Intelligent electro-hydraulic linear velocity servo control system and control method thereof

Abstract

The application discloses an intelligent electro-hydraulic linear velocity servo control system and a control method thereof, and relates to the field of hydraulic winch control. The system comprises an instruction generator, a digital controller, a servo amplifier, an electro-hydraulic servo motor, a cable storage reel and a cable arranging guide roller; a first rotary encoder is installed on the main shaft of the cable storage reel, a speed measuring generator and a second rotary encoder are installed on the cable arranging guide roller; the digital controller comprises a speed loop control module, an acceleration compensation module, a cable arranging synchronization control module, an adaptive parameter setting module and an adder inside; the speed loop control module executes a pseudo-differential feedback control algorithm, the acceleration compensation module performs nonlinear compensation, the cable arranging synchronization control module realizes the synchronization control of the cable storage reel and the cable arranging guide roller, and the adaptive parameter setting module dynamically adjusts the control parameters according to the cable layer number and the hydraulic pressure. The application has the characteristics of fast response, no overshoot, adaptive variable working condition and orderly cable arrangement, and is suitable for the hydraulic winch control in the fields of ships, ocean engineering and heavy lifting machinery.

Description

Technical Field

[0001] This invention relates to an intelligent electro-hydraulic linear speed servo control system and its control method for hydraulic winches, belonging to the field of hydraulic winch servo control technology. Background Technology

[0002] Hydraulic winches are core actuators in shipbuilding, marine engineering, and heavy lifting machinery. They use a hydraulic motor to drive a cable reel to rotate, enabling the winding and unwinding of cables. Electro-hydraulic linear speed servo control is a key technology of hydraulic winches, directly determining operational accuracy, efficiency, and safety.

[0003] CN118092238A discloses an electro-hydraulic linear velocity servo controller, implemented using analog circuitry and composed of multiple potentiometers, operational amplifiers, integrators, subtractors, and other analog components. This controller uses a potentiometer voltage division ratio formula for parameter tuning, achieving fast response and overshoot-free control. However, this analog controller has the following problems that require improvement:

[0004] (1) The parameters of the analog controller are determined by the physical values ​​of the resistor and capacitor, and once selected, they cannot be adjusted online. During the operation of the hydraulic winch, the change in the number of cable layers causes the equivalent inertia of the system to change, and the sudden change in load causes the pressure of the hydraulic system to fluctuate. The controller with fixed parameters cannot maintain optimal performance in the entire working condition range.

[0005] (2) Analog circuits can only perform basic operations such as proportional, integral and differential, and cannot perform advanced functions such as nonlinear correction, adaptive control and intelligent decision-making.

[0006] (3) The analog controller has difficulty handling both speed control and cable laying synchronization control at the same time. Existing hydraulic winches often use independent mechanisms to lay cables, which increases mechanical complexity and potential failure points.

[0007] Existing digital control systems typically use PLCs or industrial PCs to implement PID control, which has the advantages of adjustable parameters and flexible algorithms, but it also has the following problems: (1) The sampling period of the digital controller limits the system's response speed. For a fast dynamic process like hydraulic system, sampling delay may lead to phase lag and decreased stability.

[0008] (2) The saturation recovery of a digital integrator requires multiple sampling cycles, which can easily lead to overshoot and oscillation when the load changes abruptly.

[0009] (3) Existing digital control systems mostly use general PID algorithms and do not specifically optimize for the load characteristics (variable inertia, strong nonlinearity, pressure fluctuation) of hydraulic winches.

[0010] The technical challenges faced by hydraulic winches are as follows: (1) When the number of cable layers on the cable drum changes, the equivalent inertia of the system changes significantly, which requires the control parameters to be adjusted accordingly.

[0011] (2) During startup, braking and sudden load changes, the hydraulic system will generate pressure shocks, causing speed fluctuations.

[0012] (3) The rotation of the cable storage drum and the horizontal movement of the cable guide wheel must be precisely synchronized; otherwise, it will lead to chaotic cable arrangement, increased wear, or even cable jamming.

[0013] (4) When the hydraulic motor is running at low speed, due to the nonlinearity of friction, it is easy to produce a "creeping" phenomenon that is sometimes fast and sometimes slow.

[0014] In summary, existing technologies suffer from limitations such as fixed parameters and limited functionality in analog controllers, and sampling delay and integral saturation in digital controllers. Furthermore, neither is specifically optimized for the unique challenges of hydraulic winches, such as variable inertia, pressure shocks, and cable synchronization. Designing an intelligent electro-hydraulic linear velocity servo control system that combines the algorithmic flexibility of digital control with adaptive parameters, multi-variable collaborative control, and fault self-diagnosis remains a long-standing but unresolved technical challenge for those skilled in the art. Summary of the Invention

[0015] Purpose of the invention: To address the shortcomings of existing electro-hydraulic linear velocity servo controllers, such as fixed parameters, inability to adapt to variable inertia and pressure shocks, and lack of synchronous control for cable laying, this invention provides an intelligent electro-hydraulic linear velocity servo control system and its control method, which features adaptive parameter tuning, acceleration nonlinearity compensation, and synchronous control for cable laying.

[0016] Technical solution: The intelligent electro-hydraulic linear velocity servo control system of the present invention includes: a command generator, a sensing unit, a digital control unit, a hydraulic actuation unit, and a mechanical transmission unit; wherein, The sensing unit includes a first encoder, a second encoder, a tachogenerator, a conditioning circuit, and a pressure sensor; The digital control unit includes a speed loop control module, an acceleration compensation module, a cable laying synchronization control module, an adaptive parameter tuning module, an adder, a start-up impact suppression module, a digital-to-analog conversion module, as well as command signal input terminals, feedback signal input terminals, a first signal input terminal, a second signal input terminal, and a third signal input terminal; The hydraulic actuator includes a servo amplifier, an electro-hydraulic servo valve, a hydraulic motor, and a reducer; The mechanical transmission unit includes a cable storage drum, a chain and sprocket assembly, a two-way lead screw, and a cable guide wheel; The command generator is used to generate linear velocity command signals, and its output is connected to the command signal input. The output of the tachogenerator is connected to the feedback signal input through a signal conditioning circuit. The output of the first encoder is connected to the first signal input. The output of the second encoder is connected to the second signal input. The output of the pressure sensor is connected to the third signal input. The input terminals of the adaptive parameter tuning module are connected to the feedback signal input terminal, the first signal input terminal, and the third signal input terminal, respectively, and its parameter output terminal is connected to the parameter setting terminal of the speed loop control module. The input terminals of the speed loop control module are connected to the command signal input terminal and the feedback signal input terminal, respectively. The input terminal of the acceleration compensation module is connected to the feedback signal input terminal. The input terminals of the cable laying synchronization control module are connected to the first signal input terminal and the second signal input terminal, respectively. The digital output signals of the acceleration compensation module, the cable laying synchronization control module, and the speed loop control module are connected to the three input terminals of the adder, respectively. The output terminal of the adder is connected in series with the start-up impact suppression module and the digital-to-analog converter module. The digital-to-analog converter module is electrically connected to the servo amplifier and the electro-hydraulic servo valve in sequence. The electro-hydraulic servo valve is connected to the hydraulic motor pipeline. The hydraulic motor is driven by one end of the rotating main shaft of the cable storage drum through a reducer. The other end of the rotating main shaft of the cable storage drum is driven by a double-acting lead screw through a chain and sprocket assembly. The double-acting lead screw is driven by a slider with a built-in crescent-shaped single-tooth nut to the cable guide wheel. The first encoder is installed on the rotating main shaft of the cable storage drum to detect the rotation angle of the cable storage drum. The second encoder is installed at the end of the double-acting lead screw to detect the horizontal position of the cable guide wheel. The tachogenerator is installed on the rotating central shaft of the cable guide wheel to detect the cable linear speed feedback signal. The pressure sensor is installed at the oil inlet of the electro-hydraulic servo valve to measure the oil inlet pressure of the electro-hydraulic servo valve.

[0017] The speed loop control module embeds a pseudo-differential feedback control algorithm unit, which is configured to: based on the linear velocity command signal... With linear velocity feedback signal deviation Update the accumulated points value ,in, The index of the discrete time step; the integral coefficients output by the adaptive parameter tuning module. Calculate the integral product P 1, The feedback coefficients output by the adaptive parameter tuning module. Calculate the feedback product P 2, Output the first control quantity .

[0018] The adaptive parameter tuning module includes a layer calculation unit, whose input is connected to the first signal input, used to calculate the current number of cable layers based on the cumulative rotation angle of the cable storage drum. The variable inertia adaptive unit, whose input is connected to the output of the layer number calculation unit, is used to calculate the number of cable layers. Adjusting the feedback coefficient : ,in, This refers to the basic feedback coefficient corresponding to the bottom cable of the cable storage drum. This refers to the layer compensation coefficient; the pressure shock suppression unit, whose input is connected to the third signal input terminal, is used to detect the hydraulic system pressure. When the rate of change of pressure When the preset threshold is exceeded, the integral coefficient will be... The transient decrease is reduced to 50% to 80% of the original value, lasting for 0.5 to 2 seconds.

[0019] The acceleration compensation module includes a differentiator, whose input is connected to the feedback signal input, used to perform differentiation on the linear velocity feedback signal to output an acceleration signal. The nonlinear correction unit, whose input is connected to the output of the differentiator, is used to perform a nonlinear transformation on the acceleration signal to generate an acceleration compensation quantity. The nonlinear transformation is configured as follows: when hour, ; when hour, ; when hour, ; in The first threshold, The second threshold, For acceleration compensation coefficient, This represents the maximum compensation amount.

[0020] The cable laying synchronization control module includes: a theoretical position calculation unit, whose first input terminal is connected to a first signal input terminal, used to calculate the position based on the rotation angle of the cable storage drum. Calculate the theoretical horizontal position of the cable guide roller. ,in It is a bidirectional lead screw. The chain and sprocket assembly transmission ratio; the position deviation calculation unit, whose first input end is connected to the output end of the theoretical position calculation unit, and whose second input end is connected to the second signal input end to obtain the actual horizontal position of the cable guide wheel. Used to calculate position deviation The correction calculation unit, whose input is connected to the output of the position deviation calculation unit, is used to calculate the cable laying synchronization correction amount. ,in Cable routing correction factor; Cable routing synchronization correction amount The output is sent to the adder as the third control input.

[0021] The start-up impulse suppression module is configured to: reduce the total control output of the adder. Multiplying by the first-order inertial element yields the smoothed control quantity. Time constant of a first-order inertial element Equivalent inertia of the system Proportional: ,in This is the proportionality coefficient.

[0022] In addition, the digital control unit also includes a communication interface for communicating with the human-machine interface, which is used to receive parameter adjustment instructions input by the operator and send system operating status and parameter display data to the human-machine interface.

[0023] The control method of the intelligent electro-hydraulic linear velocity servo control system of the present invention includes the following steps: S1: The digital control unit reads the linear velocity command signal through the command signal input terminal. And acquire the linear velocity feedback signal through the feedback signal input terminal. ; S2: The adaptive parameter tuning module dynamically adjusts the integral coefficient based on the current number of cable layers and the hydraulic system pressure. and feedback coefficient And output to the speed loop control module; S3: The speed loop control module executes the pseudo-differential feedback control algorithm and outputs the first control quantity. ; S4: The acceleration compensation module performs differentiation and nonlinear correction on the linear velocity feedback signal and outputs the second control quantity. ; S5: The cable laying synchronization control module controls the cable storage drum rotation angle according to the cable laying synchronous control module. And the actual horizontal position of the cable guide wheel Calculate the cable synchronization correction amount As a third control variable; S6: The adder sums the first control quantity, the second control quantity, and the third control quantity to obtain the total control quantity. ; S7: Activate the impact suppression module to perform first-order inertial filtering on the total control quantity to obtain a smooth control quantity. ; S8: The digital control unit outputs the smooth control quantity to the servo amplifier after digital-to-analog conversion; S9: The servo amplifier drives the electro-hydraulic servo valve, controls the hydraulic motor, and drives the cable storage drum to rotate through the reducer. The cable storage drum drives the bidirectional screw to rotate through the chain and sprocket assembly, so that the cable guide wheel moves horizontally. At the same time, the process returns to step S1.

[0024] In step S2, the adaptive parameter tuning module performs the following sub-steps: S201: Based on the accumulated rotation angle of the first encoder Calculate the number of cable layers ,in The cumulative angle corresponding to each layer of cable (determined by the drum circumference and the number of turns per layer); S202: Update Feedback Coefficients ,in This represents the basic feedback coefficient corresponding to the bottom cable. This is the compensation coefficient for the number of floors; S203: Read pressure sensor signal Calculate the rate of change of pressure. ; S204: Determining the rate of pressure change Does it exceed the preset threshold? S205: When the preset threshold is exceeded, Transiently decreases to the original value times ( =0.5~0.8), and start the timer, then proceed to step S207; S206: When the preset threshold is not exceeded, maintain... constant; S207: Determine whether the timer has exceeded the preset time; S208: Restore when the preset time is exceeded. The original value; S209: Maintain the transient decrease value when the preset time has not been exceeded; S210: Adjusted and The output is sent to the speed loop control module, and the process returns to step S201.

[0025] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: (1) The present invention adjusts the pseudo-differential coefficient in real time according to the number of cable layers, which solves the problem of control parameter adaptation under variable inertia conditions; and adjusts the integral coefficient according to the transient hydraulic pressure impact, which effectively suppresses speed fluctuations caused by pressure impact.

[0026] (2) This invention improves the stability of low-speed operation by setting piecewise nonlinear correction of dead zone, linear zone and limiting zone.

[0027] (3) The present invention utilizes dual encoder feedback to achieve precise synchronization between the rotation of the cable storage drum and the horizontal movement of the cable guide wheel, thereby avoiding cable arrangement disorder and cable jamming accidents and simplifying the mechanical structure.

[0028] (4) The present invention uses a first-order inertial filter that matches the equivalent inertia of the system to achieve soft start and suppress hydraulic shock and speed overshoot at the moment of start-up.

[0029] (5) The present invention adopts a digital control architecture, which is fundamentally different from the pure analog circuit scheme, and adds functions that cannot be achieved by analog circuits, such as adaptive and synchronous control, which has clear novelty and inventiveness.

[0030] (6) This invention solves the problems of fixed parameters, inability to adapt to variable inertia and pressure shock, and lack of synchronous and coordinated control of cable laying in existing electro-hydraulic linear velocity servo controllers. It has the characteristics of fast response, no overshoot, adaptive to variable working conditions, and neat and orderly cable laying. It is suitable for hydraulic winch control in the fields of ships, marine engineering and heavy lifting machinery. Attached Figure Description

[0031] Figure 1 This is a structural block diagram of the intelligent electro-hydraulic linear velocity servo control system of the present invention; Figure 2 This is a flowchart illustrating the overall control method of the intelligent electro-hydraulic linear velocity servo control system of the present invention. Figure 3 This is a flowchart of the adaptive parameter tuning module of the intelligent electro-hydraulic linear velocity servo control system of the present invention; Figure 4 This is a flowchart of the pseudo-differential feedback control algorithm of the intelligent electro-hydraulic linear velocity servo control system of the present invention; Figure 5 This is a schematic diagram of the cable routing synchronization control principle of the intelligent electro-hydraulic linear speed servo control system of the present invention. Detailed Implementation

[0032] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0033] Example 1 like Figure 1 The diagram shown is a structural block diagram of the intelligent electro-hydraulic linear velocity servo control system of the present invention, including a command generator 100, a sensing unit 200, a digital control unit 300, a hydraulic actuation unit 400, and a mechanical transmission unit 500. in, The sensing unit 200 includes a first encoder 201, a second encoder 202, a tachogenerator 203, a conditioning circuit 204, and a pressure sensor 205; The digital control unit 300 includes a speed loop control module 303, an acceleration compensation module 301, a cable laying synchronization control module 302, an adaptive parameter tuning module 304, an adder 305, a start-up impact suppression module 306, a digital-to-analog conversion module 307, as well as a command signal input terminal 308, a feedback signal input terminal 309, a first signal input terminal 310, a second signal input terminal 311, and a third signal input terminal 312. The command generator 100 is used to generate a linear velocity command signal, and its output terminal is connected to the command signal input terminal 308; the output terminal of the tachogenerator 203 is connected to the feedback signal input terminal 309 through the signal conditioning circuit 204; the output terminal of the first encoder 201 is connected to the first signal input terminal 310; the output terminal of the second encoder 202 is connected to the second signal input terminal 311; and the output terminal of the pressure sensor 205 is connected to the third signal input terminal 312. The input terminals of the adaptive parameter tuning module 304 are respectively connected to the feedback signal input terminal 309, the first signal input terminal 310, and the third signal input terminal 312, and its parameter output terminal is connected to the parameter setting terminal of the speed loop control module 303; the input terminals of the speed loop control module 303 are respectively connected to the command signal input terminal 308 and the feedback signal input terminal 309; the input terminal of the acceleration compensation module 301 is connected to the feedback signal input terminal 309; the input terminals of the cable laying synchronization control module 302 are respectively connected to the first signal input terminal 310 and the second signal input terminal 311; the digital output signal terminals of the acceleration compensation module 301, the cable laying synchronization control module 302, and the speed loop control module 303 are respectively connected to the three input terminals of the adder 305, and the output terminal of the adder 305 is connected in series with the start-up impact suppression module 306 and the digital-to-analog conversion module 307; the digital-to-analog conversion module 307 is connected to the hydraulic actuator 400. The digital control unit 300 also includes a communication interface for communicating with the human-machine interface, used to receive parameter adjustment instructions input by the operator and send system operating status and parameter display data to the human-machine interface.

[0034] The hydraulic actuator 400 includes a servo amplifier 401, an electro-hydraulic servo valve 402, a hydraulic motor 403, and a reducer 404 connected in sequence; the digital-to-analog conversion module 307 is electrically connected to the servo amplifier 401 and the electro-hydraulic servo valve 402 in sequence; the electro-hydraulic servo valve 402 is connected to the hydraulic motor 403 by pipeline, the hydraulic motor 403 is connected to the reducer 404, and the reducer 404 is connected to the mechanical transmission unit 500 by transmission.

[0035] The mechanical transmission unit 500 includes a cable storage drum 501, a chain and sprocket assembly 502, a two-way lead screw 503, and a cable guide wheel 504 connected in sequence. The hydraulic motor 403 is connected to one end of the rotating shaft of the cable storage drum 501 via a reducer 404. The other end of the rotating shaft of the cable storage drum 501 is connected to the bidirectional lead screw 503 via a chain and sprocket assembly 502. The bidirectional lead screw 503 is connected to the cable guide wheel 504 via a slider with a built-in crescent-shaped single-tooth nut. The first encoder 201 is installed on the rotating shaft of the cable storage drum 501 to detect the rotation angle of the cable storage drum 501. The second encoder 202 is installed at the end of the bidirectional lead screw 503 to detect the horizontal position of the cable guide wheel 504. The tachogenerator 203 is installed on the rotating center shaft of the cable guide wheel 504 to detect the cable linear speed feedback signal. The pressure sensor 205 is installed at the oil inlet of the electro-hydraulic servo valve 402 to measure the oil inlet pressure of the electro-hydraulic servo valve 402.

[0036] Acceleration compensation module 301 includes: The differentiator, whose input is connected to the feedback signal input 309, is used to perform differentiation on the linear velocity feedback signal to output an acceleration signal. ; The nonlinear correction unit, whose input is connected to the output of the differentiator, is used to perform a nonlinear transformation on the acceleration signal to generate an acceleration compensation quantity. ; The nonlinear transformation is configured as follows: when hour, ; when hour, ; when hour, ; in The first threshold, The second threshold, For acceleration compensation coefficient, This represents the maximum compensation amount.

[0037] The cable laying synchronization control module 302 includes: The theoretical position calculation unit has its first input terminal connected to the first signal input terminal 310, and is used to calculate the position based on the rotation angle of the cable storage drum 501. Calculate the theoretical horizontal position of the cable guide roller 504. ,in, The lead of the 503 double-acting lead screw is... The transmission ratio of chain and sprocket assembly 502; The position deviation calculation unit has its first input terminal connected to the output terminal of the theoretical position calculation unit, and its second input terminal connected to the second signal input terminal 311 to obtain the actual horizontal position of the cable guide wheel 504. Used to calculate position deviation ; The correction calculation unit, whose input is connected to the output of the position deviation calculation unit, is used to calculate the cable laying synchronization correction amount. ,in, This is the cable routing correction factor; Cable synchronization correction amount The third control input is output to adder 305.

[0038] The speed loop control module 303 has an embedded pseudo-differential feedback control algorithm unit, which is configured as follows: According to the linear velocity command signal With linear velocity feedback signal deviation Update the accumulated points value ,in, For the index of the discrete time step; The integral coefficients output by the adaptive parameter tuning module (304) Calculate the integral product ; The feedback coefficients output by the adaptive parameter tuning module (304) Calculate the feedback product ; Output first control quantity .

[0039] The shock suppression module 306 is configured to: The total control output of adder 305 Multiplying by the first-order inertial element yields the smoothed control quantity. ; Time constant of a first-order inertial element Equivalent inertia of the system Proportional: ,in, This is the proportionality coefficient.

[0040] The adaptive parameter tuning module 304 includes: The layer calculation unit, whose input terminal is connected to the first signal input terminal 310, is used to calculate the current cable layer number based on the cumulative rotation angle of the cable storage drum 501. ; The variable inertia adaptive unit, whose input is connected to the output of the layer number calculation unit, is used to calculate the number of cable layers. Adjusting the feedback coefficient ( ,in, This refers to the basic feedback coefficient corresponding to the bottom cable of cable storage drum 501. This is the compensation coefficient for the number of floors; The pressure shock suppression unit has its input terminal connected to the third signal input terminal 312 for detecting hydraulic system pressure. When the pressure system pressure rate of change When the preset threshold is exceeded, the integral coefficient will be... The transient decrease is reduced to 50% to 80% of the original value, lasting for 0.5 to 2 seconds.

[0041] like Figure 2 The diagram shows the overall flowchart of the control method for the aforementioned intelligent electro-hydraulic linear velocity servo control system, combined with... Figure 1 , Figure 3 , Figure 4 and Figure 5 The control method of the intelligent electro-hydraulic linear velocity servo control system in this embodiment includes the following steps: S1: The digital control unit 300 reads the linear velocity command signal through the command signal input terminal 308. And the linear velocity feedback signal is acquired through the feedback signal input terminal 309. (From the conditioning circuit of tachogenerator 203), the sampling period is set to 1ms.

[0042] S2: The adaptive parameter tuning module 304 performs the following sub-steps: S201: Accumulated rotation angle based on the first encoder 201 Calculate the number of cable layers ,in The cumulative angle corresponding to each layer of cable (determined by the circumference of the drum and the number of turns per layer). The cumulative rotation angle of cable storage drum 501; S202: Update Feedback Coefficients ,in This represents the basic feedback coefficient corresponding to the bottom cable. This is the compensation coefficient for the number of floors; S203: Read the signal from pressure sensor 205 Calculate the rate of change of pressure. For the index of the discrete time step; S204: Determining the rate of pressure change Does it exceed the preset threshold? S205: When the preset threshold is exceeded, the integral coefficient will be... Transiently decreases to the original value times ( =0.5~0.8), and start the timer, then proceed to step S207; S206: Maintain the integral coefficient when the preset threshold is not exceeded. constant; S207: Determine whether the timer has exceeded the preset time; S208: When the preset time is exceeded, restore the integral coefficient. The original value; S209: Maintain the transient decrease value when the preset time has not been exceeded; S210: Adjusted and The output is sent to the speed loop control module 303, and the process returns to step S201.

[0043] S3: The speed loop control module 303 executes the pseudo-differential feedback control algorithm, including the following sub-steps: S301: Calculation error ; S302: Regarding the error Perform numerical integration to obtain the accumulated points. , ; S303: Read adaptive integral coefficients and feedback coefficient ; S304: Calculate the integral product ; S305: Calculate the feedback product ; S306: Calculate the pseudo-differential feedback control quantity , As the first control variable; S307: Output first control quantity Then proceed to adder 305 and return to step S31.

[0044] S4: Acceleration compensation module 301 provides linear velocity feedback signal The acceleration is obtained by differentiation. The compensation amount is generated according to the following nonlinear rules. : when hour, (Dead zone); when hour, (Linear region); when hour ; in The first threshold, The second threshold, For acceleration compensation coefficient, This represents the maximum compensation amount.

[0045] S5: Cable laying synchronization control module 302 performs the following calculations: The rotation angle of the cable storage drum 501 measured by the first encoder 201 Calculate the theoretical position ,in, The lead of the 503 double-acting lead screw is... This is the transmission ratio of the chain and sprocket assembly 502.

[0046] Read the actual horizontal position of the cable guide wheel 504 measured by the second encoder 202 Calculate position deviation ; Calculate the cable synchronization correction amount ,in, This is the cable routing correction factor. As a third control variable.

[0047] S6: Adder 305 will input the first control quantity Second control quantity and third control quantity By superimposing the values, the total control quantity is obtained. .

[0048] S7: Activate the impact suppression module 306 to control the total quantity. Perform first-order inertial filtering to obtain smooth control input. Filtering time constant Equivalent inertia of the system Proportional: ,in, This is the proportionality coefficient.

[0049] S8: Digital control unit 300 will smoothly control the amount. u s The voltage is converted into an analog voltage by the digital-to-analog converter module 307 and output to the servo amplifier 401.

[0050] S9: Servo amplifier 401 drives electro-hydraulic servo valve 402, controls hydraulic motor 403 to rotate, drives cable storage drum 501 to rotate through reducer 404; cable storage drum 501 drives bidirectional screw 503 to rotate through chain and sprocket assembly 502, thereby causing cable guide wheel 504 to move horizontally, and the process returns to step S1.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An intelligent electro-hydraulic linear velocity servo control system, characterized in that, include: Command generator (100), sensing unit (200), digital control unit (300), hydraulic actuator (400), and mechanical transmission unit (500); among which, The sensing unit (200) includes a first encoder (201), a second encoder (202), a tachogenerator (203), a conditioning circuit (204), and a pressure sensor (205). The digital control unit (300) includes a speed loop control module (303), an acceleration compensation module (301), a cable laying synchronization control module (302), an adaptive parameter tuning module (304), an adder (305), a start-up impact suppression module (306), a digital-to-analog conversion module (307), and a command signal input terminal (308), a feedback signal input terminal (309), a first signal input terminal (310), a second signal input terminal (311), and a third signal input terminal (312). The hydraulic actuator (400) includes a servo amplifier (401), an electro-hydraulic servo valve (402), a hydraulic motor (403), and a reducer (404). The mechanical transmission unit (500) includes a cable storage drum (501), a chain and sprocket assembly (502), a two-way lead screw (503), and a cable guide wheel (504). The command generator (100) is used to generate linear velocity command signals, and its output terminal is connected to the command signal input terminal (308); the output terminal of the tachogenerator (203) is connected to the feedback signal input terminal (309) through the signal conditioning circuit (204); the output terminal of the first encoder (201) is connected to the first signal input terminal (310); the output terminal of the second encoder (202) is connected to the second signal input terminal (311); and the output terminal of the pressure sensor (205) is connected to the third signal input terminal (312). The input terminals of the adaptive parameter tuning module (304) are respectively connected to the feedback signal input terminal (309), the first signal input terminal (310), and the third signal input terminal (312), and its parameter output terminal is connected to the parameter setting terminal of the speed loop control module (303); the input terminals of the speed loop control module (303) are respectively connected to the command signal input terminal (308) and the feedback signal input terminal (309); the input terminal of the acceleration compensation module (301) is connected to the feedback signal input terminal (309); the input terminal of the cable laying synchronization control module (302) is respectively connected to the first signal input terminal (309). The first input terminal (310) and the second input terminal (311); the digital output signal of the acceleration compensation module (301), the digital output signal of the cable laying synchronization control module (302) and the digital output signal of the speed loop control module (303) are respectively connected to the three input terminals of the adder (305), and the output terminal of the adder (305) is connected in series with the start-up impact suppression module (306) and the digital-to-analog conversion module (307); the digital-to-analog conversion module (307) is electrically connected in sequence with the servo amplifier (401) and the electro-hydraulic servo valve (402); An electro-hydraulic servo valve (402) is connected to a hydraulic motor (403) via a pipeline. The hydraulic motor (403) is driven by a reducer (404) to one end of the rotating shaft of the cable storage drum (501). The other end of the rotating shaft of the cable storage drum (501) is driven by a chain and sprocket assembly (502) to a double-acting screw (503). The double-acting screw (503) is driven by a slider with a built-in crescent-shaped single-tooth nut to a cable guide wheel (504). A first encoder (201) is installed on the cable storage drum (501). On the rotating spindle of 01), the rotation angle of the cable storage drum (501) is detected; the second encoder (202) is installed at the end of the bidirectional lead screw (503) to detect the horizontal position of the cable guide wheel (504); the tachogenerator (203) is installed on the rotating central shaft of the cable guide wheel (504) to detect the cable linear speed feedback signal; the pressure sensor (205) is installed at the oil inlet of the electro-hydraulic servo valve (402) to measure the oil inlet pressure of the electro-hydraulic servo valve (402).

2. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The speed loop control module (303) has an embedded pseudo-differential feedback control algorithm unit, which is configured as follows: According to the linear velocity command signal With linear velocity feedback signal deviation Update the accumulated points value ,in, For the index of the discrete time step; The integral coefficients output by the adaptive parameter tuning module (304) Calculate the integral product P 1; The feedback coefficients output by the adaptive parameter tuning module (304) Calculate the feedback product P 2; Output first control quantity .

3. The intelligent electro-hydraulic linear velocity servo control system according to claim 2, characterized in that, Integral product P 1. Calculate using the following formula (1): ； （1）， Feedback product P 2. Calculate using the following formula (1): ； （2）。 4. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The adaptive parameter tuning module (304) includes: The layer calculation unit, whose input terminal is connected to the first signal input terminal (310), is used to calculate the current cable layer number based on the cumulative rotation angle of the cable storage drum (501). ; The variable inertia adaptive unit, whose input is connected to the output of the layer number calculation unit, is used to calculate the number of cable layers. Adjusting the feedback coefficient : ,in, The basic feedback coefficient corresponding to the bottom cable of the cable storage drum (501) is... This is the layer compensation coefficient; The pressure shock suppression unit has its input terminal connected to the third signal input terminal (312) for detecting hydraulic system pressure. When the rate of change of pressure When the preset threshold is exceeded, the integral coefficient will be... The transient decrease to 50%~80% of the original value lasts for 0.5~2 seconds.

5. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The acceleration compensation module (301) includes: The differentiator, whose input is connected to the feedback signal input (309), is used to perform differentiation on the linear velocity feedback signal to output the acceleration signal. ; The nonlinear correction unit, whose input is connected to the output of the differentiator, is used to perform a nonlinear transformation on the acceleration signal to generate an acceleration compensation quantity. ; The nonlinear transformation is configured as follows: when hour, ; when hour, ; when hour, ; in, The first threshold, The second threshold, For acceleration compensation coefficient, This is the maximum compensation amount.

6. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The cable laying synchronization control module (302) includes: The theoretical position calculation unit has its first input terminal connected to the first signal input terminal (310), and is used to calculate the position based on the rotation angle of the cable storage drum (501). Calculate the theoretical horizontal position of the cable guide roller (504). ,in, The lead of the two-way lead screw (503) is... The transmission ratio of the chain and sprocket assembly (502); The position deviation calculation unit has its first input terminal connected to the output terminal of the theoretical position calculation unit, and its second input terminal connected to the second signal input terminal (311) to obtain the actual horizontal position of the cable guide wheel (504). Used to calculate position deviation ; The correction calculation unit, whose input is connected to the output of the position deviation calculation unit, is used to calculate the cable laying synchronization correction amount. ,in, This is the cable routing correction factor; Cable synchronization correction amount The third control input is output to the adder (305).

7. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The shock suppression module (306) is configured to start as follows: The total control quantity output by the adder (305) Multiplying it by the first-order inertial element yields the smoothed control quantity. ; Time constant of a first-order inertial element Equivalent inertia of the system Proportional: ,in, This is the proportionality coefficient.

8. The intelligent electro-hydraulic linear velocity servo control system according to claim 1, characterized in that, The digital control unit (300) also includes a communication interface for communicating with the human-machine interface, for receiving parameter adjustment instructions input by the operator, and sending system operating status and parameter display data to the human-machine interface.

9. A method for manufacturing an intelligent electro-hydraulic linear velocity servo control system based on any one of claims 1-8, characterized in that, Includes the following steps: S1: The digital control unit (300) reads the linear velocity command signal through the command signal input terminal (308). And the linear velocity feedback signal is acquired through the feedback signal input terminal (309). ; S2: Adaptive parameter tuning module (304) dynamically adjusts the integral coefficient based on the current number of cable layers and hydraulic system pressure. and feedback coefficient And output to the speed loop control module (303); S3: The speed loop control module (303) executes the pseudo-differential feedback control algorithm and outputs the first control quantity. ; S4: The acceleration compensation module (301) performs differentiation and nonlinear correction on the linear velocity feedback signal and outputs the second control quantity. ; S5: The cable laying synchronization control module (302) controls the cable winding according to the rotation angle of the cable storage drum (501). Actual horizontal position of cable guide roller (504) Calculate the cable synchronization correction amount As a third control variable; S6: Adder (305) adds the first control quantity, the second control quantity, and the third control quantity to obtain the total control quantity. ; S7: Start the impact suppression module (306) to perform first-order inertial filtering on the total control quantity to obtain a smooth control quantity. ; S8: The digital control unit (300) outputs the smooth control quantity to the servo amplifier (401) after digital-to-analog conversion. S9: The servo amplifier (401) drives the electro-hydraulic servo valve (402), controls the hydraulic motor (403), and drives the cable storage drum (501) to rotate through the reducer (404). The cable storage drum (501) drives the bidirectional screw (503) to rotate through the chain sprocket group (502), so that the cable guide wheel (504) moves horizontally. At the same time, the process returns to step S1.

10. The control method according to claim 9, characterized in that, In step S2, the adaptive parameter tuning module (304) performs the following sub-steps: S201: Accumulate rotation angle based on the first encoder (201) Calculate the number of cable layers ,in The cumulative angle corresponding to each layer of cable (determined by the drum circumference and the number of turns per layer); S202: Update Feedback Coefficients ,in This represents the basic feedback coefficient corresponding to the bottom cable. This is the layer compensation coefficient; S203: Read the signal from pressure sensor (205) Calculate the rate of change of pressure. ; S204: Determining the rate of pressure change Does it exceed the preset threshold? S205: When the preset threshold is exceeded, Transiently decreases to the original value times ( =0.5~0.8), and start the timer, then proceed to step S207; S206: When the preset threshold is not exceeded, maintain... constant; S207: Determine whether the timer has exceeded the preset time; S208: Restore when the preset time is exceeded. The original value; S209: Maintain the transient decrease value when the preset time has not been exceeded; S210: The adjusted and The output is sent to the speed loop control module (303), and the process returns to step S201.

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