Adaptive control method and apparatus based on erosion wear compensation, and system, electronic device, storage medium and computer program product

Abstract

Provided in the present disclosure are an adaptive control method and apparatus based on erosion wear compensation, and a system, an electronic device, a storage medium and a computer program product. The method comprises: performing finite element simulation on a fluid domain of a hydraulic valve, and performing fitting to obtain an erosion rate function of the hydraulic valve; on the basis of the erosion rate function and a throttling coefficient before erosion, establishing a throttling coefficient prediction model for the hydraulic valve; establishing a mathematical model for a hydraulic system, and designing an adaptive law and a controller on the basis of the mathematical model, wherein the hydraulic system comprises the hydraulic valve, and the mathematical model is used for describing the working principle of the hydraulic system; on the basis of the throttling coefficient prediction model and the mathematical model, establishing an erosion wear compensation model for the hydraulic system; and using the adaptive law, the controller and the erosion wear compensation model to perform adaptive control on the output voltage of the hydraulic system.

Description

Adaptive control method, device, system, electronic device, storage medium and computer program product based on erosion wear compensation

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] The embodiments of the present disclosure are based on Chinese patent application number 202410324119.8, application date March 20, 2024, and application name “Adaptive control method and device based on erosion wear compensation”, and claim the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into the present disclosure as a reference. Technical Field

[0003] The present disclosure relates to, but is not limited to, the field of compensation control technology, and in particular to an adaptive control method, device, system, electronic device, storage medium, and computer program product based on erosion wear compensation. Background Art

[0004] Erosive wear refers to the phenomenon that solid particles violently impact the surface of a material at a certain angle and speed, causing the surface material to fatigue and then fall off.

[0005] Hydraulic valves are widely used in various fields, including aerospace and shipbuilding. In recent years, with the increasing demand for control precision, valve performance and service life have become increasingly prominent. The geometric accuracy of the working edge of a hydraulic valve orifice directly affects its performance. As the valve operates, erosion and wear of the working edge of the valve orifice will occur, which will seriously affect the control accuracy and service life of the valve.

[0006] Summary of the Invention

[0007] Embodiments of the present disclosure provide an adaptive control method, device, system, electronic device storage medium, and computer program product based on erosion wear compensation.

[0008] The present disclosure provides an adaptive control method based on erosion wear compensation, including:

[0009] Performing finite element simulation on the fluid domain of the hydraulic valve to obtain an erosion rate function of the hydraulic valve by fitting;

[0010] Establishing a throttling coefficient prediction model based on the erosion rate function and the throttling coefficient before erosion;

[0011] Establishing a mathematical model of a hydraulic system, and designing an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes the hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system;

[0012] Establishing an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model;

[0013] The hydraulic system is adaptively controlled by utilizing the adaptive law, the controller and the erosion wear compensation model.

[0014] The present disclosure also provides an adaptive control device based on erosion wear compensation, comprising:

[0015] The simulation part is configured to perform finite element simulation on the fluid domain of the hydraulic valve and obtain an erosion rate function of the hydraulic valve by fitting;

[0016] A construction part is configured to establish a throttling coefficient prediction model based on the erosion rate function and the throttling coefficient before erosion;

[0017] The construction part is further configured to establish a mathematical model of the hydraulic system and design an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes the hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system;

[0018] The building part is further configured to establish an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model;

[0019] The control part is configured to adaptively control the output voltage of the hydraulic system by using the adaptive law, the controller and the erosion wear compensation model.

[0020] An embodiment of the present disclosure also provides an electronic device, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor and the memory communicate through the bus, and when the machine-readable instructions are executed by the processor, the steps in the above-mentioned adaptive control method based on erosion wear compensation are performed.

[0021] An embodiment of the present disclosure further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned adaptive control method based on erosion wear compensation are executed.

[0022] An embodiment of the present disclosure provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are run on an electronic device, the electronic device executes the steps in the above-mentioned adaptive control method based on erosion wear compensation.

[0023] For a description of the effects of the above-mentioned adaptive control device, system, electronic device, computer-readable storage medium and computer program product based on erosion wear compensation, please refer to the description of the above-mentioned adaptive control method based on erosion wear compensation.

[0024] To make the above-mentioned objects, features and advantages of the present disclosure more clearly understood, the following embodiments are specifically described in detail with reference to the accompanying drawings. It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and do not limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments. The drawings herein are incorporated into and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and, together with the specification, are used to illustrate the technical solutions of the present disclosure. It should be understood that the following drawings only illustrate certain embodiments of the present disclosure and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without inventive effort.

[0026] FIG1 is a schematic flow chart of an adaptive control method based on erosion wear compensation according to an exemplary embodiment of the present disclosure;

[0027] FIG2 is a schematic diagram of a valve-controlled cylinder system according to an exemplary embodiment of the present disclosure;

[0028] FIG3A is a schematic diagram of an overall control framework of a hydraulic system provided by a conventional method;

[0029] FIG3B is a schematic diagram of an overall control framework of a hydraulic system provided by an exemplary embodiment of the present disclosure;

[0030] FIG4 is a profile diagram of erosion wear of a hydraulic valve according to an exemplary embodiment of the present disclosure;

[0031] FIG5A is a schematic diagram of a control method for a hydraulic system provided by a conventional method;

[0032] FIG5B is a schematic diagram of a control method for a hydraulic system according to an exemplary embodiment of the present disclosure;

[0033] FIG6 is a control effect diagram of an adaptive control method based on erosion wear compensation provided by an exemplary embodiment of the present disclosure;

[0034] FIG7 is a schematic structural diagram of an adaptive control device based on erosion wear compensation provided by an exemplary embodiment of the present disclosure;

[0035] FIG8 is a schematic structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure;

[0036] FIG9 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] The following describes embodiments of the present disclosure in more detail with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0038] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0039] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0040] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0041] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0042] The adaptive control method based on erosion wear compensation provided by the embodiment of the present disclosure can be executed by a terminal or by a chip applied to the terminal.

[0043] Exemplarily, the above-mentioned terminal may include one or more of a mobile phone, a tablet computer, a wearable device, a vehicle-mounted device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), etc., and the exemplary embodiments of the present disclosure do not impose specific restrictions on this.

[0044] FIG1 is a flow chart of an adaptive control method based on erosion wear compensation provided by an exemplary embodiment of the present disclosure. As shown in FIG1 , the adaptive control method based on erosion wear compensation includes the following steps S101 to S105:

[0045] Step S101, performing finite element simulation on the fluid domain of the hydraulic valve, and fitting to obtain the erosion rate function of the hydraulic valve;

[0046] Step S102, establishing a throttling coefficient prediction model for the hydraulic valve based on the erosion rate function and the throttling coefficient before erosion;

[0047] Step S103: establishing a mathematical model of the hydraulic system and designing an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes a hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system;

[0048] Step S104, establishing an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model;

[0049] Step S105 : adaptively controlling the output voltage of the hydraulic system using the adaptive law, the controller, and the erosion wear compensation model.

[0050] Specifically, the exemplary embodiment of the present disclosure takes the hydraulic system as a valve-controlled cylinder system and the hydraulic valve of the valve-controlled cylinder system as a proportional servo valve as an example to illustrate the method of the exemplary embodiment of the present disclosure. Figure 2 is a schematic diagram of the valve-controlled cylinder system provided by the exemplary embodiment of the present disclosure. As shown in Figure 2, the exemplary embodiment of the present disclosure takes the rod displacement of the hydraulic cylinder 201 as the object. At a certain moment, the displacement sensor 205 reads the rod displacement at this time and transmits the rod displacement to the control system 204. The control system 204 compares the rod displacement with the expected displacement to obtain a displacement deviation, and then outputs a control voltage to the proportional servo valve 202 based on this displacement deviation and a certain control strategy, thereby changing the flow rate entering the proportional servo valve 202 from the oil tank 203, thereby achieving control of the rod displacement.

[0051] In practical applications, the exemplary embodiment of the present disclosure can use the Boolean operation concept to draw the fluid domain of the valve cavity of the proportional servo valve, perform finite element simulation on the fluid domain, and obtain finite element simulation results; then fit the finite element simulation results to obtain the erosion rate function of the hydraulic valve.

[0052] At this time, the throttling coefficient of the hydraulic valve before erosion can be obtained, and a throttling coefficient prediction model of the hydraulic valve can be established based on the erosion rate function and the throttling coefficient before erosion.

[0053] Meanwhile, the exemplary embodiment of the present disclosure can establish a mathematical model of a hydraulic system and design an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes a hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system.

[0054] Based on this, the exemplary embodiment of the present disclosure can also establish an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model; and use the adaptive law, controller and erosion wear compensation model to adaptively control the output voltage of the hydraulic system.

[0055] Figure 3A is a schematic diagram of the overall control framework of a hydraulic system provided by a conventional method, and Figure 3B is a schematic diagram of the overall control framework of a hydraulic system provided by an exemplary embodiment of the present disclosure. Comparing Figures 3A and 3B, it can be seen that, compared to conventional methods, the exemplary embodiment of the present disclosure establishes a throttling coefficient prediction model for the hydraulic valves in the hydraulic system, and, in conjunction with the mathematical model of the hydraulic system, establishes an erosion wear compensation model for the hydraulic valves. Then, utilizing an adaptive law, a controller, and the erosion wear compensation model, the output voltage of the hydraulic system is adaptively controlled.

[0056] It should be noted that since erosion wear primarily causes flow leakage in hydraulic valves, the more accurate the throttling coefficient prediction model, the more precise the control of the hydraulic system's output voltage will theoretically be. Based on the selected hydraulic valve model, a mathematical model of the entire hydraulic system is established. To improve compensation accuracy, the mathematical modeling of the hydraulic valve can be as detailed as possible.

[0057] When designing the adaptive law and the robust controller, the parameters that need to be adapted can be selected according to the characteristics of the hydraulic valve, the adaptive law can be designed based on discontinuous projection (other suitable methods can be used), and the robust controller can be designed based on the overall system.

[0058] According to the technical solution of the exemplary embodiment of the present disclosure, the erosion rate function of the hydraulic valve is obtained by fitting through finite element simulation of the fluid domain of the hydraulic valve; a throttling coefficient prediction model of the hydraulic valve is established based on the erosion rate function and the throttling coefficient before erosion; a mathematical model of the hydraulic system is established, and an adaptive law and a controller are designed based on the mathematical model; wherein, the hydraulic system includes a hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system; based on the throttling coefficient prediction model and the mathematical model, an erosion wear compensation model of the hydraulic system is established; using the adaptive law, the controller and the erosion wear compensation model, the output voltage of the hydraulic system is adaptively controlled, and a throttling coefficient prediction model can be established for the hydraulic valve, a mathematical model can be established for the hydraulic system and an adaptive law and a controller can be designed, and then an erosion wear compensation model of the hydraulic system is established based on the throttling coefficient prediction model and the mathematical model. Under the action of the adaptive law and the controller, the output voltage of the hydraulic system is adaptively controlled using the erosion wear compensation model to improve the control accuracy of the hydraulic valve and extend the service life of the hydraulic valve.

[0059] In some embodiments, performing finite element simulation on the fluid domain of the hydraulic valve and fitting to obtain the erosion rate function of the hydraulic valve may include:

[0060] Finite element simulation of the fluid domain of the hydraulic valve was performed to obtain the erosion rate under different valve openings and operating pressure differences;

[0061] The E / CRC wear model is used to fit the erosion rates under different valve openings and working pressure differences, and the erosion rate function of the hydraulic valve is obtained.

[0062] Specifically, exemplary embodiments of the present disclosure can use FLUENT to calculate the erosion wear rate of a hydraulic valve port. For example, extensive finite element analysis (FEA) can be used to calculate the erosion rate for different valve port openings and operating pressure differentials. By fitting these results, an erosion rate expression can be obtained, which is the erosion rate function for the hydraulic valve.

[0063] For example, consider the flowing oil as the continuous phase and the solid particles within the oil as discrete terms. Simulate the flow field distribution of the continuous term and the trajectory of the discrete term in the Lagrangian coordinate system. Integrate the discrete term parameters, such as velocity and impact angle, and then apply these to the E / CRC model to calculate the erosion wear rate.

[0064] The E / CRC wear model can be expressed by the following formula (1):

[0065] Among them, E R represents the E / CRC wear model, represents the mass flow rate of particles, Na represents the number of particles colliding per unit time, v represents the particle erosion velocity; S(t) represents the erosion wear area per unit time, b(v) represents the velocity index (generally taking the empirical value of 2.6), and C(d) represents the particle property function, which takes a value of 1.8×10 -9 ,f(θ a ) is the erosion angle function, and its value is a piecewise function;

[0066] The erosion rate function is expressed by the following formula (2):

[0067] Where ER represents the erosion rate function, x v represents the valve opening, ΔP represents the working pressure difference, and the fitting degree of the erosion rate function is 0.90865.

[0068] In some embodiments, establishing a throttling coefficient prediction model for a hydraulic valve based on the erosion rate function and the throttling coefficient before erosion may include:

[0069] Obtaining the valve opening and erosion time of the hydraulic valve before erosion;

[0070] Calculate the valve opening of the hydraulic valve after erosion based on the valve opening before erosion, erosion time and erosion rate function;

[0071] A throttling coefficient prediction model for hydraulic valves is established based on the valve opening before erosion, the valve opening after erosion and the throttling coefficient before erosion.

[0072] Specifically, FIG4 is a profile diagram of erosion wear of a hydraulic valve provided by an exemplary embodiment of the present disclosure. As shown in FIG4 , assuming that the erosion profiles of the valve core 401 and valve sleeve 402 of the hydraulic valve are quarter-circles, R1 and R2 represent the fillet radius of the erosion wear profiles of the valve core and valve sleeve, respectively, d1 and d2 represent the erosion depths of the valve core and valve sleeve, respectively, and x v0 represents the valve opening before erosion; where R1 = R2 = R, and d1 = d2 = d. Then, based on the relationship between erosion mass loss, erosion depth, and the geometry of the valve opening after erosion, a prediction model for the throttling coefficient caused by erosion wear can be obtained.

[0073] In the method of the exemplary embodiment of the present disclosure, the valve opening after erosion can be expressed by the following formula (3):

[0074] Among them, x v ′ represents the valve opening after erosion, x v0 Indicates the valve opening before erosion.

[0075] 10n 100The erosion wear mass of the valve port caused by a particle in the time Δt can be expressed by the following formula (4):

[0076] Among them, M represents the erosion wear quality of the valve port, ER represents the erosion rate function, A represents the area of ​​the eroded part of the throttling edge of the valve sleeve and valve core, and Δt represents the erosion time.

[0077] The erosion depth of the valve port can be expressed by the following formula (5):

[0078] Where, d represents the erosion depth of the valve port, ρ v It represents the material density of the valve core and valve sleeve, and S represents the erosion wear area.

[0079] From the geometric relationship, we can get the following formula (6):

[0080] Formulas (3) to (6) are combined to obtain the valve opening after erosion. The valve opening after erosion is calculated using the following formula (7):

[0081] Among them, x v ′ represents the valve opening after erosion, x v0 represents the valve opening before erosion, ER represents the erosion rate function, Δt represents the erosion time, ρ v Indicates the material density of the valve core and valve sleeve of the hydraulic valve.

[0082] At this time, the throttling coefficient before erosion can be obtained, and based on the valve opening before erosion, the valve opening after erosion, and the throttling coefficient before erosion, a throttling coefficient prediction model for the hydraulic valve can be established. The throttling coefficient prediction model is expressed by the following formula (8):

[0083] Among them, C V Indicates the throttling coefficient after erosion, C V0 It represents the throttling coefficient before erosion. For other parameters, please refer to the previous text and will not be repeated here.

[0084] In some embodiments, adaptively controlling the output voltage of a hydraulic system using an adaptive law, a controller, and an erosion wear compensation model may include:

[0085] Output current voltage based on adaptive law and controller;

[0086] Output compensation voltage based on erosion wear compensation model, which is related to current erosion time and current working conditions;

[0087] The current voltage is compensated by the compensation voltage, and the output voltage of the hydraulic system includes the current voltage and the compensation voltage.

[0088] Specifically, based on the erosion wear mechanism, it is known that in order to eliminate the flow deviation caused by the erosion wear of the valve port, it is necessary to predict and compensate for the output flow change of the proportional servo valve.

[0089] Figure 5A is a schematic diagram of a conventional hydraulic system control method, and Figure 5B is a schematic diagram of a hydraulic system control method according to an exemplary embodiment of the present disclosure. Comparing Figures 5A and 5B, it can be seen that, compared to conventional methods, the exemplary embodiment of the present disclosure can use a given time and a desired periodic displacement of the rod as inputs, calculate the post-erosion throttling coefficient of the proportional servo valve through an erosion wear compensation model, and calculate a compensation voltage du based on the difference between the post-erosion throttling coefficient and the pre-erosion throttling coefficient under given time and operating conditions. The compensation voltage du is used to compensate the current voltage u output by the controller, so that the output voltage of the hydraulic system includes the current voltage u and the compensation voltage du.

[0090] Based on this, the example embodiment of the present disclosure can establish an erosion wear compensation model for the hydraulic valve in the hydraulic system, and then use the adaptive law, controller and erosion wear compensation model to adaptively control the output voltage of the hydraulic system to improve the control accuracy of the hydraulic valve and extend the service life of the hydraulic valve.

[0091] Figure 6 illustrates the control effects of an adaptive control method based on erosion wear compensation, as provided by an exemplary embodiment of the present disclosure. As shown in Figure 6, before voltage compensation is implemented, flow leakage causes the actual output flow peak to be much higher than the desired output. After voltage compensation is implemented, the actual output flow peak is much closer to the desired output.

[0092] Taking the hydraulic system as a valve-controlled cylinder system and the hydraulic valve of the valve-controlled cylinder system as a proportional servo valve as an example, the mathematical model of the valve-controlled cylinder system can include the following:

[0093] The mathematical model of the proportional servo valve can be expressed by the following formula (9): c =K a *u (9)

[0094] Among them, P c Indicates the control pressure of the spool valve, K a represents the voltage gain, and u represents the input voltage of the hydraulic valve (also the current voltage output by the controller).

[0095] The motion equation of the valve core can be expressed by the following formula (10):

[0096] Among them, A2 represents the control pressure P of the spool valve core c The effective area of ​​the spool, P out Indicates the valve outlet pressure; A1 indicates the feedback effect area of ​​the valve outlet pressure on the spool, P t Indicates the preload force of the spool, m v Indicates the mass of the spool, y v Indicates the displacement of the spool, y v The “·” above indicates the first-order derivative, y v The “··” above indicates the second-order derivative, C f Indicates the damping of the spool valve, K f Indicates the spring rate of the spool valve.

[0097] The flow rate of the proportional servo valve can be expressed by the following formula (11):

[0098] Where: q v Indicates the valve outlet flow rate; C v Indicates the throttling coefficient; d m Indicates the valve port diameter; P s Indicates oil source pressure; P oil represents the back pressure of the oil tank; ρ represents the oil density.

[0099] The flow equation of the hydraulic cylinder can be expressed by the following formula (12):

[0100] Among them, A g represents the effective area of ​​the hydraulic cylinder, Y represents the piston displacement of the hydraulic cylinder, C tp Indicates the total leakage coefficient of the hydraulic cylinder, P represents the pressure difference between the two chambers of the hydraulic cylinder, V t represents the total volume of the hydraulic cylinder, and βe represents the bulk elastic modulus of the working fluid.

[0101] The motion equation of the hydraulic cylinder can be expressed by the following formula (13):

[0102] Where m represents the total mass of the piston and the load, B k Indicates the viscous damping coefficient of the variable cylinder piston and load, K f It represents the spring stiffness of the load (spool), and F represents the regulating force of the variable mechanism.

[0103] Based on this, exemplary embodiments of the present disclosure can design adaptive laws and controllers based on mathematical models.

[0104] For example, according to the principle of the system, the state variables are defined as follows:

[0105] Combined with the mathematical model of the valve-controlled cylinder system, the state space expression is:

[0106] in,

[0107] According to the influence of parameter changes on system tracking effect and other dynamic characteristics during system operation, the parameter variables are defined as follows:

[0108] Substituting the parameter variables into the state space expression, we get the following formula:

[0109] in,

[0110] Assume that the unknown parameter vector θ is in a known bounded set Ω, and:

[0111] Among them, θ min =[θ 1min ,…,θ nmin ] T ,θ max =[θ 1max ,…,θ nmax ] T .

[0112] make represents the estimated value of θ, represents the estimation error, i.e. Design an adaptive law based on discontinuous projections:

[0113] Where Γ represents the adaptive law, which is a positive definite diagonal constant matrix; τ represents the adaptive function. Define the non-continuous projection have:

[0114] From Equations (16) and (17), we can see that for any adaptive function τ, the designed adaptive law has the following two properties:

[0115] For example, when designing a controller, a set of error variables is defined: z2 = x2 - x 2eq , e1=x1-x 1d (t),

[0116] Among them, x 1drepresents the desired motion trajectory, x1 represents the actual motion trajectory, and z1 represents the tracking error. In the control of the system, it is necessary to ensure that z1 is close to 0. Among them, K is a constant gain greater than 0. Because:

[0117] As long as z2 is as small as possible and approaches 0, z1 will also approach 0. Based on the state space expression, we can get The expression is as follows:

[0118] The virtual control law α2 of x3 is defined as follows: α2 = α 2a +α 2s (22) Combined with formula (21), we can get:

[0119] The designed robust control function α 2s It can be expressed as: 2s = = α 2s1 +α 2s2 (24) T2=ω2φ2Z2 (25) α 2s1 =-k 2s1 z2 (26)

[0120] Among them, ω2 is a weight factor greater than 0, k2 is a scalar greater than 0, C φ2 Is a positive constant diagonal matrix. Define z3=x3-α2 as the input difference, and substitute the control rate formula into The expression of derives a new expression:

[0121] Robust control function α 2s2 The following conditions should be met:

[0122] Among them, ε2 is a positive design parameter that can be infinitely close to 0. Condition 1 shows that the robust control function α 2s2 According to the parameter uncertainty and uncertain nonlinearity To synthesize; Condition 2 is to ensure α 2s2 is dissipative in nature and thus does not interfere with the adaptive control part α 2s2 function.

[0123] Define a semi-positive definite function V2, ω2 is a weighting factor greater than zero.

[0124] Will Substituting into V2 and finding the time derivative of V2, we can get:

[0125] Next, determine the actual control law u of the synthetic system. Select the following Lyapunov function:

[0126] From z3=x3-α2, we can get:

[0127] in,

[0128] According to formula (32) to formula (35), we can get:

[0129] This gives the control input:

[0130] in,

[0131] Among them, k 3s1 is a positive constant, u s2 is a positive definite constant diagonal matrix satisfying the following conditions:

[0132] In addition, from formula (29), formula (36) and formula (37), we can get:

[0133] From formula (30), formula (39) and formula (40), we can get:

[0134] Therefore, z1, z2 and z3 are bounded. From the definition of error variables, we can see that x 2eq is bounded. From formula (34), we can see that is bounded, so u is bounded. For any adaptive function τ, the boundary of the positive definite function V3 can be determined as:

[0135] Therefore, in the controller, as long as reasonable parameters can be selected, the difference between the actual output value of the system and the expected value can be very small.

[0136] Based on this, an erosion wear compensation model is constructed by combining the throttling coefficient prediction model of the hydraulic valve and the mathematical model of the valve-controlled cylinder system.

[0137] According to formula (13), we have:

[0138] According to formula (11), we have:

[0139] Combining formula (9), formula (10) and formula (44), we have:

[0140] Let the voltage corresponding to the throttling coefficient before erosion be u0, and the voltage corresponding to the throttling coefficient after erosion be u1. Combining formulas (12), (43), and (45), the compensation voltage du determined by the erosion wear compensation model can be calculated by the following formula (46): u =u0-u1 (46)

[0141] At least one of the above-mentioned technical solutions adopted in the embodiments of the present disclosure can achieve the following beneficial effects: by performing finite element simulation on the fluid domain of the hydraulic valve, the erosion rate function of the hydraulic valve is fitted; based on the erosion rate function and the throttling coefficient before erosion, a throttling coefficient prediction model of the hydraulic valve is established; a mathematical model of the hydraulic system is established, and an adaptive law and a controller are designed based on the mathematical model; wherein, the hydraulic system includes a hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system; based on the throttling coefficient prediction model and the mathematical model, an erosion wear compensation model of the hydraulic system is established; using the adaptive law, the controller and the erosion wear compensation model, the output voltage of the hydraulic system is adaptively controlled, and a throttling coefficient prediction model can be established for the hydraulic valve, a mathematical model can be established for the hydraulic system and an adaptive law and a controller can be designed, and then an erosion wear compensation model of the hydraulic system is established based on the throttling coefficient prediction model and the mathematical model. Under the action of the adaptive law and the controller, the output voltage of the hydraulic system is adaptively controlled using the erosion wear compensation model to improve the control accuracy of the hydraulic valve and extend the service life of the hydraulic valve.

[0142] The above mainly introduces the solutions provided by the embodiments of the present disclosure. It is understandable that in order to implement the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0143] The embodiments of the present disclosure can divide the functional units of the electronic device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical function division. In actual implementation, there may be other division methods.

[0144] By dividing functional modules into modules corresponding to their respective functions, an exemplary embodiment of the present disclosure provides an adaptive control device based on erosion wear compensation. This adaptive control device based on erosion wear compensation can be an electronic device or a chip used in an electronic device. Figure 7 is a schematic diagram of the structure of the adaptive control device based on erosion wear compensation provided by an exemplary embodiment of the present disclosure. As shown in Figure 7, the device 700 includes:

[0145] The simulation part 701 is configured to perform finite element simulation on the fluid domain of the hydraulic valve and obtain the erosion rate function of the hydraulic valve by fitting;

[0146] The construction part 702 is configured to establish a throttling coefficient prediction model based on the erosion rate function and the throttling coefficient before erosion;

[0147] The construction part 702 is further configured to establish a mathematical model of the hydraulic system and design an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes the hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system;

[0148] The building part 702 is further configured to build an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model;

[0149] The control part 703 is configured to adaptively control the output voltage of the hydraulic system by using the adaptive law, the controller and the erosion wear compensation model.

[0150] In some embodiments, the simulation part 701 is further configured to perform finite element simulation on the fluid domain of the hydraulic valve to obtain erosion rates under multiple different valve openings and working pressure differences;

[0151] The E / CRC wear model is used to fit the erosion rates under the multiple different valve port openings and working pressure differences to obtain the erosion rate function of the hydraulic valve.

[0152] In some embodiments, the E / CRC wear model is represented by the following formula:

[0153] Among them, E R represents the E / CRC wear model, represents the mass flow rate of particles, N a represents the number of particles colliding per unit time, v represents the particle erosion velocity; S(t) represents the erosion wear area per unit time, b(v) represents the velocity index (generally taking the empirical value of 2.6), and C(d) represents the particle property function, which takes a value of 1.8×10 -9 ,f(θ a ) is the erosion angle function, and its value is a piecewise function;

[0154] The erosion rate function is expressed by the following formula:

[0155] Where ER represents the erosion rate function, x v represents the valve opening, ΔP represents the working pressure difference, and the fitting degree of the erosion rate function is 0.90865.

[0156] In some embodiments, the construction portion 702 is further configured to obtain the valve opening and erosion time of the hydraulic valve before erosion;

[0157] Calculating the valve port opening of the hydraulic valve after erosion based on the valve port opening before erosion, the erosion time, and the erosion rate function;

[0158] A throttling coefficient prediction model of the hydraulic valve is established based on the valve port opening before erosion, the valve port opening after erosion, and the throttling coefficient before erosion.

[0159] In some embodiments, the valve opening after erosion is calculated using the following formula:

[0160] Among them, x v ′ represents the valve opening after erosion, x v0 represents the valve opening before erosion, ER represents the erosion rate function, Δt represents the erosion time, ρ v Indicates the material density of the valve core and valve sleeve of the hydraulic valve.

[0161] In some embodiments, the throttling coefficient prediction model is represented by the following formula:

[0162] Among them, C V Indicates the throttling coefficient after erosion, C V0 It represents the throttling coefficient before erosion. For other parameters, please refer to the previous text and will not be repeated here.

[0163] In some embodiments, the control portion 703 is further configured to output a current voltage based on the adaptive law and the controller;

[0164] Outputting a compensation voltage based on the erosion wear compensation model, wherein the compensation voltage is related to the current erosion time and the current working condition;

[0165] The current voltage is compensated by using the compensation voltage, and the output voltage of the hydraulic system includes the current voltage and the compensation voltage.

[0166] An embodiment of the present disclosure further provides an electronic device, comprising: at least one processor; a memory for storing instructions executable by at least one processor; wherein the at least one processor is configured to execute instructions to implement the steps of the above method disclosed in the embodiment of the present disclosure.

[0167] Figure 8 is a schematic diagram of the structure of an electronic device provided by an exemplary embodiment of the present disclosure. As shown in Figure 8, the electronic device 800 includes at least one processor 801 and a memory 802 coupled to the processor 801. The processor 801 can execute the corresponding steps in the above method disclosed in the embodiment of the present disclosure.

[0168] The processor 801 can also be referred to as a central processing unit (CPU), which can be an integrated circuit chip with signal processing capabilities. Each step in the above method disclosed in the embodiment of the present disclosure can be completed by the hardware integrated logic circuit in the processor 801 or by instructions in the form of software. The processor 801 can be a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in the embodiment of the present disclosure can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in the memory 802, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, or other mature storage media in the art. The processor 801 reads the information in the memory 802 and completes the steps of the above method in combination with its hardware.

[0169] In addition, when various operations / processes according to the present disclosure are implemented using software and / or firmware, the programs constituting the software can be installed from a storage medium or a network to a computer system having a dedicated hardware structure, such as the computer system 900 shown in FIG9 . When the various programs are installed, the computer system can perform various functions, including those described above. FIG9 is a schematic diagram of the structure of a computer system provided by an exemplary embodiment of the present disclosure.

[0170] Computer system 900 is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. Electronic devices can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0171] As shown in FIG9 , the computer system 900 includes a computing unit 901, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 902 or a computer program loaded from a storage unit 908 into a random access memory (RAM) 903. Various programs and data required for the operation of the computer system 900 can also be stored in the RAM 903. The computing unit 901, the ROM 902, and the RAM 903 are connected to each other via a bus 904. An input / output (I / O) interface 905 is also connected to the bus 904.

[0172] Multiple components within computer system 900 are connected to I / O interface 905, including an input unit 906, an output unit 907, a storage unit 908, and a communication unit 909. Input unit 906 can be any type of device capable of inputting information into computer system 900. Input unit 906 can receive input numeric or character information and generate key input signals related to user settings and / or function control of an electronic device. Output unit 907 can be any type of device capable of presenting information and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. Storage unit 908 may include, but is not limited to, a magnetic disk or an optical disk. Communication unit 909 allows computer system 900 to exchange information / data with other devices over a network, such as the Internet, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver and / or chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0173] The computing unit 901 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 901 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units for running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 901 performs the various methods and processes described above. For example, in some embodiments, the above-mentioned method disclosed in the embodiments of the present disclosure may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 908. In some embodiments, part or all of the computer program may be loaded and / or installed on an electronic device via ROM 902 and / or communication unit 909. In some embodiments, the computing unit 901 may be configured to perform the above-mentioned method disclosed in the embodiments of the present disclosure by any other appropriate means (e.g., by means of firmware).

[0174] An embodiment of the present disclosure further provides a computer-readable storage medium, wherein when instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the above method disclosed in the embodiment of the present disclosure.

[0175] The computer-readable storage medium in the embodiments of the present disclosure can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. The above-mentioned computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the above. More specifically, the above-mentioned computer-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0176] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0177] An embodiment of the present disclosure further provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are run on an electronic device, the electronic device is enabled to execute the steps in the above method.

[0178] In embodiments of the present disclosure, computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or combinations thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer.

[0179] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each box in the flowchart or block diagram can represent a module, program segment, or a part of code, and the module, program segment, or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0180] The modules, components, or units described in the embodiments of the present disclosure may be implemented in software or hardware. The names of the modules, components, or units do not necessarily limit the modules, components, or units themselves.

[0181] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, and without limitation, exemplary hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0182] The above descriptions are merely some embodiments of the present disclosure and an illustration of the technical principles employed. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above-mentioned technical features, but also encompasses other technical solutions formed by any combination of the above-mentioned technical features or their equivalents without departing from the above-mentioned disclosed concepts. For example, a technical solution formed by replacing the above-mentioned features with (but not limited to) technical features with similar functions disclosed in the present disclosure.

[0183] Although some specific embodiments of the present disclosure have been described in detail by way of examples, those skilled in the art will appreciate that the above examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Those skilled in the art will appreciate that modifications may be made to the above embodiments without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. An adaptive control method based on erosion wear compensation, comprising: Performing finite element simulation on the fluid domain of the hydraulic valve to obtain an erosion rate function of the hydraulic valve by fitting; Establishing a throttling coefficient prediction model for the hydraulic valve based on the erosion rate function and the throttling coefficient before erosion; Establishing a mathematical model of a hydraulic system, and designing an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes the hydraulic valve, and the mathematical model is used to describe the working principle of the hydraulic system; Establishing an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model; The output voltage of the hydraulic system is adaptively controlled by utilizing the adaptive law, the controller and the erosion wear compensation model.

2. The method according to claim 1, wherein The finite element simulation is performed on the fluid domain of the hydraulic valve to obtain the erosion rate function of the hydraulic valve by fitting, including: Finite element simulation of the fluid domain of the hydraulic valve was performed to obtain the erosion rate under different valve openings and working pressure differences; The E / CRC wear model is used to fit the erosion rates under the multiple different valve port openings and working pressure differences to obtain the erosion rate function of the hydraulic valve.

3. The method according to claim 2, wherein: The E / CRC wear model is expressed by the following formula: Among them, E R represents the E / CRC wear model, represents the mass flow rate of particles, N a represents the number of particles colliding per unit time, v represents the particle erosion velocity; S(t) represents the erosion wear area per unit time, b(v) represents the velocity index (generally taking the empirical value of 2.6), and C(d) represents the particle property function, which takes a value of 1.8×10 -9 ,f(θ a ) is the erosion angle function, and its value is a piecewise function; The erosion rate function is expressed by the following formula: Where ER represents the erosion rate function, x v represents the valve opening, ΔP represents the working pressure difference, and the fitting degree of the erosion rate function is 0.90865.

4. The method according to claim 1, wherein The step of establishing a throttling coefficient prediction model for the hydraulic valve based on the erosion rate function and the throttling coefficient before erosion includes: Obtaining the valve opening and erosion time of the hydraulic valve before erosion; Calculating the valve port opening of the hydraulic valve after erosion based on the valve port opening before erosion, the erosion time, and the erosion rate function; A throttling coefficient prediction model of the hydraulic valve is established based on the valve port opening before erosion, the valve port opening after erosion, and the throttling coefficient before erosion.

5. The method according to claim 4, wherein The valve opening after erosion is calculated by the following formula: Among them, x v ′ represents the valve opening after erosion, x v0 represents the valve opening before erosion, ER represents the erosion rate function, Δt represents the erosion time, ρ v Indicates the material density of the valve core and valve sleeve of the hydraulic valve.

6. The method according to claim 5, wherein: The throttling coefficient prediction model is expressed by the following formula: Among them, C V Indicates the throttling coefficient after erosion, C V0 It represents the throttling coefficient before erosion. For other parameters, please refer to the previous text and will not be repeated here.

7. The method according to any one of claims 1 to 6, wherein The adaptive control of the output voltage of the hydraulic system by using the adaptive law, the controller and the erosion wear compensation model includes: outputting a current voltage based on the adaptive law and the controller; Outputting a compensation voltage based on the erosion wear compensation model, wherein the compensation voltage is related to the current erosion time and the current working condition; The current voltage is compensated by the compensation voltage, and the output voltage of the hydraulic system includes the current voltage. before voltage and the compensation voltage.

8. An adaptive control device based on erosion wear compensation, comprising: The simulation part is configured to perform finite element simulation on the fluid domain of the hydraulic valve and obtain an erosion rate function of the hydraulic valve by fitting; A construction part is configured to establish a throttling coefficient prediction model based on the erosion rate function and the throttling coefficient before erosion; The construction part is further configured to establish a mathematical model of the hydraulic system and design an adaptive law and a controller based on the mathematical model; wherein the hydraulic system includes the hydraulic valve, and the mathematical model is configured to describe the working principle of the hydraulic system; The building part is further configured to establish an erosion wear compensation model for the hydraulic system based on the throttling coefficient prediction model and the mathematical model; The control part is configured to adaptively control the output voltage of the hydraulic system by using the adaptive law, the controller and the erosion wear compensation model.

9. The device according to claim 8, wherein The simulation part 701 is further configured to perform finite element simulation on the fluid domain of the hydraulic valve to obtain erosion rates under multiple different valve openings and working pressure differences; The E / CRC wear model is used to fit the erosion rates under the multiple different valve port openings and working pressure differences to obtain the erosion rate function of the hydraulic valve.

10. The device according to claim 9, wherein The E / CRC wear model is expressed by the following formula: Among them, E R represents the E / CRC wear model, represents the mass flow rate of particles, N a represents the number of particles colliding per unit time, v represents the particle erosion velocity; S(t) represents the erosion wear area per unit time, b(v) represents the velocity index (generally taking the empirical value of 2.6), and C(d) represents the particle property function, which takes a value of 1.8×10 -9 ,f(θ a ) is the erosion angle function, and its value is a piecewise function; The erosion rate function is expressed by the following formula: Where ER represents the erosion rate function, x v represents the valve opening, ΔP represents the working pressure difference, and the fitting degree of the erosion rate function is 0.90865.

11. The device according to claim 8, wherein The construction part 702 is further configured to obtain the valve opening and erosion time of the hydraulic valve before erosion; Calculating the valve port opening of the hydraulic valve after erosion based on the valve port opening before erosion, the erosion time, and the erosion rate function; A throttling coefficient prediction model of the hydraulic valve is established based on the valve port opening before erosion, the valve port opening after erosion, and the throttling coefficient before erosion.

12. The device according to claim 11, wherein The valve opening after erosion is calculated by the following formula: Among them, x v ′ represents the valve opening after erosion, x v0 represents the valve opening before erosion, ER represents the erosion rate function, Δt represents the erosion time, ρ v Indicates the material density of the valve core and valve sleeve of the hydraulic valve.

13. The device according to claim 12, wherein The throttling coefficient prediction model is expressed by the following formula: Among them, C V Indicates the throttling coefficient after erosion, C V0 It represents the throttling coefficient before erosion. For other parameters, please refer to the previous text and will not be repeated here.

14. The device according to any one of claims 8 to 13, wherein: The control part 703 is further configured to output a current voltage based on the adaptive law and the controller; Outputting a compensation voltage based on the erosion wear compensation model, wherein the compensation voltage is related to the current erosion time and the current working condition; The current voltage is compensated by using the compensation voltage, and the output voltage of the hydraulic system includes the current voltage and the compensation voltage.

15. An electronic device, characterized in that: include: at least one processor; a memory for storing the at least one processor-executable instruction; The at least one processor is configured to execute the instructions to implement the steps of the method according to any one of claims 1 to 7.

16. A computer-readable storage medium, characterized in that When the instructions in the computer-readable storage medium are executed by a processor of an electronic device, the electronic device is enabled to perform the steps of the method according to any one of claims 1 to 7. 17 . A computer program product, comprising a computer program or instructions, which, when the computer program or instructions are run on an electronic device, causes the electronic device to execute the steps of the method according to claim 1 .

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