METHOD, DEVICE AND APPARATUS FOR ADAPTIVE CONTROL

Abstract

Method, device, and apparatus for adaptive control. The adaptive control method is applied to a hydraulic system including a hydraulic control element that uses closed-loop PID control. The method comprises: acquiring a measured value of at least one hydraulic factor, wherein the measured value is used to determine PID parameters of the hydraulic control element or serves as a feedback signal when the PID parameters of the hydraulic control element are fixed; and, based on the PID parameters and the feedback signal, performing PID closed-loop control by the hydraulic control element. The method is characterized by high control accuracy and is suitable for large-scale use.

Description

Cross-reference to related applications

[0001] This disclosure claims the rights and benefits of Chinese Patent Application 202211612598.0, filed on December 14, 2022, which is incorporated herein by reference in its entirety. Field of the invention

[0002] The present disclosure relates to the technical field of electromechanical-hydraulic intelligent control, and more particularly to an adaptive control method, an adaptive control apparatus, an adaptive control device, and a computer-readable mass storage medium. Background of the invention

[0003] Conventional proportional-integral-derivative (PID) closed-loop control, adaptive fuzzy PID control, and expert PID control are used to tune PID parameters (i.e., according to the load changes of a controlled object or the influence of disturbances) through fuzzy control rules or expert algorithms. These are essentially single-input and single-output control systems with different errors.

[0004] Traditional PID closed-loop control, a type of black-box control, has simple control principles and is easy to implement. Because it is a time-varying nonlinear system, traditional PID closed-loop control requires various parameters to be adjusted and different PID parameters to be selected for different working conditions (such as load changes, oil temperature changes, and position changes) in the actual application. In this case, parameter tuning is extremely laborious, and the workload for parameter adjustment under all working conditions is high, making it difficult to apply to a main engine under all working conditions.

[0005] Adaptive fuzzy PID control is a variant of closed-loop PID control. Fuzzy control mainly includes a fuzzification module, a fuzzy inference module, and a defuzzification module, and has a complex fuzzy process. Due to the complex working conditions and numerous compound actions of the main engines of construction machinery, consistency between different main engines is difficult to ensure, and adaptive fuzzy PID control is difficult to disseminate and apply to construction machinery in batches.

[0006] Expert PID control solves these problems by mimicking the way experts draw conclusions based on their own extensive knowledge and experience, and it incorporates a wealth of expert knowledge and experience. However, it is difficult to create an expert knowledge base without extensive experience from hydraulic or electrical engineers. Summary of the invention

[0007] An object of examples of the present disclosure is to provide a method, apparatus, and device for adaptive control to solve some problems of the prior art.

[0008] To achieve this goal, a first aspect of the present disclosure provides a method for adaptive control. The method includes: acquiring a measured value of a hydraulic factor; generating a control signal for a hydraulic control element according to the measured value; and controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element.

[0009] Preferably, the hydraulic factor comprises at least one of the following variables: a pressure drop, a flow rate, an oil temperature, a system pressure and an oil viscosity.

[0010] Preferably, the hydraulic control element comprises: a multi-way valve, a directional control valve or an engine speed control module.

[0011] Preferably, generating a control signal for a hydraulic control element as a function of the measured value comprises: Detecting a change trend of the measured value and a correlation between a trend and a control signal, wherein the correlation between a trend and a control signal includes a correspondence relationship between the change trend of the measured value and the control signal; and generating the control signal for controlling an output of the hydraulic control element according to the change trend of the measured value and the correlation between a trend and a control signal.

[0012] Preferably, the hydraulic factor is a main valve spool pressure drop, the hydraulic control element is an engine speed control module, and the output of the hydraulic control element is an engine speed; and generating a control signal for a hydraulic control element according to the measured value includes: detecting a change trend of the main valve spool pressure drop corresponding to the real-time measured main valve spool pressure drop; generating an engine speed increase command when a decrease in the main valve spool pressure drop is detected, the engine speed increase command being used to increase the engine speed; and maintaining the engine speed at an unchanged level when an increase in the main valve spool pressure drop to an upper limit of an allowable range is detected.

[0013] Preferably, controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element comprises: inputting a feedback error signal and the command signal to a proportional-integral-derivative (PID) controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal.

[0014] Preferably, the method further comprises: determining a PID parameter of the PID controller according to the measured value of the hydraulic factor.

[0015] Preferably, determining a PID parameter of the PID controller according to the measured value of the hydraulic factor comprises: determining the PID parameter corresponding to the measured value through a relationship table or a fitting curve, wherein the relationship table or the fitting curve includes at least the PID parameter corresponding to the measured value.

[0016] In a second aspect of the present disclosure, an adaptive control apparatus is further provided. The apparatus includes a parameter feedback module configured to acquire a measured value of a hydraulic factor, the measured value being used to determine a PID parameter of a hydraulic control element or serving as a feedback signal when the hydraulic control element sets the PID parameter; and an adjustment performance module configured to perform closed-loop PID adjustment by the hydraulic control element according to the PID parameter and the feedback signal.

[0017] In a third aspect of the present disclosure, an adaptive control device is further provided. The adaptive control device comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements steps of the above adaptive control method when executing the computer program.

[0018] In a fourth aspect of the present disclosure, a computer-readable mass storage medium is further provided. The computer-readable mass storage medium stores instructions, which, when executed on the computer, cause a computer to perform steps of the above method for adaptive control.

[0019] In a fifth aspect of the present disclosure, a computer program product is provided. The computer program product includes a computer program, wherein the computer program implements the above method for adaptive control when executed by a processor.

[0020] The technical solution described above has at least the following beneficial effects: (1) In embodiments of the present disclosure, the hydraulic factor is used as a feedback variable to establish a closed-loop control with the hydraulic control element. Compared with an original closed-loop control with an external factor, such as a machine, the closed-loop connections are shortened and the accuracy of the closed-loop control connection is improved. (2) The hydraulic factor is directly acquired from the hydraulic system, the improvement over the original system is small, and not much hardware is required. Therefore, the cost is low and large-scale application is easy to implement. (3) The hydraulic factor closed-loop control system in the embodiment of the present disclosure can be integrated with the original PID closed-loop control system to form a typical two-input, one-output nonlinear control system. The PID parameter does not need to be readjusted, and the control accuracy of the original PID closed-loop control system is improved. (4) Scalability is achieved. Other functions can be achieved by writing a vehicle control strategy, such as decreasing the deflection of a boom during descent.

[0021] Further features and advantages of the examples of the present disclosure are described in detail in the following specific embodiments. Short description of the drawings

[0022] The accompanying drawings are included to further understand the examples of the present disclosure, are part of the description, and are intended to explain the examples of the present disclosure together with the following specific embodiments, but are not limiting the examples of the present disclosure. In the figures: Fig. 1 shows a schematic diagram of steps of a method for adaptive control according to an embodiment of the present disclosure; Fig. 2 shows a schematic diagram of a control structure of a two-input, one-output control system according to an embodiment of the present disclosure; Fig.3 shows an improved schematic diagram of the selection of the feedback variables according to an embodiment of the present disclosure; Fig. 4 shows a diagram of a dynamic balancing process of valve piston pressure drop and engine speed according to an embodiment of the present disclosure; Fig. 5 shows a schematic diagram of a control structure of a closed-loop controller according to an embodiment of the present disclosure; Fig. 6 shows a diagram of an adaptive process of a rotational speed of a hydraulic pump according to an embodiment of the present disclosure; Fig. 7 shows an improved schematic diagram of the implementation of a closed-loop controller in a hydraulic system according to an embodiment of the present disclosure; Fig.8 shows an improved schematic diagram of the implementation of a closed-loop control in another hydraulic system according to an embodiment of the present disclosure; and Fig. 9 shows a schematic structural diagram of an adaptive control apparatus according to an embodiment of the present disclosure.

[0023] Brief description of the drawings: 1-1 Hydraulic pump; 2-1a, 2-1b, 2-1c and 2-1d Pressure sensor; 3-1 Electro-hydraulic proportional flow control directional valve; 4-1 Actuator; 5-1 Controller; 6-1 Oil tank; and 7b Electric proportional throttle valve. Detailed description of the implementation examples

[0024] The specific embodiments of the examples of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative and explanatory of the examples of the present disclosure and are not limiting of the examples of the present disclosure.

[0025] Fig. 1 shows a schematic diagram of the steps of a method for adaptive control according to an embodiment of the present disclosure. As in Fig. As shown in Figure 1, the adaptive control method comprises the following steps: S01: Acquiring a measured value of a hydraulic factor. It is determined that at least one factor is a feedback variable among the hydraulic factors of a hydraulic system. In the prior art, an external factor, such as a mechanical factor output from a hydraulic system, is often used as the feedback variable. In this embodiment, the hydraulic factor is used as the feedback variable and can be easily acquired from the hydraulic system, eliminating the problem of a long feedback delay caused by using the mechanical factor or the external factor as the feedback variable in the prior art. S02: Generate a control signal for a hydraulic control element according to the measured value. The hydraulic control element here refers to an element that controls the preceding hydraulic factor. By changing a state of the hydraulic control element according to the control signal, the hydraulic factor is affected, and then a subsequent measured value of the hydraulic factor is affected. It can be seen that the control is based on the feedback of the measured value of the hydraulic factor. A mapping relationship between the measured value and the control signal is determined according to an actual scenario and an actual parameter, and can be regarded as a closed-loop control at a physical structure level to a certain extent. S03: Control of the hydraulic control element according to the control signal and a command signal for the hydraulic control element. Fig.2 shows a schematic diagram of a control structure of a two-input, one-output control system according to an embodiment of the present disclosure. As shown in Fig.2, using the example of controlling an engine speed, the system is a two-input, one-output control system, where a command speed and the engine speed are input variables, and an actual output speed of an actuator is an output. Specifically, the output of the hydraulic system is used to drive the actuator, and the input of the hydraulic system includes a setting variable generated according to a feedback signal and a command variable generated according to a PID closed-loop adjustment. A mutual adjustment exists between the engine speed and the hydraulic system. As the bold two-way arrow in the figure shows, the engine speed has no direct relationship with the PID controller or any parameter tuner.This means that the engine speed does not participate in the PID control function and the parameter optimization function, thus avoiding logical improvement of the parameter optimizers. The above content is merely illustrative. In some other embodiments, oil temperature, viscosity, etc., can be used as input variables or intermediate variables, and the system becomes a multi-input, multi-output system.

[0026] These embodiments avoid various problems caused by establishing a closed-loop control using the hydraulic system outputs, such as interference with the original PID closed-loop control, retuning of the PID parameters, and excessively long closed-loop connections.

[0027] In some embodiments of the present disclosure, the hydraulic factor includes at least one of the following factors, but is not limited to: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity. Specifically, a working condition parameter of the hydraulic oil includes a flow rate, a flow rate, and a condition of the hydraulic oil, and the condition of the hydraulic oil includes a temperature and a viscosity. A working condition parameter of a hydraulic pump includes the rotational speed of the hydraulic pump, etc. The factor selected in step S01 is a specific hydraulic factor from the hydraulic factors, such as the rotational speed of the hydraulic pump or the temperature of the hydraulic oil, and their combination. Fig. 3 shows an improved schematic diagram of the selection of the feedback variables according to an embodiment of the present disclosure. As in Fig.As shown in Figure 3, conventional controllers, fuzzy controllers, expert PID controllers, etc., do not need to know an accurate model of a controlled object, and a control disturbance is a mechanical or external factor (such as position, load, power limit, and wind speed) and belongs to black-box control. The adaptive control method based on the closed-loop control described in the present disclosure essentially involves converting the mechanical or external factor into the hydraulic factor (such as pressure drop, flow rate, oil temperature, hydraulic pump speed, and system pressure). The hydraulic factors are easily acquired parameters (the hydraulic parameters are usually integrated into the controller and are easy to acquire), which belong to semi-empirical and semi-black-box control.For the hydraulic factor, which cannot be collected if there are no corresponding sensors, it is only necessary to install corresponding sensors in corresponding positions.

[0028] The aforementioned hydraulic control element includes: a multi-way valve, a directional control valve, or an engine speed control module. The hydraulic control element in the aforementioned physical closed-loop control system can be the multi-way valve, the directional control valve, or the engine speed control module. Using the engine speed control module as an example, the physical closed-loop control system can be established between the hydraulic factor and the engine speed, and the engine speed can be adjusted using an internal parameter of the hydraulic system. In this way, faster speed control is implemented, and the problem of control delay caused by excessively long connections when the PID closed-loop control system originally only exists is avoided.

[0029] In some embodiments, the step of generating a control signal for a hydraulic control element according to the measured value comprises: detecting a change trend of the measured value and a correlation between a trend and a control signal. The correlation between a trend and a control signal includes a correspondence relationship between the change trend of the measured value and the control signal. This correspondence relationship can be qualitatively described as a positive correlation or a negative correlation. The positive correlation indicates that when the correlation between a trend and a control signal changes in an increasing trend, the measured value also changes in an increasing direction, and the negative correlation indicates that when the correlation between a trend and a control signal changes in an increasing trend, the measured value changes in a decreasing direction.The control signal for controlling the output of the hydraulic control element is generated according to the change trend of the measured value and the correlation between a trend and a control signal. For example, when the change trend of the measured value is decreasing, in order to keep the measured value constant, the control signal should ensure that the output of the hydraulic control element changes in the direction of an increasing trend. In some scenarios, the output of the hydraulic control element has a preset change direction, and the output of the hydraulic control element can be set to change only in the increasing direction, for example. In this preset change trend, when the change trend of the measured value increases, the output of the hydraulic control element does not change in the decreasing direction but remains unchanged.In other scenarios, the output variable of the hydraulic control element has a predefined change range, such as a specified upper limit. Within this predefined change range, when the change trend of the measured value decreases and the output variable of the hydraulic control element changes in an increasing direction, the output variable of the hydraulic control element reaches the upper limit of the change range, such as the upper limit of the speed, and no longer increases, but maintains the current upper limit of the speed unchanged.

[0030] Fig. 4 shows a diagram of a dynamic balancing process of valve piston pressure drop and engine speed according to an embodiment of the present disclosure. As in Fig.As shown in Figure 4, the engine speed is taken as the input, and a small value is generally used in consideration of fuel saving, such as an idle speed of 750 rpm. During the entire control process, the main valve spool pressure drop ΔP is detected in real time. When the main valve spool pressure drop ΔP decreases (i.e., an operation with the sequence number (1)), the engine speed is automatically increased by a control algorithm (an operation with the sequence number (2)). When the command speed remains unchanged and the engine speed increases, the main valve spool pressure drop automatically increases (an operation with the sequence number (3)), and a two-way dynamic balance adjustment process between the main valve spool pressure drop ΔP and the engine speed is implemented, as shown by a two-way arrow in the figure.On the contrary, when the main valve piston pressure drop ΔP increases to a certain value (a process of serial number (4)), the engine speed does not increase and remains unchanged. For example, the engine speed maintains a power of 1400 rpm, and the dynamic two-way balance adjustment process between the main valve piston pressure drop ΔP and the engine speed is performed. The dynamic two-way balance adjustment process between the engine speed and the main valve piston pressure drop implemented by this embodiment is essentially the closed-loop control of the physical structure.

[0031] In some embodiments of the present disclosure, the step of controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element includes: inputting a feedback error signal and the command signal to a PID controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal. Fig. 5 shows a schematic diagram of a closed-loop control structure according to an embodiment of the present disclosure. As in Fig.As shown in Figure 5, the electrical closed-loop control in this embodiment is based on the integration of the common PID closed-loop control and the physical closed-loop control. The engine speed control module operates between the hydraulic valve and the actual output speed. A two-way dynamic balance adjustment process is implemented between the engine speed control module and the hydraulic valve. The engine speed control module influences the actual output speed v. The speed v is the feedback variable. A difference between the speed and the command speed is input to the PID controller, and the PID controller controls the hydraulic valve to implement the common PID closed-loop control. A pressure difference of the hydraulic valve and the engine speed control module constitute the closed-loop control of the physical structure.

[0032] In some embodiments of the present disclosure, a PID parameter of the PID controller is determined according to the measured value of the hydraulic factor. The PID parameter of a variable to be adjusted of the engine is determined according to the feedback variable. PID parameter tuning includes taking the hydraulic factors of the hydraulic system or combination relationships between a plurality of hydraulic factors as preferential variables, automatically adjusting each preferential variable to the PID parameter, and establishing a relationship between an actuator of a hydraulic transmission system and the PID parameter to complete the adaptive adjustment. Here, the variable to be adjusted is selected from the working conditions of the engine, such as speed, displacement, and flow rate. The process may also be referred to as PID parameter tuning.

[0033] In some optional embodiments, the step of determining a PID parameter of the PID controller corresponding to the measured value of the hydraulic factor comprises determining the PID parameter corresponding to the measured value through a relationship table or a fitting curve. The relationship table or the fitting curve contains at least the PID parameter corresponding to the measured value. Specifically, a preferred hydraulic factor adjustment and PID parameter tuning process comprises substantially automatically adjusting the preferred variables of one or more combination relationships of the hydraulic factors with the PID parameter, such as adjusting the main valve spool pressure drop and the hydraulic pump speed, adjusting the oil temperature and the hydraulic pump speed, and adjusting the main valve spool pressure drop and the oil temperature and the hydraulic pump speed.Table 1 shows an example of adjusting the preferred hydraulic factor and PID parameter tuning. As long as the combination of one or more hydraulic factors is considered a preferred variable, the corresponding methods for determining the PID parameters fall within the scope of this embodiment. In the case of preferred PID parameters and hydraulic system tuning, an improved PID parameter is determined. The PID parameter can provide improved speed tracking under certain working conditions, and poor speed tracking under all working conditions is caused by the influence of changes in working conditions or compound actions. Table 1 Relationship between hydraulic preference factor and PID parameter tuning Serial No. . Hydraulic pump speed (rpm) Oil temperature range interval (°C) PID parameters 1 Low speed range 700-1000 small temperature range interval 10-30 Preferred value of 1 (kp, ki and kd) medium temperature range interval 30-50 Preferred value of 2 Wide temperature range interval 50-70 Preferred value of 3 2 Medium speed range 1000-1300 Small temperature range interval 10-30 Preferred value of 4 Average temperature range interval 30-50 Preferred value of 5 Wide temperature range interval 50-70 Preferred value of 6 3 High speed range 1300-1600 Small temperature range interval 10-30 Preferred value of 7 Average temperature range interval 30-50 Preferred value of 8 Wide temperature range interval 50-70 Preferred value of 9

[0034] In the case of a PID determined in the previous embodiment or a fixed PID, a control relationship is established between the PID parameter and the actuator of the hydraulic transmission system to complete the adjustment process. At this time, a control command for a variable to be controlled changes according to the selection of the variable to be controlled. The control command may be, for example, a flow rate command, a signal command, a displacement command, or a speed command. The target values ​​of the variables to be controlled included in the control command are referred to as the command flow rate, command signal, command displacement, and command speed, respectively. Fig. 6 shows a diagram of an adaptive process of the speed of a hydraulic pump according to an embodiment of the present disclosure. As in Fig.As shown in Figure 6, with an upper limit and a lower limit of the main valve spool pressure drop as boundary conditions, when the main valve spool pressure drop ΔP is less than or equal to the lower limit, an increase in engine speed is a positive value, and an actual engine speed is detected by adding an idle speed of 750 rpm and the speed increase. The actual engine speed in this method is within a rise range. When the main valve spool pressure drop ΔP is greater than or equal to the upper limit, the engine speed increases by 0, and the actual output engine speed does not increase. In this method, the PID parameter remains unchanged, only an adjustment of the hydraulic system itself is performed, that is, the adjustment of the speed of the hydraulic pump.This method is highly practical and can be used in main engines of construction machinery under all working conditions. Other working parameters do not need to be adjusted when the method is used under all working conditions. The mapping relationship here can adopt proportional mapping, set-function mapping, or stage-function mapping.

[0035] Most of the aforementioned hydraulic factors can be directly detected by the controller. These hydraulic factors or hydraulic parameters are usually integrated into the controller. For a hydraulic or electrical engineer, these hydraulic factors are easy-to-detect parameters and belong to semi-empirical and semi-black-box control. However, for the detection of some hydraulic factors or hydraulic parameters, no corresponding sensors are provided. Therefore, it is necessary to simply improve the hydraulic system, for example, the main valve spool pressure drop. The main valve spool pressure drop is calculated based on the collected values ​​of differential pressure sensors or pressure sensors arranged upstream and downstream of a valve of a main valve spool.Using the pressure drop values ​​before and after the main valve spool as an example, it is only necessary to mount the differential pressure sensors or the pressure sensors before and after the main valve spool, and no major modification of the hydraulic system is required. Fig. Figure 7 shows an improved schematic diagram of the implementation of closed-loop control in a hydraulic system according to an embodiment of the present disclosure. As in Fig.As shown in Figure 7, the hydraulic system mainly includes a hydraulic pump 1-1, pressure sensors 2-1a to 2-1d, a throttle valve 3-1, an actuator 4-1, a controller 5-1, an oil tank 6-1, and accessories. The throttle valve 3-1 may be a simple damping hole, a flow control valve, a load-balance sensitive valve upstream of the valve, or a load-balance sensitive valve downstream of the valve, etc. The pressure sensors 2-1a to 2-1d may be replaced by differential pressure sensors, and the hydraulic pump 1-1 is not limited to a variable displacement pump and may be replaced by a constant displacement pump. By improving the structure and adding the control algorithm of this embodiment to the controller, an appropriate speed control curve can be implemented, and simplicity and convenience are achieved.The hydraulic pressure of this embodiment can be used for a simple hydraulic resistance control system, a load-dependent control system (including pre-valve compensation and post-valve compensation), a positive flow system, a negative flow system, a constant power system, etc., and has a wide range of applications.

[0036] In some other optional embodiments, the electro-hydraulic proportional flow control directional control valve 3-1 is replaced by an electric proportional throttle valve 7b, and other circuits remain unchanged. A diagram of the structure of the replaced hydraulic system is shown in Fig. 8 shown. Fig. 8 shows an improved schematic diagram of the implementation of the closed-loop control in another hydraulic system according to an embodiment of the present disclosure.

[0037] Based on the same application concept, the present disclosure further provides an adaptive control apparatus. Fig. 9 shows a schematic structural diagram of an adaptive control device according to an embodiment of the present disclosure. As in Fig. As shown in Figure 9, the adaptive control device is provided. The adaptive control device includes: a parameter feedback module configured to acquire a measured value of a hydraulic factor; a signal generation module configured to generate a control signal for a hydraulic control element according to the measured value; and an adaptive power module configured to control the hydraulic control element according to the control signal and a command signal for the hydraulic control element.

[0038] In some optional embodiments, the hydraulic factor includes at least one of the following factors: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity.

[0039] In some optional embodiments, the hydraulic control element comprises: a multi-way valve, a directional control valve, or an engine speed control module.

[0040] In some optional embodiments, the step of generating a control signal for a hydraulic control element according to the measured value comprises: detecting a change trend of the measured value and a correlation between a trend and a control signal, wherein the correlation between a trend and a control signal includes a correspondence relationship between the change trend of the measured value and the control signal; and generating the control signal for controlling an output of the hydraulic control element according to the change trend of the measured value and the correlation between a trend and a control signal.

[0041] In some optional embodiments, the hydraulic factor is a main valve spool pressure drop, the hydraulic control element is an engine speed control module, and the output of the hydraulic control element is an engine speed. The step of generating a control signal for a hydraulic control element according to the measured value comprises: detecting a change trend of the main valve spool pressure drop according to the real-time measured main valve spool pressure drop; generating an engine speed increase command when a decrease in the main valve spool pressure drop is detected, wherein the engine speed increase command is used to increase the engine speed; and maintaining the engine speed unchanged when an increase in the main valve spool pressure drop to an upper limit of an allowable range is detected.

[0042] In some optional embodiments, the step of controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element comprises: inputting a feedback error signal and the command signal into a PID controller; and controlling the hydraulic control element according to an output of the PID controller and the control signal.

[0043] In some optional embodiments, the method further comprises: determining a PID parameter of the PID controller corresponding to the measured value of the hydraulic factor.

[0044] In some optional embodiments, the step of determining a PID parameter of the PID controller according to the measured value of the hydraulic factor comprises determining the PID parameter corresponding to the measured value using a relationship table or a fitting curve. The relationship table or fitting curve includes at least the PID parameter corresponding to the measured value.

[0045] For specific limitations of the functional modules in the adaptive control device, reference may be made to the above limitations of the adaptive control method, which will not be repeated here. The modules in the device may be implemented in whole or in part by software, hardware, and combinations thereof. The modules may be embedded in or independent of a processor in a computing device in the form of hardware, or they may be stored in software in a memory in the computing device so that the processor can invoke and perform the operations corresponding to the modules described above.

[0046] In some embodiments of the present disclosure, an adaptive control device is further provided. The adaptive control device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor implements the steps of the above adaptive control method when executing the computer program. The processor has functions for numerical calculations and logical operations and includes at least a central processing unit (CPU) with data processing capacity, a random access memory (RAM), a read-only memory (ROM), and various I / O ports and interrupt systems. The processor includes a core, and the core calls a corresponding program unit from the memory.One or more cores may be arranged, and the method described above may be implemented by adjusting parameters of the cores. The memory may comprise non-volatile memory, random access memory (RAM), and / or non-volatile internal memory such as read-only memory (ROM) or flash RAM in the computer-readable medium, and the memory may comprise at least one mass storage chip.

[0047] In one embodiment of the present disclosure, a computer-readable mass storage medium is further provided. The mass storage medium stores instructions. The instructions, when executed on the computer, cause a computer to perform steps of the adaptive control method described above.

[0048] In one embodiment of the present disclosure, a computer program product is provided. The computer program product includes a computer program. The computer program implements the above-described method for adaptive control when executed by a processor.

[0049] Those skilled in the art should understand that the examples of the present disclosure may be provided as methods, systems, or computer program products. Thus, the present disclosure may take the form of an entirely hardware example, an entirely software example, or an example that combines software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable mass storage media (including, but not limited to, disk memory, compact disc read-only memory (CD-ROMs), and optical storage), including computer-usable program code.

[0050] The present disclosure is described with reference to the flowchart and / or block diagram of the method, the apparatus (the system), and the computer program product according to the examples of the present disclosure. It should be understood that computer program instructions can implement each flow and / or each block in the flowcharts and / or block diagrams, and a combination of a flow and / or a block in the flowcharts and / or block diagrams.These computer program instructions may be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processing machine, or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce a device configured to perform a function specified in one or more steps of the flowchart and / or one or more blocks of the block diagram.

[0051] These computer program instructions may also be stored in a computer-readable memory that can direct the computer or other programmable data processing device to operate in a particular mode such that the instructions stored in the computer-readable memory produce an article of manufacture that includes an instruction device, and the instruction device implements the function specified in one or more steps of the flowchart and / or one or more blocks of the block diagram.

[0052] These computer program instructions may alternatively be loaded onto the computer or other programmable data processing device such that a series of operational steps are performed on the computer or other programmable device to produce computer-implemented processing, and the instructions executed on the computer or other programmable device provide steps for implementing the function specified in the one or more steps of the flowchart and / or one or more blocks in the block diagram.

[0053] In a typical configuration, a computing device includes one or more central processing units (CPUs), an input / output interface, a network interface, and internal memory.

[0054] The memory may be non-volatile random access memory (RAM), random access memory (RAM), and / or non-volatile internal memory within the computer-readable medium, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0055] Computer-readable media includes permanent and non-permanent, removable and non-removable media, and can store information using any method or technology. The information can be a computer-readable instruction, a data structure, a program module, or other data.Examples of a computer mass storage medium include, but are not limited to, phase-change random-access memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), other types of random-access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other internal memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD), or other optical mass storage devices, cassette tape, tape or disk mass storage, or other magnetic mass storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device. As defined herein, computer-readable medium does not include transitory media such as modulated data signals and carrier waves.

[0056] It should also be noted that the terms "comprise" and "include," or their other variants, are intended to cover non-exclusive inclusions, such that a process, procedure, product, or device that contains a set of elements includes those elements, further includes other elements not clearly listed, or further includes an element inherent in the process, procedure, product, or device. Unless otherwise limited, an element limited by the phrase "comprises a..." or "includes a..." does not exclude any other identical element present in the process, procedure, product, or device that contains the element.

[0057] The examples described above are merely examples of the present disclosure and are not intended to limit the present disclosure. It will be apparent to one skilled in the art that various modifications and changes can be made to the present disclosure. Any modification, equivalent substitution, improvement, etc., made within the spirit and principles of the present disclosure should be considered within the scope of the claims of the present disclosure. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] CH 202211612598.0

[0001]

Claims

[1] A method for adaptive control, comprising: Recording a measured value of a hydraulic factor; Generating a control signal for a hydraulic control element according to the measured value; and Controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element. [2] The method of claim 1, wherein the hydraulic factor comprises at least one of the following elements: a pressure drop, a flow rate, an oil temperature, a system pressure, and an oil viscosity. [3] The method of claim 1, wherein the hydraulic control element comprises: a multi-way valve, a directional control valve, or a motor. [4] The method of claim 1, wherein generating a control signal for a hydraulic control element according to the measured value comprises: detecting a change trend of the measured value and a correlation between a trend and a control signal, wherein the correlation comprises a correspondence relationship between the change trend of the measured value and the control signal; and Generating the control signal for controlling an output of the hydraulic control element according to the change trend of the measured value and the correlation. [5] The method of claim 4, wherein the hydraulic factor is a main valve piston pressure drop, the hydraulic control element is a motor, and the output of the hydraulic control element is a motor speed; and generating a control signal for a hydraulic control element according to the measured value comprises: Detecting a change trend of the main valve piston pressure drop according to the main valve piston pressure drop measured in real time; Generating an engine speed increase command when a decrease in the main valve piston pressure drop is detected, wherein the engine speed increase command is used to increase the engine speed; and Maintaining the unchanged engine speed when the main valve piston pressure drop is detected as increasing to an upper limit of an allowable range. [6] The method of claim 1, wherein controlling the hydraulic control element according to the control signal and a command signal for the hydraulic control element comprises: Inputting a feedback error signal and the command signal into a proportional-integral-derivative (PID) controller; and Controlling the hydraulic control element according to an output of the PID controller and the control signal. [7] The method of claim 6, further comprising: determining a PID parameter of the PID controller according to the measured value of the hydraulic factor. [8] The method of claim 7, wherein determining the PID parameter of the PID controller according to the measured value of the hydraulic factor comprises: Determining the PID parameter corresponding to the measured value by a relationship table or a fitting curve, wherein the relationship table or the fitting curve has at least the PID parameter corresponding to the measured value. [9] An adaptive control device comprising a parameter feedback module configured to receive a measured value of a hydraulic factor; a signal generation module configured to generate a control signal for a hydraulic control element in accordance with the measured value; and an adjustment power module configured to control the hydraulic control element according to the control signal and a hydraulic control element command signal. [10] An adaptive control device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing steps of the adaptive control method of any one of claims 1 to 8 when executing the computer program. [11] A computer-readable storage medium storing instructions, the instructions causing a computer to perform steps of the adaptive control method of any one of claims 1 to 8 when executed on the computer.

Images