm components are calculated.

5. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The step of calculating the rigid body required driving force of the hydraulic robotic arm component based on the rigid body required velocity and rigid body required angular velocity of the hydraulic robotic arm component specifically includes: The required rigid body driving force is calculated based on the rigid body required velocity and rigid body required angular velocity of the hydraulic manipulator components. The required rigid body driving force is based on the rigid body dynamics control equation of velocity error feedback, which is as follows: ， in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body.

6. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The rigid body dynamics governing equations based on the introduction of model uncertainties and active disturbance rejection terms specifically include: Introducing model uncertainties into the governing equations of rigid body dynamics and self-disruption term The specific algorithm for the rigid body dynamics governing equations is as follows: in, This indicates the driving force of rigid body demand. Represents the spatial state matrix, Indicates the required velocity of a rigid body. Represents the Coriolis and centrifugal force vectors. This indicates the required angular velocity of the rigid body. Represents the gravity vector. Indicates a positive definite matrix. This represents the actual velocity of the rigid body. , For the weights of the RBF neural network, It is a Gaussian activation function. , The derivative of the required velocity of the rigid body. To estimate the error of the RBF neural network, we introduce... ,definition for Estimated value for The estimated value and the governing equations of rigid body dynamics can ultimately be written as: Then, the required driving force of the hydraulic cylinder is obtained by force decomposition calculation. .

7. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The steps of constructing a hydraulic control model and calculating the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor specifically include: The net pressure in the hydraulic cylinder chamber is calculated based on the piston friction and driving force of the hydraulic cylinder. The specific algorithm for calculating the net pressure in the hydraulic cylinder chamber is as follows: ， ， in, This indicates the net pressure in the hydraulic cylinder chamber. This represents the driving force of the hydraulic cylinder, which is numerically equal to the required driving force of the hydraulic cylinder. , This represents the frictional force of the hydraulic cylinder piston. Indicates the damping and viscous friction coefficient. Indicates the piston speed of the hydraulic cylinder. Represents the Coulomb coefficient of friction. This represents the inverse trigonometric function of arctan, used to describe Coulomb friction. This represents the Stribeck effect coefficient. Indicates Stribeck's speed. This represents an exponential factor, which is used to control the rate at which friction decreases with speed; The compressibility dynamic equations for the chamber fluid of a hydraulic cylinder are constructed as follows: ， ， in, and These represent the areas of the rod-side cavity and the rodless cavity, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. and Let represent the derivatives of the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. Indicates the bulk modulus of a fluid; The dynamic model of the servo motor with internal velocity closed loop and fast control response is established as follows: ， Represents the scaling factor. Represents the motor speed. Represents the motor control voltage; Constructing the selection function: ， in, This represents a selection function, where s represents any unknown variable; The specific algorithms for calculating the flow rates of the rod-side chamber, rodless chamber, and first hydraulic pump of the hydraulic cylinder are as follows: ， ， ， in, This indicates the output flow rate of the first hydraulic pump. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the motor speeds of the first and second hydraulic pumps, respectively. and These represent the rod-side pressure and rodless-side pressure of the hydraulic cylinder, respectively. The rod-side pressure and rodless-side pressure of the hydraulic cylinder are obtained by measurement using pressure sensors. and These represent the control voltages of the first and second hydraulic pumps, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively. The pressure in the two chambers of a hydraulic cylinder can be converted into the net pressure of the hydraulic cylinder chambers, expressed as: ， in, This indicates the net pressure in the hydraulic cylinder chamber; The relationship between the net pressure in the hydraulic cylinder chamber and the control voltage of the hydraulic pump motor is as follows: This represents the derivative of the net pressure in the hydraulic cylinder chamber. and These represent the control voltage related items for the first and second hydraulic pumps, respectively. The specific algorithm for the control voltage-related terms is as follows: ， in, , These represent the flow rates in the rod-side chamber and rodless chamber of the hydraulic cylinder, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder.

8. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The step of calculating the hydraulic pump motor control voltage of the hydraulic cylinder specifically includes: Obtain the control voltage related terms of the hydraulic pump, and calculate the hydraulic pump motor control voltage based on the control voltage related terms. The specific algorithm for calculating the hydraulic pump motor control voltage is as follows: ， in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the pressure in the rod chamber and the pressure in the rodless chamber of the hydraulic cylinder, respectively. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

9. The strongly adaptive control method for a distributed independent control system according to claim 1, characterized in that, The step of reconstructing the pump control signal according to the parameter adaptive method specifically includes: Uncertainty parameters An adaptive term is introduced to reconstruct the control signal. and These represent the leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. and These represent the leakage coefficients of the second hydraulic pump in forward and reverse rotation, respectively. Define uncertain parameters The estimated value is The parameter estimation error is The model estimates the discontinuous projection as follows: Where t represents any unknown, and m represents a discontinuous projection function. The adaptive law for parameters is: ， in, It is a diagonal adaptive law matrix. ,in, and These represent the upper and lower bounds of the parameter, respectively. k ad For the weighting coefficients, r2 is an adaptive function that adapts the uncertain parameters online through a parameter adaptation law. ; The control voltage of pump A and pump B can be reconfigured as follows: ， in, and These represent the control voltages of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the displacements of the first and second hydraulic pumps, respectively. and These represent the proportional amplification factors of the first hydraulic pump motor and the second hydraulic pump motor, respectively. and These represent the rod chamber pressure and the rodless chamber pressure, respectively. and These represent the estimated leakage coefficients of the first hydraulic pump in forward and reverse rotation, respectively. The parameters are then adapted online using an adaptive law. and These represent the estimated leakage coefficients for the forward and reverse rotation of the second hydraulic pump motor, respectively. The parameters are then adapted online using an adaptive law. Indicates the maximum stroke of the hydraulic cylinder. This indicates the distance from the bottom of the piston to the bottom of the hydraulic cylinder. and These represent the control voltage related terms for the first and second hydraulic pumps, respectively.

10. A strongly adaptive virtual decomposition control system for a distributed independent control system, characterized in that, include: The rigid body demand velocity calculation module is used to obtain the end trajectory of the hydraulic manipulator, decompose the closed-chain system of the hydraulic manipulator into an open-chain system, and calculate the rigid body demand velocity and rigid body demand angular velocity of the hydraulic manipulator components through kinematics. The rigid body demand velocity and rigid body demand angular velocity are based on the joint demand velocity of the hydraulic manipulator, and the joint demand velocity is obtained according to the expected displacement parameters of the hydraulic cylinder. The rigid body and hydraulic cylinder demand driving force calculation module is used to calculate the rigid body demand driving force of the hydraulic robotic arm component based on the rigid body demand velocity and rigid body demand angular velocity of the hydraulic robotic arm component. The rigid body demand driving force is based on the rigid body dynamics control equation with introduced model uncertainty terms and self-disturbance terms. The hydraulic cylinder demand driving force is calculated based on the rigid body demand driving force of the hydraulic robotic arm component. The hydraulic cylinder demand driving force is based on the force decomposition relationship. The pressure conversion calculation module is used to construct a hydraulic control model and calculate the relationship between the net chamber pressure of the hydraulic cylinder and the control voltage of the hydraulic pump motor. The net chamber pressure is based on the chamber fluid compressibility dynamic equation of fluid bulk modulus. The control voltage calculation module is used to calculate the hydraulic pump motor control voltage of the hydraulic cylinder. The hydraulic pump motor control voltage includes a first hydraulic pump motor control voltage and a second hydraulic pump motor control voltage, and the hydraulic pump motor control voltage is based on control voltage related terms. An adaptive reconfiguration module is used to reconfigure the pump control signal according to a parameter adaptive method, which is based on an adaptive law to obtain the final output signal of the hydraulic pump motor. The signal output module is used to control the distributed independent control system based on the final output signal of the hydraulic pump motor, so that the actuator moves as desired.

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