Double-hydraulic-cylinder synchronous follow-up control system

Abstract

The invention discloses a double-hydraulic-cylinder synchronous follow-up control system which is characterized in that a load unit and a carrier unit are connected through a connecting unit, the output ends of double hydraulic cylinders are connected with the connecting unit, and an inclination sensor is arranged on the carrier unit and used for measuring the inclination value of the carrier unit. A rotary transformer is arranged at the connecting position of the carrier unit and the connecting unit and used for measuring the load angle value, the main control unit controls the double hydraulic cylinders to conduct synchronous follow-up adjustment through a synchronous follow-up control anti-interference algorithm according to the measured values of the inclination sensor and the rotary transformer, and therefore closed-loop follow-up control over the load unit and the carrier unit is achieved. According to the scheme, the double hydraulic cylinders are synchronously controlled by combining the active disturbance rejection control algorithm and the self-adaptive robust control algorithm, the anti-interference capacity is high, and rapid load tracking can be achieved.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic control, specifically relating to a dual hydraulic cylinder synchronous follow-up control system. Background Technology

[0002] Electro-hydraulic servo control technology boasts advantages such as high precision, fast response, and a high power-to-weight ratio. With the development of intelligent manufacturing, heavy equipment, and the defense industry, electro-hydraulic servo control systems have been widely applied in numerous industrial devices. To ensure the smoothness, safety, and uniformity of force distribution while simultaneously improving the load capacity of the equipment, a single actuator is often insufficient. Multiple actuators, evenly distributed in space, are frequently required to collaboratively drive the equipment. Examples include hydraulic forging machinery, large ship installation platforms, rolling mill equipment, and weapon launching platforms, all of which utilize dual-cylinder synchronous control systems to varying degrees.

[0003] However, the various nonlinearities, uncertainties, and coupling factors present in the dual-cylinder synchronous system increase the difficulty of synchronous control.

[0004] In the prior art, the invention patent "A Hydraulic Servo Control Device" (Zuo Yiling, Patent Application No.: CN201811583594.8) describes a hydraulic servo control device, including a host computer and a slave computer. The slave computer includes a microcontroller, a feedback sensor, a digital-to-analog converter, an analog-to-digital converter, an input amplifier circuit, and an output amplifier circuit; it realizes the conditioning, amplification, and control of the hydraulic circuit through circuit connection and PID control algorithm. However, its shortcomings are: 1) It adopts a PID control strategy, lacking adaptive adjustment of control parameters; 2) It lacks a disturbance observer, and cannot observe system disturbances in real time, compensate for disturbances in control quantities, and achieve high-precision control; 3) It lacks data filtering, and the collected data is affected by noise, making it inaccurate; 4) It cannot change the rise time constant of the circuit through dynamic switching to improve the dynamic characteristics of the system.

[0005] The invention patent, "Hydraulic Cylinder Control System and Method Based on Feedforward PID of PSO-BP Neural Network" (Liu Boyuan, Patent Application No.: CN 202310534461.6), introduces a hydraulic cylinder control system and method based on feedforward PID of PSO-BP neural network. This invention combines a feedforward compensation controller and a PID controller into a hybrid controller. It uses a particle swarm optimization algorithm to optimize the weights and thresholds of the BP neural network, thereby obtaining better control coefficients and achieving precise position servo control of the hydraulic cylinder, ensuring stable operation of the hydraulic system. However, its shortcomings are: 1) It lacks a disturbance observer, making it unable to observe system disturbances in real time and compensate for disturbances in the control quantity to achieve high-precision control; 2) The system is a single-cylinder control, resulting in lower accuracy, load-bearing capacity, stability, and reliability compared to a dual-cylinder control system; 3) It lacks data filtering, making the collected data susceptible to noise and inaccurate; 4) It cannot improve the system's dynamic characteristics by dynamically switching the rise time constant of the circuit. Summary of the Invention

[0006] To address the aforementioned problems, the present invention aims to provide a dual hydraulic cylinder synchronous follow-up control system to achieve load angle follow-up control, which can be applied to the follow-up control of angles in forging machinery, large ship installation platforms, steel rolling equipment, and weapon launchers.

[0007] The specific technical solution for achieving the objective of this invention is as follows:

[0008] A dual hydraulic cylinder synchronous follow-up control system includes a load unit, a carrier unit, a connection unit, a rotary transformer, a tilt sensor, dual hydraulic cylinders, and a main control unit;

[0009] The load unit and the carrier unit are connected by a connecting unit. The output end of the dual hydraulic cylinder is connected to the connecting unit. An inclination sensor is installed on the carrier unit to measure the inclination value of the carrier unit. A rotary transformer is installed at the connection between the carrier unit and the connecting unit to measure the load angle value.

[0010] Based on the measurements from the tilt sensor and the rotary transformer, the main control unit uses a synchronous follow-up control anti-interference algorithm to control the dual hydraulic cylinders for synchronous follow-up adjustment, thereby achieving closed-loop follow-up control of the load unit and the carrier unit.

[0011] Furthermore, the main control unit first calculates the load angle requirement based on the data measured by the rotary transformer and the tilt sensor;

[0012] Then, the control signal is determined based on the Active Disturbance Rejection Control (ADRC) in the synchronous servo control anti-interference algorithm;

[0013] The output value of the hydraulic cylinder is determined based on the control signal and the dual hydraulic cylinder synchronization algorithm, thereby adjusting the angle of the load unit;

[0014] The rotary transformer and tilt sensor measure data and feed it back to the main control unit until the angle adjustment is completed.

[0015] Furthermore, when the main control unit calculates the load angle requirement based on the data measured by the rotary transformer and tilt sensor, it uses the load-to-carrier mapping formula for calculation:

[0016]

[0017] in, , , For the fitting parameters, The measured angle for the rotary transformer.

[0018] Furthermore, the data measured by the tilt sensor needs to be filtered and tilt corrected by a tilt correction algorithm, which involves converting the geodetic coordinate system to the load platform coordinate system.

[0019] The data measured by the tilt sensor needs to be tilt-corrected by a tilt correction algorithm through the transformation between the geodetic coordinate system and the load platform coordinate system.

[0020] Let the target be represented in the geodetic coordinate system as In the load platform coordinate system, it is represented as Load platform rotation center relative to the origin of the geodetic coordinate system The centers of rotation coincide, and the distance between the center of rotation and the target is... The tilt angle is The pitch angle is The corrected azimuth angle Pitch angle for:

[0021]

[0022]

[0023] .

[0024] Furthermore, the filtering process for the tilt sensor measurement data is as follows:

[0025]

[0026]

[0027] in, For perturbation parameters, The pitch angle is collected by the tilt sensor. This is the filtered tracking signal for the pitch angle. This is the differential signal of the pitch angle after filtering. These are design parameters.

[0028] Furthermore, the Active Disturbance Rejection Control (ADRC) treats uncertainties, disturbances, and unmodeled dynamic factors in the system as total disturbances and expands them into a new state variable for estimation and compensation to meet control requirements.

[0029] This includes: using a cascaded second-order nonlinear tracking differentiator (NTD) to arrange the transition process, smoothing the tracking signal and the differentiated signal generated by the command signal;

[0030]

[0031] in Let k be the tracking signal for the desired angle at time k. Let k be the tracking differential signal of the desired angle at time k. Let k be the desired angle. Here, r is the speed factor of the NTD parameter, h0 is the command signal filtering factor, and h represents the sampling period.

[0032] Using the extended state observer (ESO), disturbance observation and state estimation are performed based on the control variables and output signal:

[0033]

[0034] in, For observation error, , , The output of the extended state observer ESO, The estimated value of the effects of internal and external disturbances on the controlled object, where b0 is the compensation factor. to This is the error correction factor. nonlinear function Parameters;

[0035] Using the nonlinear state error feedback controller NLSEF, based on the state estimate from the extended state observer ESO , , and the output value of the second-order nonlinear tracking differentiator NTD , , Error information between , , The output control quantity is used for error compensation:

[0036]

[0037] The final output is the control signal for the next moment after compensation:

[0038]

[0039] in, to , nonlinear function The parameters, , , These are the parameters of the nonlinear state error feedback controller (NLSEF).

[0040] The parameters of the nonlinear state error feedback controller NLSEF , , A backpropagation neural network is used for adaptive adjustment.

[0041] Furthermore, the step of determining the output value of the hydraulic cylinder based on the dual hydraulic cylinder synchronization algorithm specifically involves:

[0042]

[0043]

[0044] in, , and These represent the displacements of the pistons in the two hydraulic cylinders, respectively. , and These represent the movement speeds of the pistons in the two hydraulic cylinders; , For the effective area of ​​the piston, The pressure in the left and right chambers of the two hydraulic cylinders. For the hydraulic cylinder piston assembly and inertial load mass, The effective viscous damping coefficient of the hydraulic cylinder. A smooth friction model for a hydraulic cylinder; This is the nominal value of external interference to the hydraulic cylinder; For unmodeled dynamics within the hydraulic cylinder; For the control signals of the two servo valves; The leakage coefficient of the hydraulic cylinder; , and For system design parameters, Its function is to compensate for the system model. It is a nominal item used to ensure the stability of the system. For robust feedback items, These are design parameters; This is the difference between the actual input and the virtual input of the system.

[0045] Integrated Active Disturbance Rejection Control (ADRC) control signal and dual hydraulic cylinder synchronization algorithm control signal The final servo valve control signal obtained is: .

[0046] Furthermore, the main control unit includes an RDC module, a computer control module, a microcontroller module, a relay control circuit, and a proportional valve amplification circuit;

[0047] The computer control module is connected to the RDC module, the tilt sensor, and the microcontroller module; the RDC module is connected to the rotary transformer.

[0048] The microcontroller module is connected to the relay control circuit and the proportional valve amplifier circuit, respectively.

[0049] A rotary transformer measures the angle of the load, which is then converted by the RDC module and sent to the computer control module. A tilt sensor measures the tilt of the carrier, which is then filtered and sent to the computer control module. The computer control module calculates the target angle of the load based on the carrier tilt value and transmits the target angle to the microcontroller module. The microcontroller system calculates the control signal based on the servo control module, and then amplifies the signal through a relay-controlled proportional valve amplifier circuit to drive the electro-hydraulic servo valve. The servo valve, based on the amplified signal, uses a synchronous control algorithm to control the synchronous extension and retraction of the piston rods of the dual hydraulic cylinders, adjusting the load angle through a linkage mechanism. Finally, the adjusted load angle is fed back to the computer control module through the rotary transformer and tilt sensor, achieving closed-loop control.

[0050] Furthermore, the rotary transformer is connected to the S1, S2, S3, S4, RH, and RL pins of the first decoding chip KXSZ14-415 in the RDC module. The +15V pin of the first decoding chip KXSZ14-415 is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, the GND pin is grounded, the EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively, and the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively.

[0051] In the RDC module, the S1, S2, S3, S4, RH, and RL pins of the second decoding chip KXSZ14-415 are connected to the rotary transformer. The +15V pin is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, and the GND pin is grounded. The EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively. The D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively.

[0052] The CANL1 and CANH1 pins of the computer control module chip [U7] are connected to the CANL and CANH pins of the tilt sensor and the GD32F107VCT6 microcontroller module, respectively; the DO0 and DO1 pins of the computer control module chip [U7] are connected to the EN and INHIT pins of the first decoding chip KXSZ14-415 [U3] in the RDC module, respectively; and the DO2 and DO3 pins are connected to the second decoding chip KXSZ14-415 [U4] in the RDC module, respectively. The EN and INHIT pins are connected. The D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7] are respectively connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the first decoding chip KXSZ14-415 and the second decoding chip KXSZ14-415 of the RDC module; the +5V pin is connected to the +5V power supply, and the GND pin is grounded.

[0053] The CANH1 and CANL1 pins of the microcontroller module chip GD32F107VCT6 are connected to the CANH1 and CANL1 pins of the computer control module chip [U7], respectively.

[0054] The DO0, DO1, DO2, DO3, DO4, and DO5 pins of the GD32F107VCT6 microcontroller module chip are connected to pins 1, 2, 3, 4, 5, and 6 of the ULN2003 relay control circuit chip, respectively. The DA0 pin of the GD32F107VCT6 microcontroller module chip is connected to resistor R2 of the 1-proportional valve amplifier circuit; the DA1 pin is connected to resistor R19 of the 2-proportional valve amplifier circuit; DI1 and DI0 are connected to the load up / down status signals, controlled by the relay J7 and J8 contacts. The engagement of J7 and J8 is controlled by the externally provided load up / down status signal (+24V); the +5V pin is connected to the +5V power supply, and the GND pin is grounded.

[0055] Pins 1, 2, 3, 4, 5, and 6 of the relay control circuit chip ULN2003 are connected to pins DO0, DO1, DO2, DO3, DO4, and DO5 of the microcontroller module chip GD32F107VCT6, respectively; pins 7 and 10 are left floating; pin 8 is grounded; pin 9 is connected to +24V; pins 11, 12, 13, 14, 15, and 16 are connected to relays J1, J2, J3, J4, J5, and J6, respectively; the first relay J1 and the second relay J2 are connected to the first capacitor C1 and the second capacitor C2 of the 1-proportional valve amplifier circuit, respectively; the third relay J3 and the fourth relay J4 are connected to the third capacitor C3 and the fourth capacitor C4 of the proportional valve amplifier circuit, respectively; the fifth relay J5 and the sixth relay J6 control the upper and lower locking valves 1 and 2 of the hydraulic circuit, respectively. The first relay J1, the second relay J2, the third relay J3, the fourth relay J4, the fifth relay J5 and the sixth relay J6 are all connected to +24V voltage;

[0056] The proportional valve amplifier circuit includes a first amplifier circuit and a second amplifier circuit;

[0057] In the first amplification circuit of the proportional valve amplifier circuit: one end of the second resistor R2 is connected to the DA0 pin of the microcontroller chip GD32F107VCT6, and the other end is connected in parallel with the first resistor R1 to the inverting input terminal of the operational amplifier U1; one end of the third resistor R3 is grounded, and the other end is connected to the non-inverting input terminal of the first operational amplifier U1; one end of the fourth resistor R4 is connected to a -15V voltage, and the other end is connected in series with potentiometer DAPZ-1 and then grounded; potentiometer DAPZ-1 is connected in series with the first resistor R1 and potentiometer DAFD-1 and then connected to the output terminal of the first operational amplifier U1; one end of the eighth resistor R8 is connected to the output terminal of the first operational amplifier U1, and the other end is connected in parallel with the seventh resistor R7 to the inverting input terminal of the second operational amplifier U2; one end of the ninth resistor R9 is grounded, and the other end is connected to the non-inverting input terminal of the second operational amplifier U2; one end of the fifth resistor R5 is connected to a +15V voltage, and the other end is connected in series with potentiometer DATN-1 and the sixth resistor R6 and then connected to a -15V voltage; potentiometer DATN-1 is connected in series with the seventh resistor R7 and the tenth resistor Resistor R10 is connected in series to the output of the second operational amplifier U2 and to the base of the first transistor T1; one end of the eleventh resistor R11 is connected to the output of the third operational amplifier U3, and the other end is connected to the inverting input of the third operational amplifier U3; one end of the twelfth resistor R12 is grounded, and the other end is connected to the non-inverting input of the third operational amplifier U3; the thirteenth resistor R13 is connected in parallel with the third operational amplifier U3 to the base of the second transistor T2; the fourteenth resistor R14 and the sixteenth resistor R16 are connected in parallel, one end is connected to +15V, and the other end is connected to the collector of the first transistor T1 and the second transistor T2; the emitters of the first transistor T1 and the second transistor T2 are connected to the fifteenth resistor R15 and the seventeenth resistor R17, respectively, and then connected to a -15V voltage; the first relay J1 is connected in series with the first capacitor C1 and in parallel with the series circuit of the second relay J2 and the second capacitor C2, and are all connected to the transistor amplifier circuit.

[0058] In the second amplification circuit of the proportional valve amplification circuit, one end of the nineteenth resistor R19 is connected to the DA1 pin of the microcontroller chip GD32F107VCT6. One end of the resistor is connected to the inverting input of the fourth operational amplifier U4, and the other end is connected in parallel with the eighteenth resistor R18. The second resistor, R20, has one end grounded and the other end connected to the non-inverting input of the fourth operational amplifier U4. One end of the twenty-first resistor R21 is connected to -15V, and the other end is connected in series with potentiometer DAPZ-2 and then grounded. Potentiometer DAPZ-2, in series with the eighteenth resistor R18 and potentiometer DAFD-2, is then connected to the output of the fourth operational amplifier U4. One end of the twenty-fifth resistor R25 is connected to the output of the fourth operational amplifier U4, and the other end is connected in parallel with the twenty-fourth resistor R24 ​​and then connected to the inverting input of the fifth operational amplifier U5. One end of the twenty-sixth resistor R26 is grounded and the other end is connected to the non-inverting input of the fifth operational amplifier U5. One end of the twenty-second resistor R22 is connected to +15V, and the other end is connected in series with potentiometer DATN-2 and the twenty-third resistor R23 and then connected to -15V. Potentiometer DATN-2 is connected in series with the... Resistors R24 (24) and R27 (27) are connected in series to the output of operational amplifier U5 (5) and to the base of transistor T3 (3). Resistor R28 (28) is connected at one end to the output of operational amplifier U6 (6), and at the other end to the inverting input of operational amplifier U3 (3). Resistor R29 (29) is grounded at one end and connected to the non-inverting input of operational amplifier U6 (6). Resistor R30 (30) is connected in parallel with operational amplifier U6 to the base of transistor T4 (4). Resistors R31 (31) and R33 (33) are connected in parallel, with one end connected to +15V and the other end connected to the collectors of transistors T3 (3) and T4 (4). The emitters of transistors T3 (33) and T4 (43) are connected to resistors R32 (32) and R34 (34), respectively, and then to -15V. Relay J3 (3) and capacitor C3 (3) are connected in series and in parallel with a series circuit of relay J4 (4) and capacitor C4 (44), all connected to the transistor amplifier circuit.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0060] (1) The system of the present invention uses neural network to optimize active disturbance rejection control to observe disturbances in real time and to compensate for disturbances in control quantities during the control process, thereby achieving high-precision control; during the control process, the neural network adaptively adjusts important parameters of ADRC according to the actual working conditions (commands or disturbances). Among them, the use of neural network active disturbance rejection control enables real-time observation of internal and external disturbances and compensation for disturbances in control quantities.

[0061] (2) The present invention uses an adaptive robust control algorithm to synchronously control the dual hydraulic cylinders, which can realize the rapid tracking of the load; it uses a filtering algorithm with a finite-time convergent differentiator to filter the tilt data, thereby obtaining an accurate tilt value, and then uses a correction algorithm to realize high-precision position control of the load angle.

[0062] (3) The present invention adopts a dual-rotor design, simultaneously collecting the angles on both sides, and also sets a mapping formula between the load and the carrier to achieve accurate measurement of the load angle;

[0063] (4) The solution of the present invention can dynamically switch the relay through software control, thereby changing the rise time constant of the amplifier circuit and improving the dynamic characteristics of the system; the control system has good adaptability and strong anti-interference ability, and can be used in various environments. It can be applied to the follow-up control of the angle of forging machinery, large ship installation platform, steel rolling equipment and weapon launcher.

[0064] The present invention will be further described below with reference to specific embodiments. Attached Figure Description

[0065] Figure 1 This is a system overall design diagram of the dual hydraulic cylinder synchronous follow-up control system in an embodiment of the present invention.

[0066] Figure 2 This is a schematic diagram of the load state of the dual hydraulic cylinder synchronous follow-up control system in an embodiment of the present invention. Figure 1 .

[0067] Figure 3 This is a schematic diagram of the load state of the dual hydraulic cylinder synchronous follow-up control system in an embodiment of the present invention. Figure 2 .

[0068] Figure 4 This diagram shows the relationship between the coordinate system of the ground and the coordinate system of the load platform when the load carrier of the present invention tilts.

[0069] Figure 5 This is a diagram of the BP neural network structure in the Active Disturbance Rejection Control (ADRC) embodiment of the present invention.

[0070] Figure 6 This is the main program flowchart of the dual hydraulic cylinder synchronous follow-up control of the present invention.

[0071] Figure 7 This is a flowchart of the Active Disturbance Rejection Control (ADRC) of the present invention.

[0072] Figure 8 The flowchart for optimizing ADRC parameters using a BP neural network is shown in this invention.

[0073] Figure 9 This is a flowchart of the dual hydraulic cylinder synchronization algorithm of the present invention.

[0074] Figure 10 This is a skewed data plot without filtering, as presented in this invention.

[0075] Figure 11 This is a graph of the filtered tilted data from the present invention.

[0076] Figure 12 This is a schematic diagram of the overall circuit of the dual hydraulic cylinder synchronous follow-up control system in an embodiment of the present invention.

[0077] Figure 13 This is a circuit diagram of the rotary transformer and RDC module in an embodiment of the present invention.

[0078] Figure 14 This is a circuit diagram of the main control unit in an embodiment of the present invention.

[0079] Figure 15 This is a circuit diagram of the microcontroller module in an embodiment of the present invention.

[0080] Figure 16 This is a circuit diagram of a relay control circuit in an embodiment of the present invention.

[0081] Figure 17 This is a circuit diagram of a proportional valve amplifier in an embodiment of the present invention.

[0082] Figure 18 This is a comparison diagram of the sinusoidal tracking response of the servo control algorithm and the PID algorithm of the present invention.

[0083] Figure 19 This is a comparison diagram of the control errors of the servo control algorithm and the PID algorithm of the present invention.

[0084] Figure 20 The diagram shows the displacement response of the dual-cylinder system in the synchronous control algorithm of this invention.

[0085] Figure 21 The diagram shows the synchronization error of the dual-cylinder control algorithm of this invention. Detailed Implementation

[0086] Example

[0087] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. The described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0088] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0089] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0090] Combination Figure 1 A dual hydraulic cylinder synchronous follow-up control system includes a load unit, a carrier unit, a connection unit, a rotary transformer, a tilt sensor, dual hydraulic cylinders, and a main control unit.

[0091] The load unit and the carrier unit are connected by a connecting unit. The output end of the dual hydraulic cylinder is connected to the connecting unit. An inclination sensor is installed on the carrier unit to measure the inclination value of the carrier unit. A rotary transformer is installed at the connection between the carrier unit and the connecting unit to measure the load angle value.

[0092] Based on the measurements from the tilt sensor and the rotary transformer, the main control unit uses a synchronous follow-up control anti-interference algorithm to control the dual hydraulic cylinders for synchronous follow-up adjustment, thereby achieving closed-loop follow-up control of the load unit and the carrier unit.

[0093] The main control unit first calculates the load angle requirement based on the data measured by the rotary transformer and tilt sensor;

[0094] Then, the control signal is determined based on the Active Disturbance Rejection Control (ADRC) in the synchronous servo control anti-interference algorithm;

[0095] The output value of the hydraulic cylinder is determined based on the control signal and the dual hydraulic cylinder synchronization algorithm, thereby adjusting the angle of the load unit;

[0096] The rotary transformer and tilt sensor measure data and feed it back to the main control unit until the angle adjustment is completed.

[0097] Specifically, in this embodiment, the main control unit includes an RDC module, a computer control module, a microcontroller module, a relay control circuit, and a proportional valve amplification circuit;

[0098] The computer control module is connected to the RDC module, the tilt sensor, and the microcontroller module; the RDC module is connected to the rotary transformer.

[0099] The microcontroller module is connected to the relay control circuit and the proportional valve amplifier circuit, respectively.

[0100] A rotary transformer measures the angle of the load, which is then converted by the RDC module and sent to the computer control module. A tilt sensor measures the tilt of the carrier, which is then filtered and sent to the computer control module. The computer control module calculates the target angle of the load based on the carrier tilt value and transmits the target angle to the microcontroller module. The microcontroller system calculates the control signal based on the servo control module, and then amplifies the signal through a relay-controlled proportional valve amplifier circuit to drive the electro-hydraulic servo valve. The servo valve, based on the amplified signal, uses a synchronous control algorithm to control the synchronous extension and retraction of the piston rods of the dual hydraulic cylinders, adjusting the load angle through a linkage mechanism. Finally, the adjusted load angle is fed back to the computer control module through the rotary transformer and tilt sensor, achieving closed-loop control.

[0101] In this embodiment, the dual hydraulic cylinder synchronous follow-up control system mechanism is as follows: Figure 2 , Figure 3 As shown in the diagram, this is a simplified schematic, illustrating only the basic structure of the mechanism. It comprises a carrier platform 1, hydraulic cylinder 2, hydraulic cylinder 3, connecting rod 4, connecting rod 5, connecting rod 6, connecting rod 7, and a load platform 8. The tail ends of hydraulic cylinder 2 and 3, the right ends of connecting rod 4, 5, 6, and 7 are hinged to the carrier platform 1. The piston rod of hydraulic cylinder 2 is hinged to the middle end of connecting rod 5, and the piston rod of hydraulic cylinder 3 is hinged to the middle end of connecting rod 4. The left ends of connecting rod 4, 5, 6, and 7 are hinged to the load platform 8. Hydraulic cylinders 2, 3, 4, and 6 are symmetrically arranged on both sides of the carrier platform 1 and the load platform 8. A tilt sensor is installed on the carrier platform 1 to measure the tilt value of the carrier. Rotary transformers are respectively installed at the connection points between the carrier platform 1 and connecting rod 6 and connecting rod 7 to measure the load angle value.

[0102] In this scheme, the state variable is taken as... ,make , , Then the state-space equation of the system is:

[0103]

[0104] The aforementioned active disturbance rejection control (ADRC) servo control can treat uncertainties, disturbances, and unmodeled dynamic factors in the system as a total disturbance and expand it into a new state variable (i.e., Estimate and compensate to meet control requirements; From the perspective of the target, To control the gain, To control the quantity.

[0105] Because the load uses a linkage mechanism to convert the linear reciprocating motion of the hydraulic cylinder piston rod into load angle adjustment, the change in load angle is non-linear due to the change in the lever arm of the hydraulic transmission device as the piston rod displaces; that is, the open-loop gain of the hydraulic transmission is non-linear. By measuring the angle using a rotary transformer mounted on the load, this invention obtains the mapping relationship between the load and the carrier angle through a fitting formula.

[0106] Specifically, when the main control unit calculates the load angle requirement based on the data measured by the rotary transformer and tilt sensor, it takes into account that the change in load angle is non-linear with the displacement of the hydraulic cylinder piston rod. Therefore, it is necessary to use the load-to-carrier mapping formula for calculation.

[0107]

[0108] in, , , For the fitting parameters, For the measurement angle of the rotary transformer, the desired angle is... for The target value.

[0109] The data measured by the tilt sensor needs to be filtered and tilted by a tilt correction algorithm, which corrects the tilt by converting the geodetic coordinate system to the load platform coordinate system.

[0110] The tilt correction algorithm takes into account that when the load carrier is traveling on land or sailing at sea, it is affected by external disturbances, resulting in movements in six directions: heave, yaw, roll, pitch, and yaw, which cause tilt disturbances to the load angle. This invention corrects the tilt by transforming the geodetic coordinate system and the load platform coordinate system. Therefore, the data measured by the tilt sensor needs to be corrected for tilt by the tilt correction algorithm through the transformation between the geodetic coordinate system and the load platform coordinate system. The specific relationship is as follows: Figure 4 As shown:

[0111] Let the target be represented in the geodetic coordinate system as In the load platform coordinate system, it is represented as Load platform rotation center relative to the origin of the geodetic coordinate system The centers of rotation coincide, and the distance between the center of rotation and the target is... The tilt angle is The pitch angle is Then the following transformation occurs:

[0112]

[0113] In the load platform coordinate system, azimuth angle Pitch angle Coordinates of the target The following transformation relationship exists: In the geodetic coordinate system, azimuth angle Pitch angle Coordinates of the target The following transformation relationship exists:

[0114]

[0115] The corrected azimuth angle Pitch angle for:

[0116]

[0117]

[0118] .

[0119] The tilt sensor measurement data uses a finite-time convergent second-order differentiator. This algorithm is based on singular perturbation techniques and finite-time stability theory. The filtering process is as follows:

[0120]

[0121]

[0122] in, For perturbation parameters, The pitch angle is collected by the tilt sensor. This is the filtered tracking signal for the pitch angle. This is the differential signal of the pitch angle after filtering. These are design parameters.

[0123] The Active Disturbance Rejection Control (ADRC) breaks free from the constraints of precise mathematical models and optimizes adjustments based on system control errors. It can treat uncertainties, disturbances, and unmodeled dynamic factors (existing internal parameter changes and external load disturbances) in the system as total disturbances and expand them into a new state variable for estimation and compensation to meet control requirements. This invention utilizes the nonlinear extended state observer (ESO) in ADRC to observe disturbances in real time, and then uses the nonlinear state error feedback (NLSEF) to compensate for the disturbances, obtaining the actual control quantity after adding the disturbance compensation, thereby ensuring high-precision position control of the electro-hydraulic system.

[0124] This includes: using a cascaded second-order nonlinear tracking differentiator (NTD) to arrange the transition process, smoothing the tracking signal and the differentiated signal generated by the command signal;

[0125]

[0126] in Let k be the tracking signal for the desired angle at time k. Let k be the tracking differential signal of the desired angle at time k. Let k be the desired angle. Here, r is the speed factor of the NTD parameter, h0 is the command signal filtering factor, and h represents the sampling period.

[0127] Using the extended state observer (ESO), disturbance observation and state estimation are performed based on the control variables and output signal:

[0128]

[0129] in, For observation error, , , The output of the extended state observer ESO, The estimated value of the effects of internal and external disturbances on the controlled object, where b0 is the compensation factor. to This is the error correction factor. nonlinear function Parameters;

[0130] Using the nonlinear state error feedback controller NLSEF, based on the state estimate from the extended state observer ESO , , and the output value of the second-order nonlinear tracking differentiator NTD , , Error information between , , The output control quantity is used for error compensation:

[0131]

[0132] The final output is the control signal for the next moment after compensation:

[0133]

[0134] in, to , nonlinear function The parameters, , , These are the parameters of the nonlinear state error feedback controller (NLSEF).

[0135] Furthermore, since ADRC involves numerous parameters during design and use, and parameter optimization directly impacts system control performance, BPNN possesses strong arbitrary nonlinear approximation capabilities and self-learning abilities. The parameters of the nonlinear state error feedback controller NLSEF in this embodiment... , , A BP neural network is used for adaptive adjustment to achieve high-precision active disturbance rejection control, such as... Figure 5 As shown:

[0136] A backpropagation (BP) neural network consists of an input layer, hidden layers, and an output layer, forming a multi-layer feedforward network structure with 5 input neurons, 7 hidden layer neurons, and 3 output neurons. The observation tracking error, first-order derivative, and second-order derivative observation error signals of the angle command signal are also considered. , , The system actually outputs an angle signal. Using bias 1 as the 5 input nodes of the BP neural network, select the pre-tuned parameters. , , As a network output node. The input layer is... In the formula: Corresponding in sequence , , , , The hidden layer can be defined as:

[0137]

[0138] in: Input for hidden layer nodes, For the input layer Node to hidden layer The weight coefficients between nodes, The output is the hidden layer node output; the output layer can be defined as:

[0139]

[0140] in: For the output layer node input, For the hidden layer Node to output layer The weights between nodes, Output for output layer nodes; activation function for hidden layers. and output layer activation function They are respectively:

[0141] ,

[0142] The output value of the hydraulic cylinder is determined based on the dual hydraulic cylinder synchronization algorithm and adaptive robust control.

[0143] Among them, the adaptive robust control design first constructs the coupling error vector. ,in For systematic error, For the system synchronization error, The diagonal gain matrix is ​​the positive definite coupling vector of the system. The synchronization transformation matrix is ​​defined; the sliding surface variable is defined as follows: After differentiation, we get: ,in ;

[0144] Virtual control vector The control law is:

[0145]

[0146] in For the system's model compensation term, Used to compensate for the impact of coupling errors on system stability and For robust feedback items, It is a positive definite diagonal gain matrix. The diagonal linear feedback gain matrix is ​​the positive definite value of the system. Let be the coefficient matrix. Let the difference between the actual system input and the virtual input be... ,but .

[0147] in and The components are divided into computable and non-computable parts. The computable part will be used for the design of the synchronous controller, while the non-computable part will be used to design robust feedback terms for compensation.

[0148] The specific algorithm for the dual hydraulic cylinder synchronous control in this scheme is as follows:

[0149]

[0150] Synchronous controller for:

[0151]

[0152] in, , and These represent the displacements of the pistons in the two hydraulic cylinders, respectively. , and These represent the movement speeds of the pistons in the two hydraulic cylinders; , For the effective area of ​​the piston, The pressure in the left and right chambers of the two hydraulic cylinders. For the hydraulic cylinder piston assembly and inertial load mass, The effective viscous damping coefficient of the hydraulic cylinder. A smooth friction model for a hydraulic cylinder; This is the nominal value of external interference to the hydraulic cylinder; For unmodeled dynamics within the hydraulic cylinder; For the control signals of the two servo valves; The leakage coefficient of the hydraulic cylinder; , and For system design parameters, Its function is to compensate for the system model. It is a nominal item used to ensure the stability of the system. For robust feedback items, These are design parameters; This is the difference between the actual input and the virtual input of the system.

[0153] The adaptive law can be designed as follows: ,in The adaptive law gain matrix, For the coefficient matrix, the parameter adaptive function ,

[0154] In summary, the integrated active disturbance rejection control (ADRC) control signals... and dual hydraulic cylinder synchronization algorithm control signal The final servo valve control signal obtained is: The electro-hydraulic servo valve is driven to control the extension and retraction of the hydraulic cylinder piston rod, and then the load is adjusted to the required angle through the linkage mechanism.

[0155] The load balancing main program flow is as follows: Figure 6 As shown. After the load begins to adjust its angle, the system is first initialized. Then, the computer control module calculates the required load angle based on the angle information from the rotary transformer and tilt sensor.

[0156] The signal is then transmitted to the microcontroller module. The microcontroller module calculates the control signal based on the control algorithm, and then uses a relay to control the proportional valve amplifier circuit to amplify the control signal so that it can drive the electro-hydraulic servo valve.

[0157] The servo valve, based on the control signal, uses a dual-cylinder synchronous control algorithm to control the synchronous extension and retraction of the piston rods of the two hydraulic cylinders, and adjusts the load angle through the linkage mechanism.

[0158] The rotary transformer and tilt sensor measure the angle data, which is then filtered and corrected by the RDC module and fed back to the computer control module. The computer then calculates and converts the angle into the actual load angle until the angle meets the requirements, thus completing the angle adjustment.

[0159] The flow of the ADRC servo control algorithm is as follows: Figure 7 As shown. First, the NTD of ADRC arranges the transient process of the input signal, generates the tracking signal and the first-order derivative signal according to the control signal and performs smoothing. Then, ESO performs disturbance observation and state estimation according to the control variable and the output signal. Finally, NLSEF can use the error information between the state estimate value of ESO and the output value of NTD to output the control quantity for error compensation.

[0160] The process of optimizing ADRC parameters using a BP neural network is as follows: Figure 8 As shown. First, determine the initial weights of the network, which can be randomly selected as small non-zero values. Given the input, calculate the actual output of the neural network nodes. Calculate the error function based on the target output signal. If the error function meets the system performance requirements, training is complete; otherwise, backpropagation of the error is required. Using gradient descent, the network connection weights are self-learned in the direction of the negative gradient until the error function is less than the system performance requirements. Then, the optimal value is output, the parameters of ADRC are adjusted, and training ends.

[0161] The adaptive robust control flow of the synchronization control algorithm is as follows: Figure 9As shown, the angle measured by the rotary transformer is first converted into the output displacement of the two hydraulic cylinders according to the formula. Then, the system error, synchronization error, and dual-cylinder coupling error are calculated. The coupling error value is used as the input of the adaptive robust controller, which will output a compensation control quantity. Finally, the controller feeds back the compensation control quantity to the servo valve control signal input to achieve synchronous control of the two cylinders.

[0162] The comparison before and after the skewed data filtering is as follows: Figure 10 and Figure 11 As shown in the figure, the finite-time convergent differentiator of the filtering algorithm of the present invention can effectively suppress noise in skewed data.

[0163] Combination Figures 12 to 17 This is a schematic diagram of the overall and unit circuit topology of the dual hydraulic cylinder synchronous follow-up control system in this embodiment.

[0164] The system employs a dual-resolver design and an RDC conversion circuit. Both resolvers use single-channel resolvers as angle measurement sensors. Each resolver outputs a 16-bit digital angle value via an RDC decoding chip, which is then input to the computer control system's data bus. The enable signal (EN) and disable signal (INHIT) of the RDC module 1 decoding chip are connected to the computer control system's output ports DO0 and DO1. Similarly, the enable signal (EN) and disable signal (INHIT) of the RDC module 2 decoding chip are connected to the computer control system's output ports DO2 and DO3. A low-level EN signal activates the module, allowing the 16-bit data to be input to the data bus; a high level indicates a high-impedance state. A low-level INHIT signal ensures stable output from the RDC module.

[0165] The rotary transformer is connected to the S1, S2, S3, S4, RH, and RL pins of the first decoding chip KXSZ14-415 in the RDC module. The +15V pin of the first decoding chip KXSZ14-415 is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, the GND pin is grounded, the EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively, and the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively.

[0166] In the RDC module, the S1, S2, S3, S4, RH, and RL pins of the second decoding chip KXSZ14-415 are connected to the rotary transformer. The +15V pin is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, and the GND pin is grounded. The EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively. The D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively.

[0167] The CANL1 and CANH1 pins of the computer control module chip [U7] are connected to the CANL and CANH pins of the tilt sensor and the GD32F107VCT6 microcontroller module, respectively; the DO0 and DO1 pins of the computer control module chip [U7] are connected to the EN and INHIT pins of the first decoding chip KXSZ14-415 [U3] in the RDC module, respectively; and the DO2 and DO3 pins are connected to the second decoding chip KXSZ14-415 [U4] in the RDC module, respectively. The EN and INHIT pins are connected. The D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7] are respectively connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the first decoding chip KXSZ14-415 and the second decoding chip KXSZ14-415 of the RDC module; the +5V pin is connected to the +5V power supply, and the GND pin is grounded.

[0168] Microcontroller module and relay control circuit:

[0169] The microcontroller system's CAN port communicates with the control computer system's CAN port; DA0 and DA1 output analog control signals to two proportional valve amplifier circuits; input ports DI1 and DI0 receive the BPQ up and down status signals, controlled by relays J7 and J8 contacts, whose engagement is controlled by externally provided BPQ up and down status signals (+24V); output ports DO0, DO1, DO2, DO3, DO4, and DO5, via inverters and ULN2003, control the engagement of relays J1, J2, J3, J4, J5, and J6 respectively; relays J1, J2, J3, and J4 contacts control the connection of C1 and C2 in the 1-proportional valve amplifier circuit and C3 and C4 in the 2-proportional valve amplifier circuit respectively. The dynamic change of the capacitance values ​​of C1 and C2 in the 1-proportional valve amplifier circuit can dynamically change the rise time constant of the amplifier circuit, and similarly, the rise time constant of the 2-proportional valve amplifier circuit can also be dynamically changed; J5 and J6 contacts control the upper and lower locking valves 1 and 2 in the hydraulic circuit.

[0170] The CANH1 and CANL1 pins of the microcontroller module chip GD32F107VCT6 are connected to the CANH1 and CANL1 pins of the computer control module chip [U7], respectively.

[0171] The DO0, DO1, DO2, DO3, DO4, and DO5 pins of the GD32F107VCT6 microcontroller module chip are connected to pins 1, 2, 3, 4, 5, and 6 of the ULN2003 relay control circuit chip, respectively. The DA0 pin of the GD32F107VCT6 microcontroller module chip is connected to resistor R2 of the 1-proportional valve amplifier circuit; the DA1 pin is connected to resistor R19 of the 2-proportional valve amplifier circuit; DI1 and DI0 are connected to the load up / down status signals, controlled by the relay J7 and J8 contacts. The engagement of J7 and J8 is controlled by the externally provided load up / down status signal (+24V); the +5V pin is connected to the +5V power supply, and the GND pin is grounded.

[0172] Pins 1, 2, 3, 4, 5, and 6 of the relay control circuit chip ULN2003 are connected to pins DO0, DO1, DO2, DO3, DO4, and DO5 of the microcontroller module chip GD32F107VCT6, respectively; pins 7 and 10 are left floating; pin 8 is grounded; pin 9 is connected to +24V; pins 11, 12, 13, 14, 15, and 16 are connected to relays J1, J2, J3, J4, J5, and J6, respectively; the first relay J1 and the second relay J2 are connected to the first capacitor C1 and the second capacitor C2 of the 1-proportional valve amplifier circuit, respectively; the third relay J3 and the fourth relay J4 are connected to the third capacitor C3 and the fourth capacitor C4 of the proportional valve amplifier circuit, respectively; the fifth relay J5 and the sixth relay J6 control the upper and lower locking valves 1 and 2 of the hydraulic circuit, respectively. The first relay J1, the second relay J2, the third relay J3, the fourth relay J4, the fifth relay J5 and the sixth relay J6 are all connected to +24V voltage;

[0173] The proportional valve amplifier circuit includes a first amplifier circuit and a second amplifier circuit. Both proportional valve amplifier circuits operate on the same principle, consisting of a bias circuit, a zero-adjustment circuit, an amplifier circuit, and a differential circuit. The microcontroller system's DA output provides an analog control signal from 0V to 3.3V. After adjustment by the bias circuit (adjusting the DAPZ potentiometer), the output ranges from -1.65V to +1.65V. The amplifier circuit amplifies the signal (adjusting the DAFD potentiometer), the zero-adjustment circuit adjusts the zero position (adjusting the DATN potentiometer), and finally, a differential amplifier circuit composed of two transistors with similar parameters outputs a ±10V differential control signal to the proportional valve.

[0174] In the first amplification circuit of the proportional valve amplifier circuit: one end of the second resistor R2 is connected to the DA0 pin of the microcontroller chip GD32F107VCT6, and the other end is connected in parallel with the first resistor R1 to the inverting input terminal of the operational amplifier U1; one end of the third resistor R3 is grounded, and the other end is connected to the non-inverting input terminal of the first operational amplifier U1; one end of the fourth resistor R4 is connected to a -15V voltage, and the other end is connected in series with potentiometer DAPZ-1 and then grounded; potentiometer DAPZ-1 is connected in series with the first resistor R1 and potentiometer DAFD-1 and then connected to the output terminal of the first operational amplifier U1; one end of the eighth resistor R8 is connected to the output terminal of the first operational amplifier U1, and the other end is connected in parallel with the seventh resistor R7 to the inverting input terminal of the second operational amplifier U2; one end of the ninth resistor R9 is grounded, and the other end is connected to the non-inverting input terminal of the second operational amplifier U2; one end of the fifth resistor R5 is connected to a +15V voltage, and the other end is connected in series with potentiometer DATN-1 and the sixth resistor R6 and then connected to a -15V voltage; potentiometer DATN-1 is connected in series with the seventh resistor R7 and the tenth resistor Resistor R10 is connected in series to the output of the second operational amplifier U2 and to the base of the first transistor T1; one end of the eleventh resistor R11 is connected to the output of the third operational amplifier U3, and the other end is connected to the inverting input of the third operational amplifier U3; one end of the twelfth resistor R12 is grounded, and the other end is connected to the non-inverting input of the third operational amplifier U3; the thirteenth resistor R13 is connected in parallel with the third operational amplifier U3 to the base of the second transistor T2; the fourteenth resistor R14 and the sixteenth resistor R16 are connected in parallel, one end is connected to +15V, and the other end is connected to the collector of the first transistor T1 and the second transistor T2; the emitters of the first transistor T1 and the second transistor T2 are connected to the fifteenth resistor R15 and the seventeenth resistor R17, respectively, and then connected to a -15V voltage; the first relay J1 is connected in series with the first capacitor C1 and in parallel with the series circuit of the second relay J2 and the second capacitor C2, and are all connected to the transistor amplifier circuit.

[0175] In the second amplification circuit of the proportional valve amplification circuit, one end of the nineteenth resistor R19 is connected to the DA1 pin of the microcontroller chip GD32F107VCT6. One end of the resistor is connected to the inverting input of the fourth operational amplifier U4, and the other end is connected in parallel with the eighteenth resistor R18. The second resistor, R20, has one end grounded and the other end connected to the non-inverting input of the fourth operational amplifier U4. One end of the twenty-first resistor R21 is connected to -15V, and the other end is connected in series with potentiometer DAPZ-2 and then grounded. Potentiometer DAPZ-2, in series with the eighteenth resistor R18 and potentiometer DAFD-2, is then connected to the output of the fourth operational amplifier U4. One end of the twenty-fifth resistor R25 is connected to the output of the fourth operational amplifier U4, and the other end is connected in parallel with the twenty-fourth resistor R24 ​​and then connected to the inverting input of the fifth operational amplifier U5. One end of the twenty-sixth resistor R26 is grounded and the other end is connected to the non-inverting input of the fifth operational amplifier U5. One end of the twenty-second resistor R22 is connected to +15V, and the other end is connected in series with potentiometer DATN-2 and the twenty-third resistor R23 and then connected to -15V. Potentiometer DATN-2 is connected in series with the... Resistors R24 (24) and R27 (27) are connected in series to the output of operational amplifier U5 (5) and to the base of transistor T3 (3). Resistor R28 (28) is connected at one end to the output of operational amplifier U6 (6), and at the other end to the inverting input of operational amplifier U3 (3). Resistor R29 (29) is grounded at one end and connected to the non-inverting input of operational amplifier U6 (6). Resistor R30 (30) is connected in parallel with operational amplifier U6 to the base of transistor T4 (4). Resistors R31 (31) and R33 (33) are connected in parallel, with one end connected to +15V and the other end connected to the collectors of transistors T3 (3) and T4 (4). The emitters of transistors T3 (33) and T4 (43) are connected to resistors R32 (32) and R34 (34), respectively, and then to -15V. Relay J3 (3) and capacitor C3 (3) are connected in series and in parallel with a series circuit of relay J4 (4) and capacitor C4 (44), all connected to the transistor amplifier circuit.

[0176] Based on the control algorithm (neural network optimized active disturbance rejection control + adaptive robust control) and PID algorithm in this control system, the sinusoidal tracking response and tracking error are compared. Figure 18 and Figure 19 As shown in the figure, the control algorithm of this invention can not only smoothly and accurately track the target signal, but also has a maximum tracking error of only 0.9 mil, which is much smaller than the maximum tracking error of 9.8 mil of the PID algorithm. (16.6667 mil = 1°).

[0177] The control algorithm described above sinusoidally tracks the displacement response and synchronization error of the dual-cylinder system, as follows: Figure 20 and Figure 21 As shown, from Figure 20It can be seen that the control algorithm of this invention enables the displacement response curve of the dual cylinders to be very smooth during sinusoidal motion, and it can fit the given signal well without obvious lag. From Figure 21 It can be seen that the control algorithm of this invention has a maximum synchronization error of 0.41mil for the dual cylinders, indicating high synchronization accuracy for the dual cylinders.

[0178] The above embodiments illustrate and describe the basic principles and main features of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the present invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed.

Claims

1. A dual hydraulic cylinder synchronous follow-up control system, characterized in that, It includes a load unit, a carrier unit, a connection unit, a rotary transformer, a tilt sensor, dual hydraulic cylinders, and a main control unit; The load unit and the carrier unit are connected by a connecting unit. The output end of the dual hydraulic cylinder is connected to the connecting unit. An inclination sensor is installed on the carrier unit to measure the inclination value of the carrier unit. A rotary transformer is installed at the connection between the carrier unit and the connecting unit to measure the load angle value. Based on the measurements from the tilt sensor and the rotary transformer, the main control unit uses a synchronous follow-up control anti-interference algorithm to control the dual hydraulic cylinders for synchronous follow-up adjustment, thereby achieving closed-loop follow-up control of the load unit and the carrier unit.

2. The dual hydraulic cylinder synchronous follow-up control system according to claim 1, characterized in that, The main control unit first calculates the load angle requirement based on the data measured by the rotary transformer and tilt sensor; Then, the control signal is determined based on the Active Disturbance Rejection Control (ADRC) in the synchronous servo control anti-interference algorithm; The output value of the hydraulic cylinder is determined based on the control signal and the dual hydraulic cylinder synchronization algorithm, thereby adjusting the angle of the load unit; The rotary transformer and tilt sensor measure data and feed it back to the main control unit until the angle adjustment is completed.

3. The dual hydraulic cylinder synchronous follow-up control system according to claim 2, characterized in that, When the main control unit calculates the load angle requirement based on the data measured by the rotary transformer and tilt sensor, it uses the load-to-carrier mapping formula for calculation: ； in, , , For the fitting parameters, The measured angle for the rotary transformer.

4. The dual hydraulic cylinder synchronous follow-up control system according to claim 2, characterized in that, The data measured by the tilt sensor needs to be filtered and tilted by a tilt correction algorithm, which corrects the tilt by converting the geodetic coordinate system to the load platform coordinate system. The data measured by the tilt sensor needs to be tilt-corrected by a tilt correction algorithm through the transformation between the geodetic coordinate system and the load platform coordinate system. Let the target be represented in the geodetic coordinate system as In the load platform coordinate system, it is represented as Load platform rotation center relative to the origin of the geodetic coordinate system The centers of rotation coincide, and the distance between the center of rotation and the target is... The tilt angle is The pitch angle is The corrected azimuth angle Pitch angle for: ； ； 。 5. The dual hydraulic cylinder synchronous follow-up control system according to claim 4, characterized in that, The filtering process for the tilt sensor measurement data is as follows: ； ； ； in, For perturbation parameters, The pitch angle is collected by the tilt sensor. This is the filtered tracking signal for the pitch angle. This is the differential signal of the pitch angle after filtering. These are design parameters.

6. The dual hydraulic cylinder synchronous follow-up control system according to claim 2, characterized in that, The Active Disturbance Rejection Control (ADRC) treats uncertainties, disturbances, and unmodeled dynamic factors in the system as total disturbances and expands them into a new state variable for estimation and compensation to meet control requirements. This includes: using a cascaded second-order nonlinear tracking differentiator (NTD) to arrange the transition process, smoothing the tracking signal and the differentiated signal generated by the command signal; ； in Let k be the tracking signal for the desired angle at time k. Let k be the tracking differential signal of the desired angle at time k. Let k be the desired angle. Here, r is the speed factor of the NTD parameter, h0 is the command signal filtering factor, and h represents the sampling period. Using the extended state observer (ESO), disturbance observation and state estimation are performed based on the control variables and output signal: ； in, For observation error, , , The output of the extended state observer ESO, The estimated value of the effects of internal and external disturbances on the controlled object, where b0 is the compensation factor. to This is the error correction factor. nonlinear function Parameters; Using the nonlinear state error feedback controller NLSEF, based on the state estimate from the extended state observer ESO , , and the output value of the second-order nonlinear tracking differentiator NTD , , Error information between , , The output control quantity is used for error compensation: ； The final output is the control signal for the next moment after compensation: ； in, to , nonlinear function The parameters, , , These are the parameters of the nonlinear state error feedback controller (NLSEF). The parameters of the nonlinear state error feedback controller NLSEF , , A backpropagation neural network is used for adaptive adjustment.

7. The dual hydraulic cylinder synchronous follow-up control system according to claim 2, characterized in that, The process of determining the output value of the hydraulic cylinder based on the dual hydraulic cylinder synchronization algorithm is as follows: ； ； in, , and These represent the displacements of the pistons in the two hydraulic cylinders, respectively. , and These represent the movement speeds of the pistons in the two hydraulic cylinders; , For the effective area of ​​the piston, The pressure in the left and right chambers of the two hydraulic cylinders. For the hydraulic cylinder piston assembly and inertial load mass, The effective viscous damping coefficient of the hydraulic cylinder. A smooth friction model for a hydraulic cylinder; This is the nominal value of external interference to the hydraulic cylinder; For unmodeled dynamics within the hydraulic cylinder; For the control signals of the two servo valves; The leakage coefficient of the hydraulic cylinder; , and For system design parameters, Its function is to compensate for the system model. It is a nominal item used to ensure the stability of the system. For robust feedback items, These are design parameters; This is the difference between the actual input and the virtual input of the system. Integrated Active Disturbance Rejection Control (ADRC) control signal and dual hydraulic cylinder synchronization algorithm control signal The final servo valve control signal obtained is: .

8. The dual hydraulic cylinder synchronous follow-up control system according to claim 2, characterized in that, The main control unit includes an RDC module, a computer control module, a microcontroller module, a relay control circuit, and a proportional valve amplifier circuit. The computer control module is connected to the RDC module, the tilt sensor, and the microcontroller module, respectively; the RDC module is connected to the rotary transformer. The microcontroller module is connected to the relay control circuit and the proportional valve amplifier circuit, respectively. A rotary transformer measures the angle of the load, which is then converted by the RDC module and sent to the computer control module. A tilt sensor measures the tilt of the carrier, which is then filtered and sent to the computer control module. The computer control module calculates the target angle of the load based on the carrier tilt value and transmits the target angle to the microcontroller module. The microcontroller system calculates the control signal based on the servo control module, and then amplifies the signal through a relay-controlled proportional valve amplifier circuit to drive the electro-hydraulic servo valve. The servo valve, based on the amplified signal, uses a synchronous control algorithm to control the synchronous extension and retraction of the piston rods of the dual hydraulic cylinders, adjusting the load angle through a linkage mechanism. Finally, the adjusted load angle is fed back to the computer control module through the rotary transformer and tilt sensor, achieving closed-loop control.

9. The dual hydraulic cylinder synchronous follow-up control system according to claim 8, characterized in that, The rotary transformer is connected to the S1, S2, S3, S4, RH, and RL pins of the first decoding chip KXSZ14-415 in the RDC module. The +15V pin of the first decoding chip KXSZ14-415 is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, the GND pin is grounded, the EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively, and the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively. In the RDC module, the S1, S2, S3, S4, RH, and RL pins of the second decoding chip KXSZ14-415 are connected to the rotary transformer. The +15V pin is connected to the +15V voltage, the -15V pin is connected to the -15V voltage, the +5V pin is connected to the +5V power supply, the GND pin is grounded, the EN and INHIT pins are connected to the DO0 and DO1 pins of the computer control module chip [U7], respectively, and the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins are connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7], respectively. The CANL1 and CANH1 pins of the computer control module chip [U7] are connected to the CANL and CANH pins of the tilt sensor and the GD32F107VCT6 microcontroller module, respectively; the DO0 and DO1 pins of the computer control module chip [U7] are connected to the EN and INHIT pins of the first decoding chip KXSZ14-415 [U3] in the RDC module, respectively; and the DO2 and DO3 pins are connected to the second decoding chip KXSZ14-415 [U4] in the RDC module, respectively. The EN and INHIT pins are connected. The D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the computer control module chip [U7] are respectively connected to the D0, D1, D2, D3, D4, D5, D6, D7, D8, D9, D10, D11, D12, D13, D14, and D15 pins of the first decoding chip KXSZ14-415 and the second decoding chip KXSZ14-415 of the RDC module; the +5V pin is connected to the +5V power supply, and the GND pin is grounded. The CANH1 and CANL1 pins of the microcontroller module chip GD32F107VCT6 are connected to the CANH1 and CANL1 pins of the computer control module chip [U7], respectively. The DO0, DO1, DO2, DO3, DO4, and DO5 pins of the GD32F107VCT6 microcontroller module chip are connected to pins 1, 2, 3, 4, 5, and 6 of the ULN2003 relay control circuit chip, respectively. The DA0 pin of the GD32F107VCT6 microcontroller module chip is connected to resistor R2 of the 1-proportional valve amplifier circuit; the DA1 pin is connected to resistor R19 of the 2-proportional valve amplifier circuit; DI1 and DI0 are connected to the load up / down status signals, controlled by the relay J7 and J8 contacts. The engagement of J7 and J8 is controlled by the externally provided load up / down status signal (+24V); the +5V pin is connected to the +5V power supply, and the GND pin is grounded. Pins 1, 2, 3, 4, 5, and 6 of the relay control circuit chip ULN2003 are connected to pins DO0, DO1, DO2, DO3, DO4, and DO5 of the microcontroller module chip GD32F107VCT6, respectively; pins 7 and 10 are left floating; pin 8 is grounded; pin 9 is connected to +24V; pins 11, 12, 13, 14, 15, and 16 are connected to relays J1, J2, J3, J4, J5, and J6, respectively; the first relay J1 and the second relay J2 are connected to the first capacitor C1 and the second capacitor C2 of the 1-proportional valve amplifier circuit, respectively; the third relay J3 and the fourth relay J4 are connected to the third capacitor C3 and the fourth capacitor C4 of the proportional valve amplifier circuit, respectively; the fifth relay J5 and the sixth relay J6 control the upper and lower locking valves 1 and 2 of the hydraulic circuit, respectively. The first relay J1, the second relay J2, the third relay J3, the fourth relay J4, the fifth relay J5 and the sixth relay J6 are all connected to +24V voltage; The proportional valve amplifier circuit includes a first amplifier circuit and a second amplifier circuit; In the first amplification circuit of the proportional valve amplifier circuit: one end of the second resistor R2 is connected to the DA0 pin of the microcontroller chip GD32F107VCT6, and the other end is connected in parallel with the first resistor R1 to the inverting input terminal of the operational amplifier U1; one end of the third resistor R3 is grounded, and the other end is connected to the non-inverting input terminal of the first operational amplifier U1; one end of the fourth resistor R4 is connected to a -15V voltage, and the other end is connected in series with potentiometer DAPZ-1 and then grounded; potentiometer DAPZ-1 is connected in series with the first resistor R1 and potentiometer DAFD-1 and then connected to the output terminal of the first operational amplifier U1; one end of the eighth resistor R8 is connected to the output terminal of the first operational amplifier U1, and the other end is connected in parallel with the seventh resistor R7 to the inverting input terminal of the second operational amplifier U2; one end of the ninth resistor R9 is grounded, and the other end is connected to the non-inverting input terminal of the second operational amplifier U2; one end of the fifth resistor R5 is connected to a +15V voltage, and the other end is connected in series with potentiometer DATN-1 and the sixth resistor R6 and then connected to a -15V voltage; potentiometer DATN-1 is connected in series with the seventh resistor R7 and the tenth resistor Resistor R10 is connected in series to the output of the second operational amplifier U2 and to the base of the first transistor T1; one end of the eleventh resistor R11 is connected to the output of the third operational amplifier U3, and the other end is connected to the inverting input of the third operational amplifier U3; one end of the twelfth resistor R12 is grounded, and the other end is connected to the non-inverting input of the third operational amplifier U3; the thirteenth resistor R13 is connected in parallel with the third operational amplifier U3 to the base of the second transistor T2; the fourteenth resistor R14 and the sixteenth resistor R16 are connected in parallel, one end is connected to +15V, and the other end is connected to the collector of the first transistor T1 and the second transistor T2; the emitters of the first transistor T1 and the second transistor T2 are connected to the fifteenth resistor R15 and the seventeenth resistor R17, respectively, and then connected to a -15V voltage; the first relay J1 is connected in series with the first capacitor C1 and in parallel with the series circuit of the second relay J2 and the second capacitor C2, and are all connected to the transistor amplifier circuit; In the second amplification circuit of the proportional valve amplification circuit, one end of the nineteenth resistor R19 is connected to the DA1 pin of the microcontroller chip GD32F107VCT6. One end of the resistor is connected to the inverting input of the fourth operational amplifier U4, and the other end is connected in parallel with the eighteenth resistor R18. The second resistor, R20, has one end grounded and the other end connected to the non-inverting input of the fourth operational amplifier U4. One end of the twenty-first resistor R21 is connected to -15V, and the other end is connected in series with potentiometer DAPZ-2 and then grounded. Potentiometer DAPZ-2, in series with the eighteenth resistor R18 and potentiometer DAFD-2, is then connected to the output of the fourth operational amplifier U4. One end of the twenty-fifth resistor R25 is connected to the output of the fourth operational amplifier U4, and the other end is connected in parallel with the twenty-fourth resistor R24 ​​and then connected to the inverting input of the fifth operational amplifier U5. One end of the twenty-sixth resistor R26 is grounded and the other end is connected to the non-inverting input of the fifth operational amplifier U5. One end of the twenty-second resistor R22 is connected to +15V, and the other end is connected in series with potentiometer DATN-2 and the twenty-third resistor R23 and then connected to -15V. Potentiometer DATN-2 is connected in series with the... Resistors R24 (24) and R27 (27) are connected in series to the output of operational amplifier U5 (5) and to the base of transistor T3 (3). Resistor R28 (28) is connected at one end to the output of operational amplifier U6 (6), and at the other end to the inverting input of operational amplifier U3 (3). Resistor R29 (29) is grounded at one end and connected to the non-inverting input of operational amplifier U6 (6). Resistor R30 (30) is connected in parallel with operational amplifier U6 to the base of transistor T4 (4). Resistors R31 (31) and R33 (33) are connected in parallel, with one end connected to +15V and the other end connected to the collectors of transistors T3 (3) and T4 (4). The emitters of transistors T3 (33) and T4 (43) are connected to resistors R32 (32) and R34 (34), respectively, and then to -15V. Relay J3 (3) and capacitor C3 (3) are connected in series and in parallel with a series circuit of relay J4 (4) and capacitor C4 (44), all connected to the transistor amplifier circuit.

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