A hydraulic unit calibration method, device, equipment and storage medium

Abstract

The application discloses a kind of hydraulic unit calibration method, device, equipment and storage medium, applied to oil well logging technical field, comprising: obtaining the thrust generated by target hydraulic unit under preset temperature environment, and the state parameters of target hydraulic unit when generating thrust are used as training data;Training data are input into prediction model to train, and the trained prediction model is obtained;According to the calibration coefficient of target hydraulic unit and temperature correction coefficient determined by prediction model.Through measuring a small amount of training data first, then training prediction model using training data, so that the accurate corresponding relationship between ambient temperature, thrust and each state parameter can be obtained, and finally the target hydraulic unit is calibrated based on the trained prediction model, and the calibration coefficient of hydraulic unit and temperature correction coefficient can be accurately calibrated.

Description

Technical Field

[0001] This invention relates to the field of oil well logging technology, and in particular to a hydraulic unit calibration method, a hydraulic unit calibration device, a hydraulic unit calibration equipment, and a computer-readable storage medium. Background Technology

[0002] The hydraulic unit is an important actuator in the rotary steering system of oil drilling. Its thrust performance is affected by factors such as ambient temperature, hydraulic oil viscosity, motor speed, current and PWM (Pulse-Width Modulation) signal.

[0003] Traditional calibration methods often fail to adequately consider these factors, leading to insufficient accuracy in calibration results. Furthermore, the viscosity of hydraulic oil and the performance of the motor change with temperature; failure to effectively compensate for temperature variations will further impact the performance of the hydraulic unit. Therefore, providing an accurate hydraulic unit calibration method is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a hydraulic unit calibration method that can accurately calibrate the calibration coefficients and temperature correction coefficients of the hydraulic unit; another purpose of this invention is to provide a hydraulic unit calibration device, a hydraulic unit calibration equipment, and a computer-readable storage medium that can accurately calibrate the calibration coefficients and temperature correction coefficients of the hydraulic unit.

[0005] To solve the above-mentioned technical problems, the present invention provides a hydraulic unit calibration method, comprising:

[0006] The thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated are obtained as training data. The training data includes temperature values ​​of multiple temperature environments, the thrust obtained under each temperature environment and the corresponding state parameters. The state parameters include hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle.

[0007] The training data is input into the prediction model for training to obtain the trained prediction model.

[0008] The calibration coefficient and temperature correction coefficient of the target hydraulic unit are determined based on the prediction model.

[0009] Optionally, the prediction model is a multilayer perceptron.

[0010] Optionally, acquiring the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when generating the thrust, as training data includes:

[0011] The target hydraulic unit is placed in a calibration device, and the calibration device is placed in a temperature chamber;

[0012] The temperature chamber is adjusted to a preset temperature step size, and the target hydraulic unit is controlled to generate a preset thrust after each temperature adjustment. At the same time, the state parameters of the target hydraulic unit when the thrust is generated are collected as training data.

[0013] Optionally, the calibration device includes a base, a first bracket, a second bracket, a force transmission screw, and a force sensor;

[0014] The first bracket is provided with a first platform above the base, and a space for accommodating the target hydraulic unit is formed between the first platform and the base. The first platform is provided with a force transmission screw that passes through the first platform in a vertical direction, and the force transmission screw is movablely connected to the first platform in the vertical direction.

[0015] The second platform is mounted above the first platform, and the force sensor is installed on the side of the second platform facing the first platform at the position corresponding to the force transmission screw.

[0016] Optionally, determining the calibration coefficient and temperature correction coefficient of the target hydraulic unit based on the prediction model includes:

[0017] Calibration data is generated based on the prediction model;

[0018] The calibration coefficients and temperature correction coefficients of the target hydraulic unit are determined using calibration data.

[0019] Optionally, determining the calibration coefficient and temperature correction coefficient of the target hydraulic unit using calibration data includes:

[0020] The calibration coefficients and temperature correction coefficients of the target hydraulic unit are determined based on the calibration data and calibration formulas; the calibration formulas include:

[0021] I(T)=(a×F²+b×F+c)×(1+α×( 参考 ));

[0022] T represents the temperature value of the ambient temperature. 参考 The reference temperature value is F, the thrust is I(T), the control current of the target hydraulic unit is I(T) at the temperature of the reference temperature value, a, b and c are the calibration coefficients, and α is the temperature correction coefficient.

[0023] Optionally, the amount of calibration data is greater than the amount of training data.

[0024] The present invention also provides a hydraulic unit calibration device, comprising:

[0025] The acquisition module is used to acquire the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated as training data; the training data includes the temperature values ​​of multiple temperature environments, and the thrust and the corresponding state parameters acquired under each temperature environment, the state parameters including hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle;

[0026] The training module is used to input the training data into the prediction model for training, and obtain the trained prediction model.

[0027] The calibration module is used to determine the calibration coefficients and temperature correction coefficients of the target hydraulic unit based on the prediction model.

[0028] The present invention also provides a hydraulic unit calibration device, the device comprising:

[0029] Memory: Used to store computer programs;

[0030] Processor: Used to implement the steps of the hydraulic unit calibration method as described in any of the above when executing the computer program.

[0031] The present invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the hydraulic unit calibration method as described in any of the preceding claims.

[0032] The present invention provides a hydraulic unit calibration method, comprising: acquiring the thrust generated by a target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when generating thrust as training data; the training data includes temperature values ​​of multiple temperature environments, and the thrust and corresponding state parameters acquired under each temperature environment, the state parameters including hydraulic oil viscosity, motor speed, control current magnitude, and PWM modulation signal duty cycle; inputting the training data into a prediction model for training to obtain a trained prediction model; and determining the calibration coefficient and temperature correction coefficient of the target hydraulic unit based on the prediction model.

[0033] By first obtaining a small amount of training data, and then using the training data to train the prediction model, the precise correspondence between ambient temperature, thrust, and various state parameters can be obtained. Finally, based on the trained prediction model, the target hydraulic unit is calibrated, and the calibration coefficient and temperature correction coefficient of the hydraulic unit can be accurately determined.

[0034] The present invention also provides a hydraulic unit calibration device, a hydraulic unit calibration equipment, and a computer-readable storage medium, which have the same beneficial effects as described above, and will not be described in detail here. Attached Figure Description

[0035] To more clearly illustrate the technical solutions of the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the 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.

[0036] Figure 1 A flowchart of a hydraulic unit calibration method provided in an embodiment of the present invention;

[0037] Figure 2 A flowchart illustrating a specific hydraulic unit calibration method provided in an embodiment of the present invention;

[0038] Figure 3 This is a schematic diagram of the structure of a calibration device provided in an embodiment of the present invention;

[0039] Figure 4 This is a structural block diagram of a hydraulic unit calibration device provided in an embodiment of the present invention;

[0040] Figure 5 This is a structural block diagram of a hydraulic unit calibration device provided in an embodiment of the present invention.

[0041] In the diagram: 1. Force sensor, 2. Force transmission screw, 3. Target hydraulic unit, 4. Base. Detailed Implementation

[0042] The core of this invention is to provide a calibration method for hydraulic units. In existing technologies, traditional calibration methods often fail to adequately consider factors such as ambient temperature, hydraulic oil viscosity, motor speed, current, and PWM signals, resulting in insufficient accuracy of the calibration results. Furthermore, the viscosity of the hydraulic oil and the performance of the motor change with temperature; failure to effectively compensate for temperature variations will further affect the performance of the hydraulic unit.

[0043] The present invention provides a hydraulic unit calibration method, comprising: acquiring the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated as training data; the training data includes temperature values ​​of multiple temperature environments, and the thrust and corresponding state parameters acquired under each temperature environment, the state parameters including hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle; inputting the training data into a prediction model for training to obtain a trained prediction model; and determining the calibration coefficient and temperature correction coefficient of the target hydraulic unit based on the prediction model.

[0044] By first obtaining a small amount of training data, and then using the training data to train the prediction model, the precise correspondence between ambient temperature, thrust, and various state parameters can be obtained. Finally, based on the trained prediction model, the target hydraulic unit is calibrated, and the calibration coefficient and temperature correction coefficient of the hydraulic unit can be accurately determined.

[0045] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely 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.

[0046] Please refer to Figure 1 , Figure 1 This is a flowchart of a hydraulic unit calibration method provided in an embodiment of the present invention.

[0047] See Figure 1 In this embodiment of the invention, the hydraulic unit calibration method includes:

[0048] S101: Obtain the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated as training data.

[0049] In this embodiment, the training data includes temperature values ​​of multiple temperature environments, as well as the thrust and corresponding state parameters obtained in each of the temperature environments. The state parameters include hydraulic oil viscosity, motor speed, control current magnitude, and PWM modulation signal duty cycle.

[0050] The target hydraulic unit 3 mentioned above is the hydraulic unit to be calibrated. In this embodiment, the target hydraulic unit 3 needs to be placed in a preset temperature environment. Under this temperature environment, the thrust generated by the target hydraulic unit 3 and the state parameters of the target hydraulic unit 3 when generating the thrust are measured. Typically, this step involves controlling the target hydraulic unit 3 to generate multiple different thrusts under a preset temperature environment and measuring the state parameters of the target hydraulic unit 3 when generating each thrust under this temperature environment. These state parameters include at least the hydraulic oil viscosity, motor speed, control current magnitude, and PWM modulation signal duty cycle. Of course, in this embodiment, the state parameters can also include more types of parameters, which are not specifically limited here.

[0051] In this step, the data obtained above will be used as training data. This training data typically includes temperature values ​​of multiple temperature environments, multiple thrusts corresponding to each temperature value, and the aforementioned state parameters corresponding to each thrust. In subsequent steps, the prediction model needs to be trained based on this training data.

[0052] S102: Input the training data into the prediction model to train it, and obtain the trained prediction model.

[0053] The prediction model used in this step is typically a multilayer perceptron (MLP), although other types of prediction models can also be used. The specific type of prediction model is not limited in this embodiment. In the application scenario of this embodiment, using a multilayer perceptron as the prediction model is generally sufficient to accurately calibrate the target hydraulic unit 3.

[0054] In this step, the thrust is used as the output parameter, and various state parameters such as ambient temperature, hydraulic oil viscosity, motor speed, control current, and PWM modulation signal duty cycle are used as input parameters to train the prediction model. Typically, some training data is used as validation data to verify the accuracy of the trained prediction model, thus completing the training process. The specific process for training the prediction model can be found in existing technologies and will not be elaborated here. The trained prediction model in this step can characterize the correspondence between the thrust and the state parameters at a preset temperature. That is, the prediction model includes thrust as the output and various input parameters including temperature, hydraulic oil viscosity, motor speed, control current, and PWM modulation signal duty cycle as influencing factors.

[0055] S103: Determine the calibration coefficient and temperature correction coefficient of the target hydraulic unit based on the prediction model.

[0056] In this step, the target hydraulic unit 3 is calibrated according to the above prediction model to determine the calibration coefficient and temperature correction coefficient of the target hydraulic unit 3. The specific details of this step will be described in detail in the following embodiments of the invention, and will not be repeated here.

[0057] The hydraulic unit calibration method provided in this embodiment first obtains a small amount of training data, then uses the training data to train the prediction model, thereby obtaining the accurate correspondence between ambient temperature, thrust and various state parameters. Finally, based on the trained prediction model, the target hydraulic unit 3 is calibrated, and the calibration coefficient and temperature correction coefficient of the hydraulic unit can be accurately calibrated.

[0058] The specific details of the hydraulic unit calibration method provided by this invention will be described in detail in the following embodiments.

[0059] Please refer to Figure 2 as well as Figure 3 , Figure 2 A flowchart illustrating a specific hydraulic unit calibration method provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of a calibration device provided in an embodiment of the present invention.

[0060] See Figure 2 In this embodiment of the invention, the hydraulic unit calibration method includes:

[0061] S201: Place the target hydraulic unit in the calibration device and put the calibration device into the temperature chamber.

[0062] To ensure the accuracy of the measurement results, in this step, the target hydraulic unit 3, along with the calibration device, needs to be placed in a temperature chamber for heating to measure the thrust generated by the target hydraulic unit 3 at a preset ambient temperature. Currently, calibration devices are typically spherical, which is too large to fit into a conventional temperature chamber. Therefore, this embodiment specifically provides a calibration device that can be placed in a conventional temperature chamber.

[0063] See Figure 3 In this embodiment, the calibration device includes a base 4, a first bracket, a second bracket, a force transmission screw 2, and a force sensor 1. The first bracket has a first platform mounted above the base 4, and a space for accommodating the target hydraulic unit 3 is formed between the first platform and the base 4. The first platform is provided with the force transmission screw 2 that passes through the first platform in a vertical direction, and the force transmission screw 2 is movably connected to the first platform in the vertical direction. The second platform is mounted above the first platform, and the force sensor 1 is provided on the side of the second platform facing the first platform at the position corresponding to the force transmission screw 2.

[0064] In use, the target hydraulic unit 3 is fixed to the base 4. Specifically, the target hydraulic unit 3 is fixedly connected to the base 4 via fixing screws and flanges. The aforementioned first bracket typically needs to be fixedly connected to the base 4. This first bracket has a first platform, and when fixedly connected to the base 4, the first platform is positioned above the base 4. The first platform is equipped with a force-transmitting screw 2, which is vertically movable and penetrates the first platform; one end of the force-transmitting screw 2 is located between the first platform and the base 4, and the other end is located between the first platform and the second platform. The aforementioned second bracket needs to be fixedly connected to the first bracket. This second bracket has a second platform, and when fixedly connected to the first bracket, the second platform is positioned above the first platform. A force sensor 1 is located on the side of the second platform facing the first platform, corresponding to the position of the force-transmitting screw 2.

[0065] During use, the target hydraulic unit 3 is fixed to the base 4, and the output end of the target hydraulic unit 3 can contact one end of the force transmission screw 2 and push the force transmission screw 2 upward. At this time, the other end of the force transmission screw 2 will contact the force sensor 1 to measure the thrust generated by the target hydraulic unit 3, thus completing the measurement of the thrust generated by the target hydraulic unit 3 under a preset temperature environment. The state parameters of the target hydraulic unit 3 can be measured by other sensors or by sensors inside the target hydraulic unit 3, and the temperature value of the environment can be measured by a thermometer inside the temperature chamber. The above-mentioned three-layer flat calibration device is small in size and adaptable to the spatial shape of a conventional temperature chamber. Specifically, it is a calibration device used for a single rotary guide hydraulic unit under high temperature conditions. It can easily place the target hydraulic unit 3 as a whole inside the high temperature chamber, thereby effectively measuring the thrust of the target hydraulic unit 3 at different temperatures.

[0066] This step typically requires the setup of a hydraulic unit system test platform, including the installation of the target hydraulic unit 3, calibration device, and temperature sensor, the connection of the data acquisition system, the setting of the control unit's PWM modulation signal generator, and the acquisition of performance parameters such as hydraulic oil and motor.

[0067] S202: The temperature chamber is adjusted to a preset temperature step size in sequence, and the target hydraulic unit is controlled to generate a preset thrust after each temperature adjustment. At the same time, the state parameters of the target hydraulic unit when the thrust is generated are collected as training data.

[0068] In this step, the temperature inside the temperature chamber is first adjusted to the preset temperature. Then, at each preset temperature, the target hydraulic unit 3 is controlled to generate a preset thrust. At this time, the target hydraulic unit 3 is usually controlled to generate multiple preset thrusts, and the state parameters of the target hydraulic unit 3 are collected as training data while generating each preset thrust.

[0069] For example, in this embodiment, within a temperature range of 25℃ to 150℃, with a preset temperature step of 10℃, the target thrust to be generated by the target hydraulic unit 3 is set to 8kN, 15kN, and 25kN at each preset temperature. A set of sensor measurement data and corresponding hydraulic oil and motor performance parameters are collected at 10℃ intervals. The sensor measurement data includes the current temperature inside the temperature chamber as reflected by the temperature sensor, and the actual thrust generated by the target hydraulic unit 3 when generating the target thrust. The hydraulic oil and motor performance parameters are the state parameters generated by the target hydraulic unit 3 when generating each thrust. This step will integrate the above data as training data.

[0070] S203: Input the training data into the prediction model to train it, and obtain the trained prediction model.

[0071] This step is basically the same as S102 in the above embodiment. For details, please refer to the above embodiment. In this embodiment, the influencing factors of the prediction model include the ambient temperature (T), hydraulic oil viscosity (μ), motor speed (RPM), control current (I), and PWM modulation signal (PWM). The target parameter of the preset model is the thrust (F) mentioned above. This step will train the prediction model based on the above training data to obtain the following expression:

[0072] F = MLP(T, μ, RPM, I, PWM)

[0073] In this model, MLP represents a multilayer perceptron model, and T, μ, RPM, I, and PWM represent the ambient temperature, hydraulic oil viscosity, motor speed, control current, and PWM modulation signal, respectively. The prediction model trained after this step can accurately reflect the correspondence between the thrust and the state parameters at the preset temperature. During training, a portion of the training data can be used to train the model and optimize the neural network parameters, enabling the model to accurately predict the relationship between the hydraulic unit thrust and each input parameter. The remaining data can be used for cross-validation to evaluate the model's accuracy and establish a corrected hydraulic unit parameter calibration model, i.e., the aforementioned prediction model, to ensure its reliability under different conditions.

[0074] S204: Generate calibration data based on the prediction model.

[0075] In this step, calibration data is generated based on the trained prediction model. This calibration data, generated from the prediction model, typically has a wider range of values ​​than the training data. For example, the temperature and thrust can be higher or lower. It should be noted that the parameter types included in the calibration data can be the same as or different from those in the training data, but the calibration data must at least include the data types needed to determine the calibration coefficients and temperature correction coefficients later. To ensure the accuracy of the final calibration coefficients and temperature correction coefficients, the amount of calibration data generated in this step can be greater than the amount of training data.

[0076] S205: Determine the calibration coefficient and temperature correction coefficient of the target hydraulic unit through calibration data.

[0077] This step requires determining the calibration coefficients and temperature correction coefficients of the target hydraulic unit 3 based on the aforementioned calibration data. Specifically, this step includes: determining the calibration coefficients and temperature correction coefficients of the target hydraulic unit 3 based on the calibration data and calibration formula; the calibration formula includes:

[0078] I(T)=(a×F²+b×F+c)×(1+α×( 参考 ));

[0079] T represents the temperature value of the ambient temperature. 参考 The reference temperature value is F, the thrust is I(T), the control current of the target hydraulic unit 3 is I(T) at the temperature of the reference temperature value, a, b and c are the calibration coefficients, and α is the temperature correction coefficient.

[0080] In the above, 'a' is the thrust square correlation coefficient, 'b' is the thrust first power correlation coefficient, and 'c' is a constant term. The reference temperature value is a preset temperature value, typically 25℃. Based on the above calibration formula and the calibration data output by the prediction model, the calibration coefficients and temperature correction coefficients can be determined to calibrate the target hydraulic unit 3. Accordingly, the above calibration data must at least include the ambient temperature T, the magnitude of the control current I(T) of the target hydraulic unit 3 at that temperature, and the thrust F that the target hydraulic unit 3 can generate under that condition.

[0081] The hydraulic unit calibration method provided in this embodiment can greatly improve the calibration efficiency and accuracy of hydraulic units in rotary guide tools under different temperature conditions, and significantly reduce the complexity of operation and human error. By establishing the relationship between the thrust performance of the hydraulic unit and multiple key parameters through a multilayer perceptron (MLP) data processing model and introducing a temperature correction coefficient, efficient and precise control of the hydraulic system over a wide temperature range is successfully achieved. This significantly improves the system's response speed, stability, and self-optimization capabilities, providing more robust, reliable, and forward-looking technical support for oil drilling.

[0082] The following describes a hydraulic unit calibration device provided by an embodiment of the present invention. The hydraulic unit calibration device described below can be referred to in correspondence with the hydraulic unit calibration method described above.

[0083] Figure 4 This is a structural block diagram of a hydraulic unit calibration device provided in an embodiment of the present invention, with reference to... Figure 4 The hydraulic unit calibration device may include:

[0084] The acquisition module 100 is used to acquire the thrust generated by the target hydraulic unit 3 under a preset temperature environment, and the state parameters of the target hydraulic unit 3 when the thrust is generated as training data; the training data includes the temperature values ​​of multiple temperature environments, and the thrust and the corresponding state parameters acquired under each temperature environment, the state parameters including hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle.

[0085] The training module 200 is used to input the training data into the prediction model for training, so as to obtain the trained prediction model.

[0086] The calibration module 300 is used to determine the calibration coefficient and temperature correction coefficient of the target hydraulic unit 3 according to the prediction model.

[0087] Preferably, in this embodiment of the invention, the prediction model is a multilayer perceptron.

[0088] Preferably, in this embodiment of the invention, the acquisition module 100 includes:

[0089] The assembly unit is used to place the target hydraulic unit 3 in the calibration device and place the calibration device into the temperature chamber.

[0090] The measurement unit is used to sequentially adjust the temperature chamber to a preset temperature in preset temperature steps, and control the target hydraulic unit 3 to generate a preset thrust after each temperature adjustment of the temperature chamber, while collecting the state parameters of the target hydraulic unit 3 when the thrust is generated as the training data.

[0091] Preferably, in this embodiment of the invention, the calibration device includes a base 4, a first bracket, a second bracket, a force transmission screw 2, and a force sensor 1.

[0092] The first bracket has a first platform mounted above the base 4, and a space for accommodating the target hydraulic unit 3 is formed between the first platform and the base 4. The first platform is provided with a force transmission screw 2 that passes through the first platform in a vertical direction, and the force transmission screw 2 is movablely connected to the first platform in the vertical direction.

[0093] The second platform is erected above the first platform, and the force sensor 1 is set on the side of the second platform facing the first platform at the position corresponding to the force transmission screw 2.

[0094] Preferably, in this embodiment of the invention, the calibration module 300 includes:

[0095] A calibration data unit is used to generate calibration data based on the prediction model.

[0096] The coefficient calibration unit is used to determine the calibration coefficient and temperature correction coefficient of the target hydraulic unit 3 through calibration data.

[0097] Preferably, in this embodiment of the invention, the coefficient calibration unit is specifically used for:

[0098] The calibration coefficients and temperature correction coefficients of the target hydraulic unit 3 are determined based on the calibration data and calibration formulas; the calibration formulas include:

[0099] I(T)=(a×F²+b×F+c)×(1+α×( 参考 ));

[0100] T represents the temperature value of the ambient temperature. 参考 The reference temperature value is F, the thrust is I(T), the control current of the target hydraulic unit 3 is I(T) at the temperature of the reference temperature value, a, b and c are the calibration coefficients, and α is the temperature correction coefficient.

[0101] Preferably, in this embodiment of the invention, the amount of calibration data is greater than the amount of training data.

[0102] The hydraulic unit calibration device of this embodiment is used to implement the aforementioned hydraulic unit calibration method. Therefore, the specific implementation of the hydraulic unit calibration device can be found in the embodiment section of the hydraulic unit calibration method above. For example, the acquisition module 100, training module 200, and calibration module 300 are respectively used to implement steps S101 to S103 in the above hydraulic unit calibration method. Therefore, the specific implementation can be referred to the description of the corresponding embodiments, which will not be repeated here.

[0103] The following describes a hydraulic unit calibration device provided by an embodiment of the present invention. The hydraulic unit calibration device described below can be referred to in correspondence with the hydraulic unit calibration method and hydraulic unit calibration device described above.

[0104] Please refer to Figure 5 , Figure 5 This is a structural block diagram of a hydraulic unit calibration device provided in an embodiment of the present invention.

[0105] Reference Figure 5 The hydraulic unit calibration device may include a processor 11 and a memory 12.

[0106] The memory 12 is used to store computer programs; the processor 11 is used to execute the computer programs to implement the specific content of the hydraulic unit calibration method described in the above embodiments of the invention.

[0107] In this embodiment of the hydraulic unit calibration device, the processor 11 is used to install the hydraulic unit calibration device described in the above-mentioned embodiments. Simultaneously, the processor 11, combined with the memory 12, can implement the hydraulic unit calibration method described in any of the above-mentioned embodiments. Therefore, the specific implementation of the hydraulic unit calibration device can be found in the embodiments section of the hydraulic unit calibration method above. The specific implementation can be referred to the descriptions of the corresponding embodiments, and will not be repeated here.

[0108] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements a hydraulic unit calibration method described in any of the above embodiments. Further details can be found in the prior art and will not be elaborated upon here.

[0109] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0110] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0111] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0112] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0113] The present invention has provided a detailed description of a hydraulic unit calibration method, apparatus, device, and storage medium. Specific examples have been used to illustrate the principles and implementation methods of the invention. The descriptions of these embodiments are merely illustrative of the method and its core ideas. It should be noted that those skilled in the art can make various improvements and modifications to the invention without departing from its principles, and these improvements and modifications also fall within the scope of protection of the claims.

Claims

1. A method for calibrating a hydraulic unit, characterized in that, include: The thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated are obtained as training data. The training data includes temperature values ​​of multiple temperature environments, the thrust obtained under each temperature environment and the corresponding state parameters. The state parameters include hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle. The training data is input into the prediction model for training to obtain the trained prediction model. The calibration coefficient and temperature correction coefficient of the target hydraulic unit are determined based on the prediction model.

2. The method according to claim 1, characterized in that, The prediction model is a multilayer perceptron.

3. The method according to claim 1, characterized in that, The training data includes acquiring the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when generating the thrust. The target hydraulic unit is placed in a calibration device, and the calibration device is placed in a temperature chamber; The temperature chamber is adjusted to a preset temperature step size, and the target hydraulic unit is controlled to generate a preset thrust after each temperature adjustment. At the same time, the state parameters of the target hydraulic unit when the thrust is generated are collected as training data.

4. The method according to claim 3, characterized in that, The calibration device includes a base, a first bracket, a second bracket, a force transmission screw, and a force sensor. The first bracket is provided with a first platform above the base, and a space for accommodating the target hydraulic unit is formed between the first platform and the base. The first platform is provided with a force transmission screw that passes through the first platform in a vertical direction, and the force transmission screw is movablely connected to the first platform in the vertical direction. The second platform is mounted above the first platform, and the force sensor is installed on the side of the second platform facing the first platform at the position corresponding to the force transmission screw.

5. The method according to claim 1, characterized in that, The calibration coefficients and temperature correction coefficients of the target hydraulic unit are determined based on the prediction model, including: Calibration data is generated based on the prediction model; The calibration coefficients and temperature correction coefficients of the target hydraulic unit are determined using calibration data.

6. The method according to claim 5, characterized in that, Determining the calibration coefficients and temperature correction coefficients of the target hydraulic unit using calibration data includes: The calibration coefficients and temperature correction coefficients of the target hydraulic unit are determined based on the calibration data and calibration formulas; the calibration formulas include: I(T)=(a×F²+b×F+c)×(1+α×( 参考 )); T represents the temperature value of the ambient temperature. 参考 The reference temperature value is F, the thrust is I(T), the control current of the target hydraulic unit is I(T) at the temperature of the reference temperature value, a, b and c are the calibration coefficients, and α is the temperature correction coefficient.

7. The method according to claim 5, characterized in that, The amount of data in the calibration data is greater than the amount of data in the training data.

8. A hydraulic unit calibration device, characterized in that, include: The acquisition module is used to acquire the thrust generated by the target hydraulic unit under a preset temperature environment, and the state parameters of the target hydraulic unit when the thrust is generated as training data; the training data includes the temperature values ​​of multiple temperature environments, and the thrust and the corresponding state parameters acquired under each temperature environment, the state parameters including hydraulic oil viscosity, motor speed, control current magnitude and PWM modulation signal duty cycle; The training module is used to input the training data into the prediction model for training, and obtain the trained prediction model. The calibration module is used to determine the calibration coefficients and temperature correction coefficients of the target hydraulic unit based on the prediction model.

9. A hydraulic unit calibration device, characterized in that, The device includes: Memory: Used to store computer programs; Processor: Used to implement the steps of the hydraulic unit calibration method as described in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the hydraulic unit calibration method as described in any one of claims 1 to 7.

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