Engineering equipment electric drive actuator control method and system

Abstract

The invention relates to the technical field of electric drive control, in particular to an engineering instrument electric drive actuator control method and system, and the method comprises the steps: S1, obtaining a driver control signal, and obtaining an expected action instruction; s2, on the basis of the expected action instruction, according to a hydraulic execution system simulation model, simulating the working characteristics of the engineering instrument under the control of a hydraulic execution system, and outputting the corrected expected action instruction; and S3, obtaining a control instruction of the electrically-driven actuator based on the corrected expected action instruction. The technical problems that in the prior art, due to the fact that the control characteristic difference between an electric drive actuator and a hydraulic execution system is large, a driver is difficult to adapt rapidly, the training time cost is high, and production accident risks exist are solved.

Description

Technical Field

[0001] This invention relates to the field of electric drive control technology, and in particular to a control method and system for an electric drive actuator of engineering machinery. Background Technology

[0002] Replacing traditional hydraulic actuators with electric actuators is a crucial technological direction for the electrification of construction machinery, such as electric rotary actuators and electric cylinder actuators. While electric actuators offer greater precision and speed, their control characteristics differ significantly from those of hydraulic systems. Because hydraulic actuators exhibit a response delay compared to the driver's desired action commands, drivers' established operating habits, honed from long-term use of hydraulically-equipped construction machinery, are largely applicable only to the machinery's performance under hydraulic control. In contrast, electric actuators use electrical signals, providing direct response and shorter delays. Directly switching to electric actuators can lead to significant discrepancies between the driver's accustomed speed control and the actual speed control achieved by the machinery, making it difficult for drivers to adapt, increasing training time and potentially causing accidents. Summary of the Invention

[0003] To address the technical problem that the control characteristics of existing electric drive actuators and hydraulic actuators differ significantly, leading to difficulties for drivers in adapting quickly, high training time costs, and the risk of production accidents, this invention provides a control method and system for electric drive actuators in engineering machinery, thus solving the aforementioned technical problems.

[0004] To address the aforementioned technical problems, this invention provides a control method for an electric drive actuator of engineering machinery. The method includes: S1, acquiring a driver control signal to obtain a desired action command; S2, based on the desired action command and according to a hydraulic actuator simulation model, simulating the working characteristics of the engineering machinery under the control of the hydraulic actuator system, and outputting a corrected desired action command; S3, based on the corrected desired action command, obtaining a control command for the electric drive actuator.

[0005] According to one embodiment of the present invention, the driver sends the driver control signal through the operating device. In step S1, the desired action command represents the speed response of the engineering machinery desired by the driver under the control of the hydraulic actuation system.

[0006] According to an embodiment of the present invention, the hydraulic actuation system includes a hydraulic pump, a hydraulic valve, and a hydraulic drive actuator. The speed control of the hydraulic drive actuator is achieved through the valve opening degree of the hydraulic valve and the displacement change of the hydraulic pump. Step S2 specifically includes: inputting the desired action command as the control target of the hydraulic drive actuator into the hydraulic actuation system simulation model; simulating the working characteristics of the engineering machinery under the control of the hydraulic actuation system according to the hydraulic actuation system simulation model to obtain the simulated control speed of the hydraulic drive actuator; and outputting the simulated control speed as the corrected desired action command.

[0007] According to an embodiment of the present invention, step S3 specifically includes: S31, obtaining the real-time torque and real-time speed feedback of the motor, and using the corrected expected action command as the target speed of the motor; S32, based on the target speed, the real-time torque and the real-time speed, obtaining the motor control command of the electric drive actuator according to the controlled system model, wherein the controlled system model is obtained based on the controlled system model corresponding to the electric drive actuator.

[0008] According to an embodiment of the present invention, in step S32, based on the target speed, the real-time torque and the real-time rotational speed, the motor control command of the electric drive actuator is obtained by adopting a feedforward-feedback strategy according to the controlled system model.

[0009] Specifically, step S32 includes: inputting the real-time torque and the real-time speed into the parameter identifier in the feedforward controller to calculate the real-time operating parameters of the controlled system; inputting the target speed and the real-time operating parameters into the controlled system model to obtain a feedforward control signal; combining the target speed and the real-time speed and then inputting them into the feedback controller to obtain a feedback control signal; superimposing the feedforward signal and the feedback control signal to obtain the required output torque of the motor; and obtaining the motor control command for the electric drive actuator based on the required output torque.

[0010] The present invention also provides a control system for an electric drive actuator of engineering machinery, comprising: an operation module for acquiring a driver control signal to obtain a desired action command; a correction module for simulating the working characteristics of the engineering machinery under the control of a hydraulic execution system based on the desired action command and a hydraulic execution system simulation model, and outputting a corrected desired action command; and a control module for obtaining a control command for the electric drive actuator based on the corrected desired action command.

[0011] According to one embodiment of the present invention, it further includes: an operating device through which the driver sends the driver control signal to the operating module, the desired action command representing the speed response of the engineering machinery under the control of the hydraulic actuation system as desired by the driver.

[0012] According to one embodiment of the present invention, when the electric drive actuator is a motor-driven electric cylinder, the hydraulic execution system is a corresponding hydraulic linear execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic linear execution system.

[0013] According to one embodiment of the present invention, when the electric drive actuator is an electric rotary actuator, the hydraulic actuation system is a corresponding hydraulic rotary actuation system, and the simulation model of the hydraulic actuation system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic rotary actuation system.

[0014] Based on the above technical solution, the technical effects that the present invention can achieve are as follows:

[0015] 1. The electric drive actuator control method for engineering machinery of the present invention simulates the working characteristics of engineering machinery under the control of the hydraulic actuator system based on the driver's expected action command and the simulation model of the hydraulic actuator system, thereby correcting the expected action command and obtaining the control command of the electric drive actuator based on the corrected expected action command. This makes the operating characteristics of the electric drive actuator similar to the replaced hydraulic actuator system, which can reduce the deviation between the speed control in the driver's operating habits and the actual speed control achieved by the engineering machinery. This allows the driver to better adapt to the electrification of the engineering machinery, improves the safety of construction operations, and reduces the time cost of driver training.

[0016] 2. The control method for electric drive actuators of engineering machinery of the present invention further adopts a feedforward feedback control strategy to calculate the required output torque of the motor, which can effectively improve the stability of the controlled system and reduce the overshoot and oscillation of traditional closed-loop control;

[0017] 3. The engineering machinery electric drive actuator control method of the present invention further adopts a parameter identifier in the feedforward control to realize the real-time identification of the operating parameters of the electric drive actuator based on the real-time torque and real-time speed feedback of the motor, which is beneficial to timely correct the controlled system model and improve the control accuracy;

[0018] 4. The engineering machinery electric drive actuator control system of the present invention corresponds to the above-described engineering machinery electric drive actuator control method, and therefore also possesses the above-described beneficial effects. Attached Figure Description

[0019] Figure 1This is a flowchart of the control method for the electric drive actuator of engineering machinery according to the present invention;

[0020] Figure 2 This is a control principle diagram of the controlled system in the control method for the electric drive actuator of engineering machinery of the present invention;

[0021] Figure 3 This is a structural schematic diagram of an excavator;

[0022] Figure 4 This is a structural schematic diagram of an aerial work platform vehicle;

[0023] Figure 5 This is a structural schematic diagram of a loader;

[0024] Figure 6 This is a schematic diagram of the structure of a skid steer loader;

[0025] Figure 7 This is a graph showing the speed variation trend of the actuator in the electric drive actuator control method of the present invention and the conventional electric drive control method.

[0026] Figure 8 This is a block diagram of the electric drive actuator control system for engineering machinery according to the present invention. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. 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.

[0028] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0029] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0030] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention; the directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0031] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0032] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0033] like Figure 1-2As shown, this embodiment provides a control method for an electric drive actuator of engineering machinery, including the following steps:

[0034] S1: Obtain the driver's control signal and receive the desired action command.

[0035] In one embodiment of the present invention, the driver can send a driver control signal through an operating device (e.g., a handle, a foot pedal, etc.). In step S1, the desired action command represents the speed response of the engineering machinery that the driver expects under the control of the hydraulic actuator system. When the actuator in the hydraulic actuator system is a linear actuator, the speed response is speed; when the actuator in the hydraulic actuator system is a rotary actuator, the speed response is rotational speed.

[0036] It is understandable that, due to the significant difference between the control characteristics of electric actuators and hydraulic actuators, the expected action commands corresponding to the driver control signals issued by the drivers of construction machinery equipped with hydraulic actuators, which have a certain degree of flexibility and lag, will actually be mapped in the driver's mind as the ideal action of the construction machinery equipped with hydraulic actuators, rather than the actual action of the construction machinery equipped with electric actuators.

[0037] S2, based on the desired action command and the simulation model of the hydraulic execution system, simulates the working characteristics of the engineering machinery under the control of the hydraulic execution system, and outputs the corrected desired action command.

[0038] Traditional hydraulic actuators include hydraulic pumps, hydraulic valves, and hydraulic drive actuators. The speed control of the hydraulic drive actuators is achieved by changing the valve opening of the hydraulic valves and the displacement of the hydraulic pumps. The motion characteristics of the hydraulic actuators are reproduced in a hydraulic actuator simulation model. The specific parameters in the hydraulic actuator simulation model are determined according to the actual component parameters of the target machine model corresponding to the engineering machinery. This embodiment does not limit this.

[0039] In one embodiment of the present invention, step S2 specifically includes the following steps S21 to S23:

[0040] S21, the desired action command is input as the control target of the hydraulic drive actuator into the hydraulic execution system simulation model. The hydraulic execution system simulation model can be obtained by modeling the hydraulic execution system based on an electrically driven actuator using machine languages ​​such as C. After modeling, it can be verified using specialized software such as MATLAB or Amesim. This embodiment does not limit this process.

[0041] S22. Based on the simulation model of the hydraulic actuator system, the working characteristics of the engineering machinery under the control of the hydraulic actuator system are simulated to obtain the simulated control speed of the hydraulic drive actuator, which can be specifically represented as the speed control simulation curve of the hydraulic drive actuator.

[0042] S23 outputs the simulated control speed as the corrected desired action command.

[0043] S3, based on the corrected desired action command, obtains the control command for the electric drive actuator.

[0044] In one embodiment of the present invention, step S3 specifically includes the following steps S31 and S32:

[0045] S31: Obtain the real-time torque and real-time speed feedback from the motor, and use the corrected desired action command as the target speed of the motor. Specifically, the real-time speed and real-time torque of the motor can be obtained in real time through the torque sensor and speed sensor built into the motor.

[0046] S32, based on the target speed, real-time torque and real-time speed, obtains the motor control command of the electric drive actuator according to the controlled system model. The controlled system model is obtained by modeling the controlled system corresponding to the electric drive actuator. The controlled system model is the mathematical model of the controlled system, which usually includes parameters such as inertia, damping and resistance. The controlled system represents the object controlled by the electric drive actuator, such as lifting arm, turntable, etc.

[0047] Because the system inertia of the controlled system is generally large, and traditional closed-loop PID feedback control has significant control lag, exhibiting characteristics such as large overshoot and oscillation, the motor struggles to stably follow the target speed obtained in step S31 under traditional closed-loop PID feedback control. In one embodiment of the present invention, in step S32, based on the target speed, real-time torque, and real-time speed, a feedforward-feedback strategy is used to obtain the motor control command for the electric drive actuator according to the controlled system model, thereby improving the stability of the controlled system. Figure 2 As shown, specifically, step S32 includes the following steps S321 to S325:

[0048] S321, the real-time torque and real-time speed fed back from the motor are input into the parameter identifier in the feedforward controller to calculate the real-time operating parameters of the controlled system. These real-time operating parameters may include inertia, drag, damping, etc. The parameter identifier can use parameter identification algorithms such as Recursive Least Squares (RLS), Extended Least Squares (ELS), Kalman filtering, and neural network identification to identify the real-time rotational inertia; this embodiment does not impose any limitations on this.

[0049] S322 inputs the target speed and real-time operating parameters into the controlled system model to obtain the feedforward control signal. Specifically, feedforward control may include inertia compensation control, drag compensation control, and damping compensation control.

[0050] S323 combines the target speed and real-time rotational speed, and then inputs them into the feedback controller to obtain a feedback control signal.

[0051] S324 superimposes the feedforward signal and the feedback control signal to obtain the required output torque of the motor.

[0052] S325 obtains motor control commands for the electric drive actuator based on the required output torque.

[0053] According to the engineering machinery electric drive actuator control method of the present invention, the working characteristics of the engineering machinery under the control of the hydraulic actuator are simulated based on the driver's expected action command and the simulation model of the hydraulic actuator system. The expected action command is corrected, and the control command of the electric drive actuator is obtained based on the corrected expected action command. This makes the operating characteristics of the electric drive actuator similar to the replaced hydraulic actuator system, which can reduce the deviation between the speed control in the driver's operating habits and the actual speed control achieved by the engineering machinery. This allows the driver to better adapt to the electrification of the engineering machinery, improves the safety of construction operations, and reduces the time cost of driver training.

[0054] It is understood that the electric drive actuator control method for engineering machinery of the present invention can be applied to a variety of engineering machinery using electric drive. When the electric drive actuator is a motor-driven electric cylinder, the hydraulic execution system is the corresponding hydraulic linear execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic linear execution system. When the electric drive actuator is an electric rotary actuator, the hydraulic execution system is the corresponding hydraulic rotary execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic rotary execution system.

[0055] like Figure 3 As shown, when the engineering machinery is an excavator, the electric drive actuator control method of the present invention can be used for linear actuators such as the bucket actuator 101, stick actuator 102, and boom actuator 103 of the excavator, and rotary actuators such as the electric slewing actuator 104 and electric travel actuator 105. The driver operates the control handle in the cab 106. The desired action command corresponding to the driver's control signal is corrected by the simulation model of the hydraulic actuator system to make it approximate the motion characteristics under the control of the hydraulic actuator system. The corrected desired action command is then transmitted to the electric drive actuator to drive the electric cylinder or electric slewing and electric travel.

[0056] like Figure 4As shown, when the construction machinery is an aerial work platform, the electric drive actuator control method of this invention can be used for the electric drive actuators of the aerial work platform, such as the turntable electric slewing actuator 201, the boom luffing actuator 202, the forearm luffing actuator 203, and the work bucket tilting actuator 204. Besides... Figure 4 In addition to the articulated boom aerial work platform shown, the electric drive actuator control method of the present invention can also be used for other types of aerial work platforms such as telescopic boom aerial work platforms, and this embodiment does not limit this application.

[0057] like Figure 5 As shown, when the construction machinery is a loader, the electric drive actuator control method of the present invention can be used for linear actuators such as the loader boom actuator 301 and the loader bucket actuator 302.

[0058] like Figure 6 As shown, when the construction machinery is a skid steer loader, the electric drive actuator control method of the present invention can be realized by the driver operating the handle 401 in the cab. Specifically, it can be used for linear actuators such as the skid steer loader boom actuator 402 and the skid steer loader bucket actuator 403, as well as wheel drive mechanisms 404.

[0059] Figure 7 The diagram illustrates the actuator speed variation trend of the electric drive actuator control method for engineering machinery of the present invention and the traditional electric drive control method. Under the traditional electric drive control, the actuator speed curve is closer to the expected action command corresponding to the driver's control signal. However, due to the large control lag in the traditional closed-loop PID feedback control, it has characteristics such as large overshoot and easy oscillation. The actuator speed variation curve under the control command after correction by the electric drive actuator control method of the present invention is closer to the actuator speed variation curve under the control of the hydraulic actuator system. It conforms to the traditional operating habits of the driver, reduces the deviation between the speed control in the driver's operating habits and the actual speed control achieved by the engineering machinery, improves the safety of construction operations, and reduces the time cost of driver training.

[0060] Corresponding to the above-described control method for electric drive actuators of engineering machinery, this invention also proposes a control system for electric drive actuators of engineering machinery, used to implement the control method described above. Since the system embodiments of this invention correspond to the method embodiments described above, details not disclosed in the system embodiments can be found in the method embodiments described above, and will not be repeated here.

[0061] like Figure 8As shown, the engineering machinery electric drive actuator control system of this embodiment includes an operation module 10, a correction module 20, and a control module 30. The operation module 10 is used to acquire the driver's control signal and obtain the desired action command. The correction module 20, based on the desired action command and according to the hydraulic actuator simulation model, simulates the working characteristics of the engineering machinery under the control of the hydraulic actuator system and outputs the corrected desired action command. The control module 30, based on the corrected desired action command, obtains the control command of the electric drive actuator.

[0062] According to the engineering machinery electric drive actuator control system of the present invention, by setting a correction module 20 based on the driver's expected action command and a hydraulic actuator simulation model, the system simulates the working characteristics of the engineering machinery under the control of the hydraulic actuator system, thereby correcting the expected action command. The control module 30 then obtains the control command of the electric drive actuator based on the corrected expected action command, making the operating characteristics of the electric drive actuator similar to the replaced hydraulic actuator system. This reduces the deviation between the speed control in the driver's operating habits and the actual speed control achieved by the engineering machinery, thereby enabling the driver to better adapt to the electrification of the engineering machinery, improving the safety of construction operations, and reducing the time cost of driver training.

[0063] In one embodiment of the present invention, it further includes: an operating device, through which the driver sends a driver control signal to the operating module 10, wherein the desired action command represents the speed response of the engineering machinery under the control of the hydraulic execution system as desired by the driver.

[0064] It is understood that the electric drive actuator control method for engineering machinery of the present invention can be applied to a variety of engineering machinery using electric drive. When the electric drive actuator is a motor-driven electric cylinder, the hydraulic execution system is the corresponding hydraulic linear execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic linear execution system. When the electric drive actuator is an electric rotary actuator, the hydraulic execution system is the corresponding hydraulic rotary execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic rotary execution system.

[0065] In one embodiment of the present invention, the correction module 20 may output the corrected desired action command based on the above steps S21 to S23, and the control module 30 may obtain the motor control command of the electric drive actuator based on the corrected desired action command and the feedforward feedback control logic (refer to the above steps S321 to S325). This embodiment does not limit this.

[0066] The execution order of the steps shown in the flowchart is the preferred implementation. In other embodiments of the present invention, the order can be adjusted according to the functions involved in each step, for example, they can be executed simultaneously or in the reverse order.

[0067] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequential list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in connection with, an instruction execution system, apparatus, or device. For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit a program for use by, or in connection with, an instruction execution system, apparatus, or device.

[0068] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0069] Furthermore, the functional units in the various embodiments of the present invention can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0070] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A control method for an electrically driven actuator of engineering machinery, characterized in that, The method includes: S1, acquire the driver's control signal and obtain the desired action command; S2, based on the desired action command, simulate the working characteristics of the engineering machinery under the control of the hydraulic execution system according to the hydraulic execution system simulation model, and output the corrected desired action command; S3. Based on the modified desired action command, the control command of the electric drive actuator is obtained.

2. The control method for an electric drive actuator of engineering machinery according to claim 1, characterized in that, The driver sends the driver control signal through the operating device. In step S1, the desired action command represents the speed response of the engineering machinery under the control of the hydraulic actuation system that the driver expects.

3. The control method for an electric drive actuator of engineering machinery according to claim 2, characterized in that, The hydraulic actuation system includes a hydraulic pump, a hydraulic valve, and a hydraulic drive actuator. The speed control of the hydraulic drive actuator is achieved through the valve opening degree of the hydraulic valve and the displacement of the hydraulic pump. Step S2 specifically includes: The desired action command is input into the hydraulic actuator simulation model as the control target of the hydraulic drive actuator. Based on the simulation model of the hydraulic actuation system, the working characteristics of the engineering machinery under the control of the hydraulic actuation system are simulated to obtain the simulated control speed of the hydraulic drive actuator. The simulated control speed is output as the corrected desired action command.

4. The control method for an electric drive actuator of engineering machinery according to claim 2, characterized in that, Step S3 specifically includes: S31, obtain the real-time torque and real-time speed fed back by the motor, and use the corrected expected action command as the target speed of the motor; S32, based on the target speed, the real-time torque and the real-time rotational speed, obtain the motor control command of the electric drive actuator according to the controlled system model, wherein the controlled system model is obtained based on the controlled system model corresponding to the electric drive actuator.

5. The control method for an electric drive actuator of engineering machinery according to claim 4, characterized in that, In step S32, based on the target speed, the real-time torque, and the real-time rotational speed, the motor control command of the electric drive actuator is obtained by adopting a feedforward-feedback strategy according to the controlled system model.

6. The control method for an electric drive actuator of engineering machinery according to claim 5, characterized in that, Step S32 specifically includes: The real-time torque and real-time speed are input into the parameter identifier in the feedforward controller to calculate the real-time operating parameters of the controlled system. The target speed and the real-time operating parameters are input into the controlled system model to obtain the feedforward control signal; The target speed and real-time rotational speed are combined and then input into the feedback controller to obtain a feedback control signal; The required output torque of the motor is obtained by superimposing the feedforward signal and the feedback control signal. The motor control command for the electric drive actuator is obtained based on the required output torque.

7. A control system for an electric drive actuator of engineering machinery, characterized in that, The control system includes: The operation module is used to acquire driver control signals and obtain desired action commands; The correction module, based on the desired action command and according to the hydraulic execution system simulation model, simulates the working characteristics of the engineering machinery under the control of the hydraulic execution system, and outputs the corrected desired action command. The control module obtains control commands for the electric drive actuator based on the modified desired action command.

8. The control system for the electric drive actuator of engineering machinery according to claim 7, characterized in that, Also includes: The operating device allows the driver to send driver control signals to the operating module. The desired action command represents the speed response of the engineering machinery under the control of the hydraulic actuator, as desired by the driver.

9. The control system for the electric drive actuator of engineering machinery according to claim 7, characterized in that, When the electric actuator is a motor-driven electric cylinder, the hydraulic actuator is a corresponding hydraulic linear actuator, and the simulation model of the hydraulic actuator is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic linear actuator.

10. The control system for the electric drive actuator of engineering machinery according to claim 7, characterized in that, When the electric drive actuator is an electric rotary actuator, the hydraulic execution system is the corresponding hydraulic rotary execution system, and the simulation model of the hydraulic execution system is obtained based on the working characteristics of the engineering machinery under the control of the hydraulic rotary execution system.

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