Control system and method for energy-saving pump control excavator

Abstract

The invention discloses a control system and method for an energy-saving pump control excavator. The method comprises the steps that hydraulic parameter information to be processed is obtained; the to-be-processed hydraulic parameter information comprises first input displacement information, second input displacement information, first control signal information and target feedback displacement information; analyzing and processing the to-be-processed hydraulic parameter information to obtain first target control signal information; the first target control signal information comprises first sub-target control signal information, second sub-target control signal information, third sub-target control signal information, fourth sub-target control signal information and fifth sub-target control signal information; and performing optimization processing on the first target control signal information to obtain second target control signal information.

Description

Technical Field

[0001] This invention relates to the field of hydraulic technology, and in particular to a control system and method for an energy-saving pump-controlled excavator. Background Technology

[0002] Hydraulic systems, as a core technology for power transmission, are widely used in high-end equipment fields such as engineering machinery, aerospace, and new energy vehicles. Traditional hydraulic systems mostly use mechanical or hydraulic servo-controlled fixed / variable displacement pumps, achieving pressure and flow control by adjusting displacement or bypass throttling. However, this approach has significant drawbacks: on the one hand, mechanical servo mechanisms have slow response times, making it difficult to adapt to high-frequency dynamic load demands; on the other hand, throttling speed regulation leads to significant energy loss in relief valves and pipeline pressure drops, resulting in generally low overall system efficiency. With the advancement of Industry 4.0 and the trend towards electrification, the shortcomings of existing systems in terms of energy efficiency ratio, control accuracy, and intelligence level are becoming increasingly prominent. In recent years, electronic pumps have become a research hotspot due to their direct-drive motor and digital control features. However, existing electronic pump control schemes still have the following technical bottlenecks: 1) Pressure-flow composite control relies heavily on PID algorithms, which are prone to overshoot and oscillation under nonlinear conditions; 2) There is a lack of dynamic efficiency optimization mechanisms that adapt to load, resulting in the motor still operating in an inefficient range under some conditions, leading to low electro-hydraulic conversion efficiency; 3) When multiple actuators are controlled collaboratively, the traditional bus communication cycle causes a lag in flow distribution, resulting in large synchronization errors of the actuators. Therefore, a control system and method for energy-saving pump-controlled excavators are provided to improve the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a control method and system that is conducive to improving the control accuracy and control efficiency of hydraulic systems, thereby improving the intelligent control level of hydraulic systems.

[0004] To address the aforementioned technical problems, a first aspect of the present invention discloses a control method, the method comprising: Acquire hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; The hydraulic parameter information to be processed is analyzed and processed to obtain the first target control signal information; the first target control signal information includes the first sub-target control signal information, the second sub-target control signal information, the third sub-target control signal information, the fourth sub-target control signal information, and the fifth sub-target control signal information; The control signal information of the first target is optimized to obtain the control signal information of the second target.

[0005] A second aspect of this invention discloses a control system, the system comprising: The acquisition module is used to acquire hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; The first processing module is used to analyze and process the hydraulic parameter information to be processed to obtain the first target control signal information; the first target control signal information includes the first sub-target control signal information, the second sub-target control signal information, the third sub-target control signal information, the fourth sub-target control signal information, and the fifth sub-target control signal information; The second processing module is used to optimize the first target control signal information to obtain the second target control signal information.

[0006] A third aspect of the present invention discloses another control system, the system comprising: Memory containing executable program code; A processor coupled to memory; The processor calls the executable program code stored in the memory to execute some or all of the steps in the control method disclosed in the first aspect of the present invention.

[0007] The fourth aspect of the present invention discloses a computer-readable storage medium storing computer instructions, which, when invoked, are used to execute some or all of the steps in the control method disclosed in the first aspect of the present invention. Attached Figure Description

[0008] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 This is a schematic diagram of a scenario for the control system provided in an embodiment of the present invention; Figure 2 This is a flowchart illustrating a control method disclosed in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a control system disclosed in an embodiment of the present invention; Figure 4 This is a schematic diagram of another control system disclosed in an embodiment of the present invention. Detailed Implementation

[0010] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, 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.

[0011] It should be noted that the terminology used in the embodiments of this application is for the purpose of describing specific embodiments only and is not intended to limit the application. The singular forms "a," "the," and "the" used in the embodiments of this application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0012] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0013] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0014] In this application, the term "exemplary" is used to mean "used as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use this application. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that this application can be made without using these specific details. In other instances, well-known structures and processes are not described in detail to avoid obscuring the description of this application with unnecessary detail. Therefore, this application is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0015] It should be noted that the term "and / or" used in this application is merely a description of the same field in the related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0016] It should be noted that, depending on the context, the word "if" as used herein can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0017] It should be noted that in the description of this application, the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the system or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0018] It should be noted that the phrase "within the range" used in this application, unless otherwise specified, includes both endpoints of the range by default. For example, in the range of 1 to 5, it includes the values ​​1 and 5.

[0019] It should be noted that since the method in this application embodiment is executed in a computer device, the processing objects of each computer device exist in the form of data or information, such as time, which is essentially time information. It is understood that if size, quantity, position, etc. are mentioned in subsequent embodiments, they are all corresponding data that exist so that the computer device can process them. Specific details will not be elaborated here.

[0020] It should be noted that the artificial intelligence-related technologies that may be involved in this application will be briefly described. Artificial intelligence (AI) is the theory, method, technology, and application system that uses digital computers or machines controlled by digital computers to simulate, extend, and expand human intelligence, perceive the environment, acquire knowledge, and use that knowledge to obtain optimal results. In other words, artificial intelligence is a comprehensive technology in computer science that attempts to understand the essence of intelligence and produce a new kind of intelligent machine that can react in a way similar to human intelligence. Artificial intelligence is the study of the design principles and implementation methods of various intelligent machines, enabling machines to have the functions of perception, reasoning, and decision-making.

[0021] Artificial intelligence (AI) is a comprehensive discipline encompassing a wide range of fields, including both hardware and software technologies. Fundamental AI technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, big data processing, operating / interactive systems, and mechatronics. AI software technologies primarily include computer vision, speech processing, natural language processing, and machine learning / deep learning.

[0022] Computer vision (CV) is a science that studies how to enable machines to "see." More specifically, it refers to machine vision, which uses cameras and computers to replace human eyes in recognizing and measuring targets, and then performs image processing to create images more suitable for human observation or transmission to instruments. As a scientific discipline, computer vision studies related theories and technologies, attempting to build artificial intelligence systems capable of extracting information from images or multidimensional data. Computer vision technologies typically include image processing, image recognition, image semantic understanding, image retrieval, OCR, video processing, video semantic understanding, video content / behavior recognition, 3D object reconstruction, 3D technology, virtual reality, augmented reality, simultaneous localization and mapping (SLAM), and common biometric recognition technologies such as facial recognition and fingerprint recognition.

[0023] Monomodal information refers to data of only one type, such as text, images, audio, video, or electromagnetic signals. Multimodal information refers to data that includes at least two types of monomodal information. Furthermore, multimodal information is suitable for complex tasks that require the integration of multiple information sources, such as sentiment analysis, robot interaction, and autonomous driving. By integrating information from multiple modalities, higher performance and accuracy can usually be achieved in these tasks.

[0024] Large models refer to artificial neural network models with a very large number of parameters. In the field of artificial intelligence, large models typically refer to models with hundreds of millions to trillions of parameters. These models usually need to be trained on large-scale datasets and require a significant amount of computing resources for optimization and tuning. Large models are commonly used to solve complex tasks such as natural language processing, computer vision, and speech recognition. Generative AI is a type of AI that can create new content and ideas, including dialogues, stories, images, videos, and music. In this embodiment, the large model can be a large-scale pre-trained model such as the ChatGPT series, BERT, XLNet, Zhipu model, Claude, Moonshot AI model, ChatGLM model, Tongwen Qianyi model, MiniMax model, Xinghuo model, Llama model, 360GPT model, Qwen model, Baichuan model, Yunque model, vivoLM model, deepseek, Tencent Yuanbao, and Wenxin Yiyan, etc., and this embodiment does not limit the scope of the large model.

[0025] This application provides a control method, system, computer device, and computer-readable storage medium, which will be described in detail below.

[0026] Please see Figure 1 , Figure 1 This is a schematic diagram of a scenario for the control system provided in an embodiment of this application. The control system may include a computer device 100, which integrates the control system, such as... Figure 1 Computer equipment in the country.

[0027] In this embodiment, the computer device 100 is mainly used to acquire hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; the hydraulic parameter information to be processed is analyzed and processed to obtain first target control signal information; the first target control signal information includes first sub-target control signal information, second sub-target control signal information, third sub-target control signal information, fourth sub-target control signal information, and fifth sub-target control signal information; the first target control signal information is optimized to obtain second target control signal information.

[0028] It can improve the control accuracy and efficiency of hydraulic systems, thereby enhancing the level of intelligent control of hydraulic systems.

[0029] In this embodiment, the computer device 100 can be a standalone server, a server network, or a server cluster. For example, the computer device 100 described in this embodiment includes, but is not limited to, a computer, a network host, a single network server, a set of multiple network servers, or a cloud server composed of multiple servers. The cloud server is composed of a large number of computers or network servers based on cloud computing.

[0030] It is understood that the computer device 100 used in the embodiments of this application can be a device that includes both receiving and transmitting hardware, that is, a device having receiving and transmitting hardware capable of performing bidirectional communication on a bidirectional communication link. Such a device may include: cellular or other communication devices having a single-line display, a multi-line display, or a cellular or other communication device without a multi-line display. Specifically, the computer device 100 may be a desktop terminal or a mobile terminal, and may also be one of a mobile phone, tablet computer, laptop computer, etc.

[0031] Those skilled in the art will understand that Figure 1 The application environment shown is merely one application scenario of the solution in this application and does not constitute a limitation on the application scenario of the solution in this application. Other application environments may include those that are more specific to this application. Figure 1 The number of computer devices shown is more or less, for example Figure 1 Only one computer device is shown in the diagram. It is understood that the control system may also include one or more other services, which are not limited here.

[0032] In addition, such as Figure 1 As shown, the control system may also include a memory 200 for storing data, such as image data and location information.

[0033] It should be noted that, Figure 1 The schematic diagram of the control system shown is merely an example. The control system and scenario described in this application are intended to more clearly illustrate the technical solutions of this application and do not constitute a limitation on the technical solutions provided in this application. As those skilled in the art will know, with the evolution of control systems and the emergence of new business scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0034] This invention discloses a control method and system that improves the control accuracy and efficiency of hydraulic systems, thereby enhancing the intelligent control level of hydraulic systems. These will be described in detail below.

[0035] Example 1 Please see Figure 2 , Figure 2 This is a flowchart illustrating a control method disclosed in an embodiment of the present invention. Wherein, Figure 2 The described control method is applied in a management system, such as a local server or cloud server for management, and the embodiments of the present invention are not limited thereto. Figure 2 As shown, the control method may include the following operations: 101. Obtain the hydraulic parameter information to be processed.

[0036] In this embodiment of the invention, the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information.

[0037] 102. Analyze and process the hydraulic parameter information to be processed to obtain the first target control signal information.

[0038] In this embodiment of the invention, the first target control signal information includes first sub-target control signal information, second sub-target control signal information, third sub-target control signal information, fourth sub-target control signal information, and fifth sub-target control signal information.

[0039] 103. Optimize the first target control signal information to obtain the second target control signal information.

[0040] It should be noted that the first input displacement information and the second input displacement information mentioned above represent the target control displacement at the previous moment and the velocity corresponding to the target control displacement. This embodiment of the invention does not limit these parameters.

[0041] It should be noted that the above-mentioned target feedback displacement information represents the displacement of the actuator (such as hydraulic cylinder) in the hydraulic system at the previous moment, and the embodiments of the present invention do not limit it.

[0042] It should be noted that the first control signal information mentioned above represents the magnitude of the control signal of the control element (such as a multi-way valve) in the hydraulic system at the previous moment, and this embodiment of the present invention does not limit it.

[0043] It should be noted that the aforementioned second target control signal information is used to control the signal magnitude of the control element (such as a multi-way valve) of the hydraulic system at the current moment, thereby controlling the valve core position of the multi-way valve, and further controlling the actuator (such as a hydraulic cylinder) to perform an action at the current moment, thereby obtaining the displacement of the actuator at the current moment. This embodiment of the invention does not limit this.

[0044] It should be noted that the power component of the above-mentioned hydraulic system is an energy-saving hydraulic pump or an energy-saving electronic pump, which provides fluid efficiently to drive the operation of the hydraulic system. This embodiment of the invention does not limit this. Furthermore, the above-mentioned hydraulic system is a control system applied to an excavator, and this embodiment of the invention does not limit this.

[0045] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0046] In an optional embodiment, the above-described optimization processing of the first target control signal information to obtain the second target control signal information includes: The first target control signal information is analyzed and processed to obtain the first optimized control signal information; The control signal information of the third sub-target in the first target control signal information is amplified to obtain the second optimized control signal information. The first optimized control signal information and the second optimized control signal information are summed to obtain the second target control signal information.

[0047] It should be noted that the second target control signal information obtained by optimizing the first target control signal information described above can improve the response control speed of the control element and maintain a small control error, thereby improving the displacement tracking capability of the actuator. This embodiment of the invention does not limit this.

[0048] It should be noted that the above-mentioned amplification processing of the third sub-target control signal information in the first target control signal information is to amplify the influence of the feedback displacement, thereby weakening the possible over-control, reducing signal jitter, and improving the anti-interference capability of signal control. This embodiment of the invention does not limit this.

[0049] It should be noted that the above-mentioned summation calculation of the first and second optimized control signal information to obtain the second target control signal information is a fusion of the ideal tracking signal of the input displacement and the dynamic feedback error signal of the actuator. This improves the nonlinear state error feedback efficiency while ensuring the rapid response capability of the hydraulic system, thereby enhancing the anti-interference capability of the hydraulic system and further improving the control response speed, control accuracy, and efficiency. This invention is not limited in its embodiments. In traditional hydraulic systems, due to strong nonlinearity and parameter uncertainty, the control accuracy is relatively poor. This application significantly improves the anti-interference capability and control response speed of the hydraulic system by increasing the nonlinear state error feedback efficiency, thereby further enhancing the overall control efficiency of the electronic pump-based hydraulic system. This invention is not limited in its embodiments.

[0050] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0051] In another optional embodiment, the first target control signal information is analyzed and processed to obtain first optimized control signal information, including: The difference calculation is performed on the first sub-target control signal information and the fourth sub-target control signal information in the first optimized control signal information to obtain the first sub-optimized control signal information. The difference calculation is performed on the second sub-target control signal information and the fifth sub-target control signal information in the first optimized control signal information to obtain the second sub-optimized control signal information. Based on the first sub-optimized control signal information and the second sub-optimized control signal information, the first optimized control signal information is determined.

[0052] The first sub-target control signal information and the fourth sub-target control signal information in the first optimized control signal information are subjected to a difference calculation process to represent the first sub-target control signal information minus the fourth sub-target control signal information; the second sub-target control signal information and the fifth sub-target control signal information in the first optimized control signal information are subjected to a difference calculation process to represent the second sub-target control signal information minus the fifth sub-target control signal information. This embodiment of the invention is not limited.

[0053] It should be noted that the above-mentioned analysis and calculation of the first target control signal information to obtain the first optimized control signal information is a further optimization process performed based on the feedback signal of the actuator after the input signal has been processed once. The first sub-optimized control signal information and the second sub-optimized control signal information are respectively the analysis of the error between the input signal and the feedback signal, using the error in the two dimensions of displacement and velocity as a dynamic reference basis to further optimize the control signal, thereby improving the utilization efficiency of the feedback signal and thus improving the control performance. This embodiment of the invention is not limited.

[0054] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0055] In yet another optional embodiment, the first optimized control signal information is determined based on the first sub-optimized control signal information and the second sub-optimized control signal information, including: The first and second sub-optimization control signal information are weighted and summed to obtain the third sub-optimization control signal information. The first optimization control signal information is obtained by calculating and processing the second and third sub-optimization control signal information using the first control signal model. The first control signal model is as follows: ; In the formula, Characterizes the first optimized control signal information; Characterizes the second sub-optimization control signal information; Characterizes the third sub-optimization control signal information; , and These represent the first control coefficient, the second control coefficient, and the third control coefficient, respectively.

[0056] It should be noted that in the above weighted summation of the first sub-optimized control signal information and the second sub-optimized control signal information, the weight of the first sub-optimized control signal information is at least 10 times greater than the weight of the second sub-optimized control signal information, and the two weights are values ​​between (0,1). Based on this weight setting, the main purpose is to enhance the influence of displacement signals on the control element, because the tracking target of the actuator is the input displacement, so the role of displacement signals should be highlighted. Velocity signals are more important for regulation, so their weight can be appropriately reduced to ensure the flexibility of feedback. This embodiment of the invention does not impose any limitations.

[0057] It should be noted that the first control coefficient, the second control coefficient, and the third control coefficient mentioned above are values ​​greater than 0. Furthermore, the first control coefficient and the second control coefficient are positive integers between [6, 10], such as 6, 7, 8, 9, and 10; the third control coefficient is a value between (0.5, 1), such as 0.7 and 0.8. This embodiment of the invention does not limit these values.

[0058] It should be noted that the optimization processing of the control signal in the first control signal model mentioned above includes linear and nonlinear parts. Among them, the optimization of the second and third sub-optimized control signal information includes the optimization of linear control quantities. Linear optimization is more closely related to the input and feedback signal parts and has a greater impact on the actual control elements. Therefore, the coefficients of the linear part are given as values ​​not less than 1 to increase its influence. Furthermore, for the nonlinear part, smaller coefficients (third control coefficients) are used. Thus, while maintaining the rapid feedback influence of nonlinear control, excessive changes in the control signal due to excessive nonlinear changes will not cause signal jitter. This ensures both the flexibility of nonlinear optimization and the control accuracy, which is more conducive to achieving fast and accurate hydraulic system control. This embodiment of the invention is not limited.

[0059] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0060] In another optional embodiment, the hydraulic parameter information to be processed is analyzed and processed to obtain first target control signal information, including: The first control signal information and the target feedback displacement information in the hydraulic parameter information to be processed are analyzed and calculated using the second control signal model to obtain the first sub-target control signal information, the second sub-target control signal information and the third sub-target control signal information; The second control signal model is as follows: ; In the formula, , and These respectively represent the control signal information of the first sub-target, the control signal information of the second sub-target, and the control signal information of the third sub-target; , and The fourth, fifth, and sixth control coefficients are respectively represented. Characterizes intermediate computational load; and These respectively represent the first control signal information and the target feedback displacement information; Based on the first input displacement information, the second input displacement information, and the target feedback displacement information, the control signal information of the fourth sub-target and the control signal information of the fifth sub-target are determined.

[0061] It should be noted that the fourth, fifth, and sixth control coefficients mentioned above are values ​​greater than 0. Furthermore, the fourth control coefficient is a positive integer between [6, 10], such as 6, 7, 8, 9, and 10; the fifth control coefficient is a positive integer much greater than 10, such as 1000, 1100, 1200, 1300, and 1400; and the sixth control coefficient is a value between (0.1, 0.5), such as 0.3 and 0.4. This embodiment of the invention does not impose any limitations.

[0062] It should be noted that the aforementioned second control signal model includes dynamic processing of the first control signal information and the target feedback displacement information. That is, it realizes the processing of the displacement state of the actuator of the hydraulic system, the control signals of the historical control elements, and the dynamic errors, providing multi-dimensional information output (first sub-target control signal information, second sub-target control signal information, and third sub-target control signal information) for analyzing the system state. Thus, these multi-dimensional information outputs can be used for dynamic error correction of the input signal and signal optimization using the first control signal, providing accurate data support for error correction. This enables the assessment of the required level of control quantity compensation based on the input and historical system state information, thereby improving the accuracy of the system control quantity compensation analysis and calculation, and improving the system control precision. This embodiment of the invention does not limit the scope of the invention.

[0063] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0064] In an optional embodiment, the determination of the fourth sub-target control signal information and the fifth sub-target control signal information based on the first input displacement information, the second input displacement information, and the target feedback displacement information includes: Based on the first input displacement information and the target feedback displacement information, the first calculation control signal information is determined; Based on the first input displacement information, the second input displacement information, and the first calculated control signal information, the control signal information for the fourth sub-target and the control signal information for the fifth sub-target are determined.

[0065] It should be noted that the second input displacement information described above represents the differential effect of the first input displacement information, and this embodiment of the present invention does not limit this.

[0066] It should be noted that the above-mentioned determination of the fourth and fifth sub-target control signal information based on the first input displacement information, the second input displacement information, and the target feedback displacement information is achieved by using a nonlinear dynamic mechanism to realize the rapid tracking of the input signal. Under the premise of maintaining extremely low overshoot, it accurately reproduces the input trajectory with high dynamic response speed and synchronously outputs a smooth differential signal, thereby providing more stable and accurate displacement and velocity-related input control signals. This facilitates the subsequent more accurate determination of the control signal of the control element based on the feedback signal, thereby improving control accuracy and providing reliable protection for precision tracking control under complex working conditions. This embodiment of the invention is not limited.

[0067] In this optional embodiment, as an optional implementation, the determination of the first calculated control signal information based on the first input displacement information and the target feedback displacement information includes: The first input displacement information and the target feedback displacement information are analyzed and processed using the third control signal model to obtain the second calculated control signal information. The third control signal model is as follows: ; In the formula, Characterizes the second computational control signal information; Characterizes the first input displacement information; The second calculated control signal information is analyzed and processed using the fourth control signal model to obtain the first calculated control signal information. The fourth control signal model is as follows: ; In the formula, Characterizes the first computational control signal information; and The seventh and eighth control coefficients are represented respectively.

[0068] It should be noted that the seventh and eighth control coefficients mentioned above are both positive integers greater than 1, and the difference between them is at least 10 times. This embodiment of the invention does not impose any limitation on this. Furthermore, the seventh and eighth control coefficients mentioned above can be 10000 and 1000 respectively, and this embodiment of the invention does not impose any limitation on this.

[0069] It should be noted that the above-mentioned determination of the first calculated control signal information based on the first input displacement information and the target feedback displacement information is achieved by using the third control model and the fourth control model to analyze the dynamic correlation between the speed input corresponding to the displacement input at the previous moment and the displacement of the hydraulic system actuator. It calculates the dynamic differential intervention value by differentiating the input displacement at the previous moment and comparing the displacement of the hydraulic system actuator with a preset threshold (0.1). Then, the dynamic correlation value (second calculated control signal information) calculated in the first step (third control model) is compared with the preset threshold (10) again. Then, it is further selected whether to use a linear intervention method or a nonlinear intervention method, so as to provide a more accurate fine-tuning intervention value for speed signals, thereby improving the flexibility and accuracy of signal control. This embodiment of the invention does not limit this.

[0070] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0071] In another optional embodiment, based on the first input displacement information, the second input displacement information, and the first calculated control signal information, the fourth sub-target control signal information and the fifth sub-target control signal information are determined, including: The first and second input displacement information are weighted and summed to obtain the control signal information of the fourth sub-target. The second input displacement information and the first calculated control signal information are weighted and summed to obtain the control signal information of the fifth sub-target.

[0072] It should be noted that the weight of the second input displacement information when performing the weighted summation process on the first and second input displacement information is consistent with the weight of the first calculated control signal information when performing the weighted summation process on the second input displacement information and the first calculated control signal information, and this embodiment of the invention does not limit this. Furthermore, the aforementioned weights are positive numbers not greater than 1, such as 0.01, 0.02; 0.8, 0.9, 1, and this embodiment of the invention does not limit this. Furthermore, when performing the weighted summation process on the first and second input displacement information, the weight of the first input displacement information is much greater than the weight of the second input displacement information, with a difference of at least 50 times, and this embodiment of the invention does not limit this. Furthermore, when performing the weighted summation process on the second input displacement information and the first calculated control signal information, the weight of the second input displacement information is much greater than the weight of the first calculated control signal information, with a difference of at least 50 times, and this embodiment of the invention does not limit this.

[0073] It should be noted that the weights of the two inputs differ by at least 50 times in order to increase the importance of signals of the same type, so as to control the actuator more accurately. For example, when the first input displacement information and the second input displacement information are weighted and summed, the resulting fourth sub-target control signal information is a displacement-type signal, just like the first input displacement information. In this case, the weight of the first input displacement information should be increased. However, since the second input displacement information is a velocity-type signal, it is only necessary to reflect the correction of the displacement-type signal by the velocity-type signal. It does not need to occupy too large a proportion, thereby interfering with the effective generation of the control signal. This embodiment of the invention does not impose any limitations.

[0074] It is evident that implementing the control method described in the embodiments of the present invention is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the intelligent control level of the hydraulic system.

[0075] Example 2 Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of a control system disclosed in an embodiment of the present invention. Figure 3 The described system can be applied to management systems, such as local servers or cloud servers, and this invention does not limit its application. Figure 3 As shown, the system may include: The acquisition module 201 is used to acquire hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; The first processing module 202 is used to analyze and process the hydraulic parameter information to be processed to obtain the first target control signal information; the first target control signal information includes the first sub-target control signal information, the second sub-target control signal information, the third sub-target control signal information, the fourth sub-target control signal information, and the fifth sub-target control signal information; The second processing module 203 is used to optimize the first target control signal information to obtain the second target control signal information.

[0076] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0077] In another alternative embodiment, such as Figure 3 As shown, the first target control signal information is optimized to obtain the second target control signal information, including: The first target control signal information is analyzed and processed to obtain the first optimized control signal information; The control signal information of the third sub-target in the first target control signal information is amplified to obtain the second optimized control signal information. The first optimized control signal information and the second optimized control signal information are summed to obtain the second target control signal information.

[0078] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0079] In yet another alternative embodiment, such as Figure 3 As shown, the first target control signal information is analyzed and processed to obtain the first optimized control signal information, including: The difference calculation is performed on the first sub-target control signal information and the fourth sub-target control signal information in the first optimized control signal information to obtain the first sub-optimized control signal information. The difference calculation is performed on the second sub-target control signal information and the fifth sub-target control signal information in the first optimized control signal information to obtain the second sub-optimized control signal information. Based on the first sub-optimized control signal information and the second sub-optimized control signal information, the first optimized control signal information is determined.

[0080] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0081] In yet another alternative embodiment, such as Figure 3 As shown, based on the first sub-optimization control signal information and the second sub-optimization control signal information, the first optimization control signal information is determined, including: The first and second sub-optimization control signal information are weighted and summed to obtain the third sub-optimization control signal information. The first optimization control signal information is obtained by calculating and processing the second and third sub-optimization control signal information using the first control signal model. The first control signal model is as follows: ; In the formula, Characterizes the first optimized control signal information; Characterizes the second sub-optimization control signal information; Characterizes the third sub-optimization control signal information; , and These represent the first control coefficient, the second control coefficient, and the third control coefficient, respectively.

[0082] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0083] In yet another alternative embodiment, such as Figure 3 As shown, the hydraulic parameter information to be processed is analyzed and processed to obtain the first target control signal information, including: The first control signal information and the target feedback displacement information in the hydraulic parameter information to be processed are analyzed and calculated using the second control signal model to obtain the first sub-target control signal information, the second sub-target control signal information and the third sub-target control signal information; The second control signal model is as follows: ; In the formula, , and These respectively represent the control signal information of the first sub-target, the control signal information of the second sub-target, and the control signal information of the third sub-target; , and The fourth, fifth, and sixth control coefficients are respectively represented. Characterizes intermediate computational load; and These respectively represent the first control signal information and the target feedback displacement information; Based on the first input displacement information, the second input displacement information, and the target feedback displacement information, the control signal information of the fourth sub-target and the control signal information of the fifth sub-target are determined.

[0084] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0085] In yet another alternative embodiment, such as Figure 3 As shown, based on the first input displacement information, the second input displacement information, and the target feedback displacement information, the control signal information for the fourth sub-target and the control signal information for the fifth sub-target are determined, including: Based on the first input displacement information and the target feedback displacement information, the first calculation control signal information is determined; Based on the first input displacement information, the second input displacement information, and the first calculated control signal information, the control signal information for the fourth sub-target and the control signal information for the fifth sub-target are determined.

[0086] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0087] In yet another alternative embodiment, such as Figure 3 As shown, based on the first input displacement information, the second input displacement information, and the first calculated control signal information, the control signal information for the fourth sub-target and the control signal information for the fifth sub-target are determined, including: The first and second input displacement information are weighted and summed to obtain the control signal information of the fourth sub-target. The second input displacement information and the first calculated control signal information are weighted and summed to obtain the control signal information of the fifth sub-target.

[0088] It is evident that implementation Figure 3 The described control system is beneficial to improving the control accuracy and efficiency of the hydraulic system, thereby enhancing the level of intelligent control of the hydraulic system.

[0089] Example 3 Please see Figure 4 , Figure 4 This is a schematic diagram of another control system disclosed in an embodiment of the present invention. Wherein, Figure 4 The described system can be applied to management systems, such as local servers or cloud servers, and this invention does not limit its application. Figure 4 As shown, the system may include: Memory 301 storing executable program code; Processor 302 coupled to memory 301; The processor 302 calls the executable program code stored in the memory 301 to execute the steps in the control method described in Embodiment 1.

[0090] Example 4 This invention discloses a computer-readable storage medium that stores a computer program for electronic data interchange, wherein the computer program causes a computer to perform the steps of the control method described in Embodiment 1.

[0091] Example 5 This invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform the steps of the control method described in Embodiment 1.

[0092] The system embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0093] Through the detailed description of the above embodiments, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, including read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-Erasable Programmable Read-Only Memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0094] Finally, it should be noted that the control method and system disclosed in the embodiments of the present invention are merely preferred embodiments of the present invention and are only used to illustrate the technical solutions of the present invention, not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method, characterized in that, The method includes: Obtain hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; The hydraulic parameter information to be processed is analyzed and processed to obtain the first target control signal information; the first target control signal information includes the first sub-target control signal information, the second sub-target control signal information, the third sub-target control signal information, the fourth sub-target control signal information, and the fifth sub-target control signal information; The first target control signal information is optimized to obtain the second target control signal information.

2. The control method according to claim 1, characterized in that, The step of optimizing the first target control signal information to obtain the second target control signal information includes: The first target control signal information is analyzed and processed to obtain the first optimized control signal information; The control signal information of the third sub-target in the first target control signal information is amplified to obtain the second optimized control signal information; The first optimized control signal information and the second optimized control signal information are summed to obtain the second target control signal information.

3. The control method according to claim 2, characterized in that, The step of analyzing and calculating the first target control signal information to obtain the first optimized control signal information includes: The difference calculation process is performed on the first sub-target control signal information and the fourth sub-target control signal information in the first optimized control signal information to obtain the first sub-optimized control signal information. The difference calculation process is performed on the second sub-target control signal information in the first optimized control signal information and the fifth sub-target control signal information in the first optimized control signal information to obtain the second sub-optimized control signal information. Based on the first sub-optimized control signal information and the second sub-optimized control signal information, the first optimized control signal information is determined.

4. The control method according to claim 3, characterized in that, The step of determining the first optimized control signal information based on the first sub-optimized control signal information and the second sub-optimized control signal information includes: The first sub-optimization control signal information and the second sub-optimization control signal information are weighted and summed to obtain the third sub-optimization control signal information; The first optimization control signal information is obtained by calculating and processing the second sub-optimization control signal information and the third sub-optimization control signal information using the first control signal model; The first control signal model is as follows: ； In the formula, Characterizes the first optimized control signal information; Characterizes the second sub-optimization control signal information; Characterizes the third sub-optimization control signal information; , and These represent the first control coefficient, the second control coefficient, and the third control coefficient, respectively.

5. The control method according to claim 1, characterized in that, The process of analyzing and processing the hydraulic parameter information to be processed to obtain the first target control signal information includes: The first control signal information and the target feedback displacement information in the hydraulic parameter information to be processed are analyzed and calculated using the second control signal model to obtain the first sub-target control signal information, the second sub-target control signal information and the third sub-target control signal information; The second control signal model is as follows: ； In the formula, , and The first sub-target control signal information, the second sub-target control signal information, and the third sub-target control signal information are respectively represented; , and The fourth, fifth, and sixth control coefficients are respectively represented. Characterizes intermediate computational load; and The first control signal information and the target feedback displacement information are respectively represented; Based on the first input displacement information, the second input displacement information, and the target feedback displacement information, the fourth sub-target control signal information and the fifth sub-target control signal information are determined.

6. The control method according to claim 5, characterized in that, The step of determining the fourth sub-target control signal information and the fifth sub-target control signal information based on the first input displacement information, the second input displacement information, and the target feedback displacement information includes: Based on the first input displacement information and the target feedback displacement information, the first calculation control signal information is determined; Based on the first input displacement information, the second input displacement information, and the first calculated control signal information, the fourth sub-target control signal information and the fifth sub-target control signal information are determined.

7. The control method according to claim 6, characterized in that, The step of determining the fourth sub-target control signal information and the fifth sub-target control signal information based on the first input displacement information, the second input displacement information, and the first calculated control signal information includes: The first input displacement information and the second input displacement information are weighted and summed to obtain the control signal information of the fourth sub-target. The second input displacement information and the first calculated control signal information are weighted and summed to obtain the control signal information of the fifth sub-target.

8. A control system, characterized in that, The system includes: The acquisition module is used to acquire hydraulic parameter information to be processed; the hydraulic parameter information to be processed includes first input displacement information, second input displacement information, first control signal information, and target feedback displacement information; The first processing module is used to analyze and process the hydraulic parameter information to be processed to obtain the first target control signal information; the first target control signal information includes the first sub-target control signal information, the second sub-target control signal information, the third sub-target control signal information, the fourth sub-target control signal information, and the fifth sub-target control signal information; The second processing module is used to optimize the first target control signal information to obtain the second target control signal information.

9. A control system, characterized in that, The system includes: Memory containing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, which, when invoked, are used to execute the control method as described in any one of claims 1-7.

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