Electro-hydraulic servo system and control method thereof, electronic equipment and readable storage medium

Abstract

The invention discloses an electro-hydraulic servo system and a control method thereof, electronic equipment and a readable storage medium, and relates to the technical field of motor control, the control method of the electro-hydraulic servo system comprises the following steps: obtaining a motor angle, and determining an oil pump compensation angle according to a tooth number ratio between an oil pump and a motor, a preset compensation angle and the motor angle; according to the sine value of the oil pump compensation angle and a preset proportionality coefficient, a corresponding target speed instruction compensation value is determined; and compensating an original speed instruction output by the pressure regulator according to the target speed instruction compensation value to obtain a speed ring reference instruction, and inputting the speed ring reference instruction into a speed ring to control the operation of the motor. The technical problem that in an electro-hydraulic servo system, the precision of a speed instruction used for controlling a motor is low is solved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to an electro-hydraulic servo system and its control method, electronic equipment and computer-readable storage medium. Background Technology

[0002] Currently, electro-hydraulic servo systems are increasingly widely used due to their advantages such as low energy loss, low power consumption, and low oil circuit temperature rise. However, electro-hydraulic servo systems based on a three-loop control method (pressure loop, speed loop, and current loop) suffer from low bandwidth in the pressure loop, making it difficult to suppress torque pulsations caused by the machining precision of the oil pump. The pressure fluctuations caused by these torque pulsations lead to a decrease in the pressure control performance and stability of the electro-hydraulic servo system, resulting in lower accuracy of the speed commands used to control the motor, which affects the product processing effect or process execution effect in industrial production scenarios. Summary of the Invention

[0003] The main objective of this application is to provide an electro-hydraulic servo system and its control method, electronic device and readable storage medium, which aims to solve the technical problem of low accuracy of speed commands used to control motors in electro-hydraulic servo systems.

[0004] To achieve the above objectives, this application provides a control method for an electro-hydraulic servo system, the control method comprising:

[0005] Obtain the motor angle, and determine the oil pump compensation angle based on the gear ratio between the oil pump and the motor, the preset compensation angle, and the motor angle.

[0006] The corresponding target speed command compensation value is determined based on the sine value of the oil pump compensation angle and the preset proportional coefficient.

[0007] The original speed command output by the pressure regulator is compensated according to the target speed command compensation value to obtain a speed loop reference command, which is then input into the speed loop to control the operation of the motor.

[0008] In one embodiment, the step of determining the oil pump compensation angle based on the gear ratio between the oil pump and the motor, a preset compensation angle, and the motor angle includes:

[0009] Calculate the product of the motor angle and the tooth ratio to obtain the oil pump angle corresponding to the motor angle;

[0010] The oil pump compensation angle is obtained by calculating the sum of the oil pump angle and the preset compensation angle.

[0011] In one embodiment, the step of determining the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and a preset proportional coefficient includes:

[0012] The initial speed command compensation value is obtained by calculating the product of the sine value of the oil pump compensation angle and the preset proportional coefficient.

[0013] The initial speed command compensation value is limited by a preset limiting range to obtain the target speed command compensation value.

[0014] In one embodiment, the minimum value of the limiting range is a first preset value, and the maximum value is a second preset value, wherein the first preset value is less than 0 and the second preset value is greater than 0;

[0015] The step of limiting the initial speed command compensation value through a preset limiting range to obtain the target speed command compensation value includes:

[0016] If the initial speed command compensation value is within the limit range, then the target speed command compensation value is determined as the initial speed command compensation value;

[0017] If the initial speed command compensation value is less than the first preset value, then the target speed command compensation value is determined to be the first preset value;

[0018] If the initial speed command compensation value is greater than the second preset value, then the target speed command compensation value is determined to be the second preset value.

[0019] In one embodiment, the step of compensating the original speed command output by the pressure regulator based on the target speed command compensation value to obtain a speed loop reference command includes:

[0020] The sum of the original speed command and the target speed command compensation value is calculated to obtain the speed loop reference command;

[0021] The original speed command is generated by the pressure regulator based on the pressure command and feedback pressure.

[0022] In one embodiment, the speed compensation method for the electro-hydraulic servo system further includes:

[0023] Multiple preset initial compensation angles are obtained, and the sum of the oil pump angle corresponding to each initial compensation angle and the motor angle is calculated respectively to obtain the initial oil pump compensation angle corresponding to each initial compensation angle.

[0024] The corresponding speed command compensation value is determined by each of the initial oil pump compensation angles to compensate the original speed command and obtain the corresponding motor control accuracy. The motor control accuracy is used to characterize the deviation between the actual position and the expected position of the motor control.

[0025] The initial compensation angle corresponding to the highest motor control accuracy is selected as the preset compensation angle.

[0026] This application also provides an electro-hydraulic servo system, the electro-hydraulic servo system comprising:

[0027] The speed compensation module is connected to the speed loop and the motor respectively. It is used to determine the oil pump compensation angle based on the motor angle, the gear ratio between the oil pump and the motor, and the preset compensation angle. It also determines the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and the preset proportional coefficient. Then, it compensates the original speed command output by the pressure regulator based on the target speed command compensation value to obtain the speed loop reference command. The speed loop reference command is then input into the speed loop to control the operation of the motor.

[0028] A pressure regulator, connected to the speed ring, is used to output the original speed command;

[0029] The motor is connected to the current loop and the speed compensation module respectively, and is used to rotate according to the control command output by the current loop, wherein the current loop is connected to the speed loop.

[0030] In one embodiment, the electro-hydraulic servo system further includes a position sensor connected to the speed compensation module and the motor, used to acquire the motor angle of the motor and feed it back to the speed compensation module.

[0031] This application also provides an electronic device, which is a physical device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the electro-hydraulic servo system control method as described above.

[0032] This application also provides a readable storage medium, which is a computer-readable storage medium, storing a program that implements an electro-hydraulic servo system control method. The program that implements the electro-hydraulic servo system control method is executed by a processor to implement the steps of the electro-hydraulic servo system control method as described above.

[0033] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the electro-hydraulic servo system control method described above.

[0034] This application provides a control method for an electro-hydraulic servo system. In this method, the motor angle is first obtained. The oil pump compensation angle is determined based on the gear ratio between the oil pump and the motor, a preset compensation angle, and the motor angle. Then, a corresponding target speed command compensation value is determined based on the sine value of the oil pump compensation angle and a preset proportional coefficient. Finally, the original speed command output by the pressure regulator is compensated based on the target speed command compensation value to obtain a speed loop reference command. In this application's technical solution, the oil pump compensation angle corresponding to the current motor angle is first determined. Then, the oil pump compensation angle to be compensated is converted into a speed index compensation value. Finally, the original speed command of the pressure regulator is compensated. Compared to the traditional method of controlling motor rotation solely by outputting a speed command based on the pressure command and feedback pressure from the pressure regulator, this application's technical solution generates a corresponding target speed command compensation value using the feedback motor angle for speed command compensation. This overcomes the defect of low bandwidth in the pressure loop, which cannot suppress torque pulsation, thereby obtaining a more accurate speed loop reference command, improving the accuracy of motor control, enhancing the performance of the electro-hydraulic servo system, and improving product processing and process execution effects. Attached Figure Description

[0035] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating the electro-hydraulic servo system control method in an embodiment of this application;

[0038] Figure 2 This is a schematic diagram illustrating the pressure changes before and after compensating the original speed command using the electro-hydraulic servo system control method of this application embodiment;

[0039] Figure 3 This is a schematic diagram illustrating the process of determining the optimal preset compensation angle through preliminary experiments and tests in the embodiments of this application;

[0040] Figure 4 This is a schematic diagram of the structural composition of a feasible electro-hydraulic servo system in an embodiment of this application;

[0041] Figure 5This is a schematic diagram of the equipment structure of the hardware operating environment involved in the electro-hydraulic servo system control method in the embodiments of this application.

[0042] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0043] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0044] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0045] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The execution subject of the electro-hydraulic servo system control method embodiments of this application can be a computing service device with data processing, network communication, and program execution functions, such as an electronic device, or a speed compensation module of an electro-hydraulic servo system capable of implementing the above functions. The following embodiments will be described using a speed compensation module as an example.

[0047] Currently, electro-hydraulic servo systems are widely used due to their advantages such as low energy loss, low power consumption, and low oil circuit temperature rise. The conventional control method for electro-hydraulic servo control systems is a three-loop PID (Proportional-Integral-Derivative) control system consisting of a pressure loop, a speed loop, and a current loop. The pressure loop (e.g., a pressure regulator) receives pressure commands from the main control PLC (Programmable Automation Controller), and the feedback pressure is obtained from a pressure sensor, which outputs a speed command to the speed loop via the PID controller. Speed ​​feedback is obtained from the motor encoder and outputs a current command to the current loop via the PID controller. The current loop outputs a voltage command to the motor via the PID controller, thus achieving the three-loop PID control. However, this conventional three-loop PID control method suffers from drawbacks. The relatively low bandwidth of the pressure loop makes it difficult to suppress torque pulsations caused by the machining precision of the oil pump, leading to pressure fluctuations and affecting product processing results. Therefore, addressing the performance degradation caused by oil pump mechanical pulsations and improving the stability and reliability of the motor control system is of significant engineering practical importance.

[0048] To overcome the technical defects existing in the prior art, this application provides a control method for an electro-hydraulic servo system, referring to... Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the electro-hydraulic servo system control method of this application. In Embodiment 1, the electro-hydraulic servo system control method includes:

[0049] Step S10: Obtain the motor angle. Determine the oil pump compensation angle based on the gear ratio between the oil pump and the motor, the preset compensation angle, and the motor angle. Input the speed loop reference command into the speed loop to control the operation of the motor.

[0050] In this embodiment, the motor angle can be obtained by a position sensor located at the motor. The mechanical angle of the motor is the same as that of the oil pump; that is, when the motor gear rotates one revolution, the oil pump gear also rotates one revolution. The motor angle in step S10 refers to the electrical angle. The tooth ratio between the oil pump and the motor can be determined based on the number of teeth corresponding to the oil pump and the motor, specifically by calculating the number of teeth on the oil pump gear and the number of teeth on the motor gear.

[0051] For example, if the motor gear has z1 teeth and the oil pump gear has z2 teeth, then the gear ratio = z2 / z1. In this case, if the electrical angle of the motor is θ, then the electrical angle of the oil pump is θ×z2 / z1.

[0052] In addition, the preset compensation angle is a pre-set angle used to compensate for the angle difference between the oil pump angle and the motor angle. It is understandable that during the linkage drive between the motor and the oil pump, there may be pressure loss due to intermediate pipes, oil circuits and other components. Therefore, a preset compensation angle is set as a compensation parameter to make the obtained oil pump compensation angle value more consistent with the actual operating conditions of the electro-hydraulic servo system.

[0053] Step S30: Determine the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and the preset proportional coefficient;

[0054] After determining the oil pump compensation angle, it needs to be converted into a speed command value. This can be understood as a conversion between angle and speed values ​​using a sine function. In addition to this conversion, a pre-set proportional coefficient is also needed to determine the actual speed command compensation value corresponding to the oil pump compensation angle.

[0055] The proportional coefficient can be adjusted according to the actual application conditions of the electro-hydraulic servo system, so as to achieve the highest accuracy of the final speed loop reference command used to control the motor or the minimum impact of the torque pulsation brought by the electro-hydraulic servo system on the product processing effect.

[0056] Step S30: Compensate the original speed command output by the pressure regulator according to the target speed command compensation value to obtain the speed loop reference command.

[0057] After obtaining the target speed command compensation value, the target speed command compensation value can be summed with the original speed command output by the pressure regulator (which is part of the pressure loop) to obtain the speed loop reference command, which is then updated to the speed regulator in the speed loop. This allows for compensation of the original speed command output by the pressure regulator based on speed feedback, reducing the impact of pressure control performance degradation and instability caused by oil pump mechanical pulsation.

[0058] After the speed loop reference command is updated to the speed loop, the speed loop performs PID regulation to output the current loop current command. Then, the current loop performs PID regulation to output the voltage command to the motor, thereby controlling the motor's operation.

[0059] This application provides a control method for an electro-hydraulic servo system. In this method, the motor angle is first obtained. The oil pump compensation angle is determined based on the gear ratio between the oil pump and the motor, a preset compensation angle, and the motor angle. Then, the corresponding target speed command compensation value is determined based on the sine value of the oil pump compensation angle and a preset proportional coefficient. Finally, the original speed command output by the pressure regulator is compensated based on the target speed command compensation value to obtain a speed loop reference command. In this technical solution, the oil pump compensation angle corresponding to the current motor angle is first determined. Then, the oil pump compensation angle to be compensated is converted into a speed index compensation value. Finally, the original speed command of the pressure regulator is compensated. Compared to the traditional method of controlling motor rotation solely by outputting a speed command based on the pressure command and feedback pressure, this application's solution generates a corresponding target speed command compensation value using the feedback motor angle for speed command compensation. This overcomes the deficiency of low pressure loop bandwidth in suppressing torque pulsation, thereby obtaining a more accurate speed loop reference command, improving the accuracy of motor control, enhancing the performance of the electro-hydraulic servo system, and improving product processing and process execution.

[0060] Furthermore, in one feasible embodiment, the step of determining the oil pump compensation angle based on the gear ratio between the oil pump and the motor, the preset compensation angle, and the motor angle includes:

[0061] Step S11: Calculate the product of the motor angle and the tooth ratio to obtain the oil pump angle corresponding to the motor angle;

[0062] Step S12: Calculate the sum of the oil pump angle and the preset compensation angle to obtain the oil pump compensation angle.

[0063] When compensating for pressure fluctuations and speed command errors caused by mechanical pulsation of the oil pump, the motor angle needs to be converted into the form of the oil pump angle to be compensated. The relationship between the motor angle and the oil pump angle is reflected by the gear ratio, which is equal to the ratio of the number of teeth of the oil pump gear to the number of teeth of the motor gear, and is also equivalent to the ratio of the electrical angles of rotation between the two. Therefore, by calculating the product of the electrical angle of the motor and the gear ratio, the oil pump angle corresponding to the motor angle can be obtained.

[0064] In addition, considering the power loss or pressure loss generated in the transmission structure of the electro-hydraulic servo system, a preset compensation angle needs to be added to the oil pump angle corresponding to the motor angle to make the oil pump compensation angle more accurate and more in line with the actual operating conditions of the electro-hydraulic servo system.

[0065] For example, with the motor angle denoted as Motor_Theta_Fdb, the expression for calculating the oil pump compensation angle is as follows:

[0066] Pump_Theta_Comp=n*Motor_Theta_Fdb+Theta_Comp;

[0067] Where Pump_Theta_Comp is the oil pump compensation angle, n is the gear ratio, and Theta_Comp is the preset compensation angle.

[0068] In one feasible embodiment, the step of determining the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and a preset proportional coefficient includes:

[0069] Step S21: Calculate the product of the sine value of the oil pump compensation angle and the preset proportional coefficient to obtain the initial speed command compensation value;

[0070] For example, the expression for calculating the initial velocity command compensation value is as follows:

[0071] SpdCmd_Comp=SIN(Pump_Theta_Comp)*Kp;

[0072] Where SpdCmd_Comp is the initial speed command compensation value, Pump_Theta_Comp is the oil pump compensation angle, and Kp is the proportional coefficient.

[0073] The unit of the initial speed command compensation value can be RPM (revolutions per minute), the sine value ranges from -1 to 1, and the proportional coefficient Kp can be greater than 1, so as to convert the sine value SIN(Pump_Theta_Comp) into a speed value in RPM.

[0074] For example, when the oil pump compensation angle is 30°, the corresponding sine value is 0.5. If the proportional coefficient is 10, the initial speed command compensation value is 5 RPM.

[0075] Step S22: Limit the initial speed command compensation value by a preset limiting range to obtain the target speed command compensation value.

[0076] It should also be noted in this embodiment that, after determining the initial speed command compensation value, in order to ensure that the value of the initial speed command compensation value is within the normal range, it is necessary to limit the initial speed command compensation value to avoid the initial speed command compensation value being too low or too high.

[0077] In one feasible embodiment, the minimum value of the limiting range is a first preset value, and the maximum value is a second preset value, wherein the first preset value is less than 0 and the second preset value is greater than 0;

[0078] The steps to obtain the target speed command compensation value by limiting the initial speed command compensation value within a preset limiting range include:

[0079] Step S221: If the initial speed command compensation value is within the limit range, then the target speed command compensation value is determined as the initial speed command compensation value.

[0080] If the initial speed command compensation value is within the limit range, the value is normal, so there is no need to adjust the initial speed command compensation value.

[0081] Step S222: If the initial speed command compensation value is less than the first preset value, then the target speed command compensation value is determined to be the first preset value;

[0082] Step S223: If the initial speed command compensation value is greater than the second preset value, then the target speed command compensation value is determined to be the second preset value.

[0083] On the other hand, it is necessary to limit the maximum value of the target speed command compensation value. This means that the motor speed cannot exceed its rated maximum motor output speed, so the target speed command compensation value itself cannot exceed the maximum motor output speed. Specifically, a positive target speed command compensation value cannot be greater than the maximum motor output speed, and a negative target speed command compensation value cannot be less than the opposite of the maximum motor output speed. Furthermore, after compensating the original speed command with the target speed command compensation value, the speed loop reference command cannot exceed the maximum motor output speed.

[0084] Among them, the first preset value and the second preset value are used to limit the target speed command compensation value. They can be equal in absolute value and opposite to each other. They are obtained by debugging according to the actual application conditions of the electro-hydraulic servo system, and the value is selected so that the final speed loop reference command used to control the motor has the highest accuracy or the torque pulsation brought by the electro-hydraulic servo system has the least impact on the product processing effect.

[0085] For example, the limiting range is shown in the following formula:

[0086] -SpdCmd_Max≤SpdCmd_Comp≤SpdCmd_Max;

[0087] Among them, SpdCmd_Comp is the target speed command compensation value after limiting, -SpdCmd_Max is the first preset value, SpdCmd_Max is the second preset value, and the value of SpdCmd_Max is not greater than the maximum motor output speed.

[0088] In one feasible embodiment, the step of compensating the original speed command output by the pressure regulator according to the target speed command compensation value to obtain the speed loop reference command includes:

[0089] Step S31: Calculate the sum of the compensation values ​​of the original speed command and the target speed command to obtain the speed loop reference command;

[0090] The initial speed command is generated by the pressure regulator based on the pressure command and feedback pressure.

[0091] In this embodiment of the application, the process of compensating the original speed command output by the pressure regulator specifically includes summing the original speed command and the target speed command compensation value to obtain the speed loop reference command, and then updating it in the speed loop for speed control.

[0092] Before adopting the electro-hydraulic servo system control method of this application embodiment, the speed loop reference command in the speed loop is equal to the original speed command output by the pressure regulator. In the electro-hydraulic servo system control method of this application embodiment, the original speed command is compensated by the target speed command compensation value, which can effectively overcome the influence of pressure fluctuation caused by the mechanical pulsation of the oil pump and improve the motor control accuracy. This has important engineering practical significance for improving the stability and reliability of the motor control system.

[0093] By detecting the pressure of the electro-hydraulic servo system before and after the original speed command compensation using the target speed command compensation value in the embodiments of this application, the following results are obtained: Figure 2 The pressure changes are shown in the figure, where the horizontal axis represents time, the vertical axis represents pressure value, and the dashed line indicates the time point when compensation begins. As can be seen from the figure, after compensating for the original speed command, the pressure fluctuation amplitude of the electro-hydraulic servo system is significantly reduced. The electro-hydraulic servo system control method of this embodiment significantly improves the pressure stability of the electro-hydraulic servo system and effectively solves the problem of decreased pressure control performance caused by mechanical pulsation of the oil pump.

[0094] In one feasible embodiment, reference is made to Figure 3 The speed compensation method for electro-hydraulic servo systems also includes:

[0095] Step A10: Obtain multiple preset initial compensation angles, calculate the sum of the oil pump angle corresponding to each initial compensation angle and the motor angle, and obtain the initial oil pump compensation angle corresponding to each initial compensation angle.

[0096] Step A20: Determine the corresponding speed command compensation value through each initial oil pump compensation angle to compensate the original speed command, and obtain the corresponding motor control accuracy. The motor control accuracy is used to characterize the deviation between the actual position and the expected position of the motor control.

[0097] Step A30: Select the initial compensation angle corresponding to the highest motor control accuracy as the preset compensation angle.

[0098] This application provides a method for determining the optimal preset compensation angle through prior experiments and tests. It is understood that different electro-hydraulic servo systems have different optimal compensation angles due to differences in hardware system parameters and operating conditions. The optimal preset compensation angle can be determined through prior testing or debugging.

[0099] Specifically, firstly, multiple candidate initial compensation angles are set. Then, based on each initial compensation angle, steps S10 to S30 are executed to compensate for the original speed command output by the pressure regulator. The motor rotation is then controlled using the compensated speed loop reference command. Finally, the motor control accuracy is evaluated. Motor control accuracy can be characterized by the deviation between the position of the motor-driven component or the motor's own position and the expected position, such as position difference or angle difference. After determining the speed command compensation value using multiple different initial compensation angles and controlling the motor's operation and rotation, the motor control accuracy corresponding to each initial compensation angle can be determined. Higher motor control accuracy indicates that the initial compensation angle better matches the actual operating conditions of the electro-hydraulic servo system, resulting in better oil pump angle compensation. Furthermore, multiple motor control accuracies corresponding to each initial compensation angle in multiple tests can be obtained to further determine its average control accuracy, thereby avoiding the influence of random errors and improving the reliability of the finally determined preset compensation angle.

[0100] This application also provides an electro-hydraulic servo system, as described in the embodiments below. Figure 4 The electro-hydraulic servo system includes:

[0101] Speed ​​compensation module 1 is connected to speed loop (including speed regulator 3) and motor (M) 7 respectively. It is used to determine oil pump compensation angle based on motor angle, gear ratio between oil pump and motor, and preset compensation angle. It also determines the corresponding target speed command compensation value based on the sine value of oil pump compensation angle and preset proportional coefficient. Then, it compensates the original speed command output by pressure regulator 2 based on the target speed command compensation value to obtain speed loop reference command. The speed loop reference command is then input into speed loop to control the operation of motor.

[0102] Pressure regulator 2, connected to the speed loop, is used to output the raw speed command;

[0103] Motor 7 is connected to the current loop and speed compensation module 1 respectively, and is used to rotate according to the control command output by the current loop. The current loop is connected to the speed loop. The current loop includes at least a current regulator 4, a PWM (Pulse Width Modulation) modulation algorithm module 5, and a PWM inverter 6.

[0104] In the process of applying the electro-hydraulic servo system control method of the previous embodiment, the pressure regulator first generates the corresponding original speed command based on the received pressure command and feedback pressure. The speed compensation module multiplies the feedback angle of the motor M detected by the position sensor by the gear ratio n, and adds the preset compensation angle to obtain the oil pump compensation angle. Then, it calculates the SIN value (sine value) of the oil pump compensation angle and multiplies it by the proportional coefficient Kp. Finally, it performs amplitude limiting to obtain the target speed command compensation value. The original speed command and the target speed command compensation value are summed to obtain the speed loop reference command, which is input to the speed regulator in the speed loop. The speed regulator outputs the corresponding current loop current command, which is then modulated by the PWM modulation algorithm module and the voltage command generated by the PWM inverter is applied to the motor to control the motor.

[0105] The electro-hydraulic servo system provided in this application, employing the electro-hydraulic servo system control method described in the above embodiments, can solve the technical problem of low accuracy in speed commands used to control the motor in electro-hydraulic servo systems. Compared with the prior art, the beneficial effects of the electro-hydraulic servo system control device provided in this application are the same as those of the electro-hydraulic servo system control method described in the above embodiments, and other technical features in this electro-hydraulic servo system control device are the same as those disclosed in the electro-hydraulic servo system control method of the previous embodiment, and will not be repeated here.

[0106] This application also provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the electro-hydraulic servo system control method in the first embodiment described above.

[0107] The following is for reference. Figure 5 The diagram illustrates a structural schematic of an electronic device suitable for implementing embodiments of the present disclosure. The electronic devices in the embodiments of the present disclosure may include, but are not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0108] like Figure 5As shown, the electronic device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the electronic device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows electronic devices to communicate wirelessly or wiredly with other devices to exchange data. While electronic devices with various systems are shown in the figures, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0109] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of embodiments of this disclosure.

[0110] The electronic device provided in this application, employing the electro-hydraulic servo system control method described in the above embodiments, can solve the technical problem of low accuracy in speed commands used to control motors in electro-hydraulic servo systems. Compared with the prior art, the beneficial effects of the electronic device provided in this application are the same as those of the electro-hydraulic servo system control method described in the above embodiments, and other technical features of this electronic device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

[0111] It should be understood that various parts of this disclosure can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0112] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0113] This application also provides a computer-readable storage medium having computer-readable program instructions stored thereon, which are used to execute the electro-hydraulic servo system control method in the above embodiment one.

[0114] The computer-readable storage medium provided in this application embodiment may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0115] The aforementioned computer-readable storage medium may be included in an electronic device or may exist independently without being assembled into an electronic device.

[0116] The aforementioned computer-readable storage medium carries one or more programs that, when executed by an electronic device, cause the electronic device to perform the following: acquire the motor angle; determine the oil pump compensation angle based on the gear ratio between the oil pump and the motor, a preset compensation angle, and the motor angle; determine the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and a preset proportional coefficient; compensate the original speed command output by the pressure regulator based on the target speed command compensation value to obtain a speed loop reference command, and input the speed loop reference command into the speed loop to control the operation of the motor.

[0117] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0118] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0119] The modules described in the embodiments of this disclosure can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0120] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions for executing the above-described electro-hydraulic servo system control method, thereby solving the technical problem of low accuracy in speed commands used to control the motor in an electro-hydraulic servo system. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the electro-hydraulic servo system control method provided in Embodiment 1 above, and will not be repeated here.

[0121] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the electro-hydraulic servo system control method described above.

[0122] The computer program product provided in this application can solve the technical problem of low accuracy in speed commands used to control motors in electro-hydraulic servo systems. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the electro-hydraulic servo system control method provided in Embodiment 1 above, and will not be repeated here.

[0123] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent scope of this application.

Claims

1. A control method for an electro-hydraulic servo system, characterized in that, The electro-hydraulic servo system control method includes: Obtain the motor angle, and determine the oil pump compensation angle based on the gear ratio between the oil pump and the motor, the preset compensation angle, and the motor angle. The corresponding target speed command compensation value is determined based on the sine value of the oil pump compensation angle and the preset proportional coefficient. The original speed command output by the pressure regulator is compensated according to the target speed command compensation value to obtain a speed loop reference command, which is then input into the speed loop to control the operation of the motor.

2. The electro-hydraulic servo system control method as described in claim 1, characterized in that, The step of determining the oil pump compensation angle based on the gear ratio between the oil pump and the motor, the preset compensation angle, and the motor angle includes: Calculate the product of the motor angle and the tooth ratio to obtain the oil pump angle corresponding to the motor angle; The oil pump compensation angle is obtained by calculating the sum of the oil pump angle and the preset compensation angle.

3. The electro-hydraulic servo system control method as described in claim 1, characterized in that, The step of determining the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and the preset proportional coefficient includes: The initial speed command compensation value is obtained by calculating the product of the sine value of the oil pump compensation angle and the preset proportional coefficient. The initial speed command compensation value is limited by a preset limiting range to obtain the target speed command compensation value.

4. The electro-hydraulic servo system control method as described in claim 3, characterized in that, The minimum value of the limiting range is a first preset value, and the maximum value is a second preset value, wherein the first preset value is less than 0 and the second preset value is greater than 0; The step of limiting the initial speed command compensation value through a preset limiting range to obtain the target speed command compensation value includes: If the initial speed command compensation value is within the limit range, then the target speed command compensation value is determined as the initial speed command compensation value; If the initial speed command compensation value is less than the first preset value, then the target speed command compensation value is determined to be the first preset value; If the initial speed command compensation value is greater than the second preset value, then the target speed command compensation value is determined to be the second preset value.

5. The electro-hydraulic servo system control method as described in claim 1, characterized in that, The step of compensating the original speed command output by the pressure regulator based on the target speed command compensation value to obtain the speed loop reference command includes: The sum of the original speed command and the target speed command compensation value is calculated to obtain the speed loop reference command; The original speed command is generated by the pressure regulator based on the pressure command and feedback pressure.

6. The electro-hydraulic servo system control method as described in claim 1, characterized in that, The speed compensation method for the electro-hydraulic servo system also includes: Multiple preset initial compensation angles are obtained, and the sum of the oil pump angle corresponding to each initial compensation angle and the motor angle is calculated respectively to obtain the initial oil pump compensation angle corresponding to each initial compensation angle. The corresponding speed command compensation value is determined by each of the initial oil pump compensation angles to compensate the original speed command and obtain the corresponding motor control accuracy. The motor control accuracy is used to characterize the deviation between the actual position and the expected position of the motor control. The initial compensation angle corresponding to the highest motor control accuracy is selected as the preset compensation angle.

7. An electro-hydraulic servo system, characterized in that, The electro-hydraulic servo system includes: The speed compensation module is connected to the speed loop and the motor respectively. It is used to determine the oil pump compensation angle based on the motor angle, the gear ratio between the oil pump and the motor, and the preset compensation angle. It also determines the corresponding target speed command compensation value based on the sine value of the oil pump compensation angle and the preset proportional coefficient. Then, it compensates the original speed command output by the pressure regulator based on the target speed command compensation value to obtain the speed loop reference command. The speed loop reference command is then input into the speed loop to control the operation of the motor. A pressure regulator, connected to the speed ring, is used to output the original speed command; The motor is connected to the current loop and the speed compensation module respectively, and is used to rotate according to the control command output by the current loop, wherein the current loop is connected to the speed loop.

8. The electro-hydraulic servo system as described in claim 7, characterized in that, The electro-hydraulic servo system also includes a position sensor, which is connected to the speed compensation module and the motor, and is used to obtain the motor angle of the motor and feed it back to the speed compensation module.

9. An electronic device, characterized in that, The electronic device includes: At least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the steps of the electro-hydraulic servo system control method as described in any one of claims 1 to 6.

10. A readable storage medium, characterized in that, The readable storage medium is a computer-readable storage medium, on which a program for implementing an electro-hydraulic servo system control method is stored. The program for implementing the electro-hydraulic servo system control method is executed by a processor to implement the steps of the electro-hydraulic servo system control method as described in any one of claims 1 to 6.

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