CN115929738A - Method for a hydraulic system, training method for a control model and control method - Google Patents

Abstract

Embodiments of the present invention provide a method for a hydraulic system, a control model training method, and a control method, which belong to the field of hydraulic control. The method for a hydraulic system includes: acquiring a control instruction; using a feedforward control model to determine a first control signal according to the control instruction, wherein the first control signal is used to control a main control valve to control multiple actuators according to the first control signal The hydraulic oil flow rate; use the error model to determine the command error correction amount according to the control command; correct the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, A second control signal output to the main control valve is obtained. Through the above method, the error model can be used to correct the error existing in the feedforward model itself during the use of the hydraulic system, which improves the control accuracy of the hydraulic system and the reliability of the construction machinery.

Description

Method for a hydraulic system, training method for a control model, and control method

technical field

The invention relates to the field of hydraulic control, in particular to a method for a hydraulic system, a control model training method and a control method.

Background technique

The existing whole machine control system used to control the hydraulic system of construction machinery is generally a control system based on the feedforward control method. For example, on an excavator, the operator issues instructions through the handle, and the instructions pass through the front of Feedback model processing is converted into control instructions indicating the corresponding flow distribution to control the spool opening of the main control valve, thereby controlling the action of the actuator. It can be seen that the control accuracy of the control system in the prior art depends on the accuracy of the built-in feed-forward model in the control system, and the error caused by the feed-forward model cannot be corrected, that is, the prior art naturally inherits the steady-state invariance of the feed-forward control , the error caused by the feed-forward model will always exist and cannot be automatically optimized during use, so that the instructions input by the operator often do not match the motion results of the actuator.

Contents of the invention

The purpose of the embodiments of the present invention is to overcome the problem that the error cannot be corrected when using the feedforward model to control the hydraulic system of construction machinery in the prior art, and to provide a method for the hydraulic system, a training method for the control model, and a control method. method.

The first aspect of the present application provides a method for a hydraulic system, the hydraulic system includes a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is used to Signals control hydraulic oil flow to multiple actuators to control motion of multiple actuators by:

Acquiring control instructions generated by the instruction generation unit according to user operations, wherein each control instruction corresponds to a target movement of an actuator;

Using a feedforward control model to determine a first control signal according to a control instruction;

Using the error model to determine the command error correction amount according to the control command;

The first control signal is corrected according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion to obtain a second control signal output to the main control valve.

In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

The error model is corrected according to the error between the displacement information and the corresponding control command.

In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

A third control signal obtained by performing PID adjustment according to the error between the displacement information and the corresponding control command;

Input the third control signal and the second control signal into the main control valve.

In one embodiment of the present application, the hydraulic system also includes a displacement sensor, and the establishment process of the error model includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

The displacement information and corresponding control instructions are used as analysis data, and an error model is established based on the analysis data.

In one embodiment of the present application, the displacement information and corresponding control instructions are used as analysis data, and an error model is established based on the analysis data, including:

Confirm the error between the displacement information in the analysis data and the corresponding control instruction, and verify the error based on statistics, so as to screen out the data whose error does not meet the preset conditions in the analysis data, and obtain the model construction data;

Build an error model from the model building data.

The second aspect of the present application provides a method for training a control model of a hydraulic system. The hydraulic system includes a command generating unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is used for The obtained control signal controls the hydraulic oil flow of multiple actuators to control the movement of multiple actuators, and the methods include:

Obtain the hydraulic oil flow data and displacement data of the actuator during the movement process, and the control command data output by the command generating unit as a data set, wherein the hydraulic oil flow data, displacement data and control command data are used to implement the first aspect of the application obtained by the method provided for use in hydraulic systems;

Input the data set into the model to be trained for iterative training until the preset convergence condition of iterative training is met, so as to obtain the control model.

The third aspect of the present application provides a control method for a hydraulic system. The hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to The control signal controls the hydraulic oil flow of multiple actuators to control the movement of multiple actuators, including:

Inputting the control command into the control model to determine the hydraulic oil flow corresponding to each actuator, wherein the control model is obtained through the training method for the control model of the hydraulic system provided in the second aspect of the application;

Multiple hydraulic oil flows are sent as control signals to the main control valve.

The fourth aspect of the present application provides a device for a hydraulic system. The hydraulic system includes a command generating unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to control The signal controls the hydraulic oil flow of multiple actuators to control the movement of multiple actuators. The device includes:

An instruction acquiring unit, configured to acquire the control instructions generated by the instruction generating unit according to user operations, wherein each control instruction corresponds to a target motion of an actuator;

a first control signal generating unit, configured to use a feedforward model to determine a first control signal according to a control instruction;

a first control signal correction unit, configured to determine a command error correction amount according to the control command by using an error model;

The first control signal is corrected according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion to obtain a second control signal output to the main control valve.

The fifth aspect of the present application provides a training device for a control model of a hydraulic system. The hydraulic system includes a command generation unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control valve is used for The obtained control signal controls the hydraulic oil flow of multiple actuators to control the movement of multiple actuators. The device includes:

The data acquisition unit is used to obtain the hydraulic oil flow data and displacement data of the actuator during the movement process, and the control command data output by the command generation unit as a data set, wherein the hydraulic oil flow data, displacement data and control command data are Obtained by implementing the method for a hydraulic system provided in the first aspect of the present application;

The model training unit is used to input the data set into the model to be trained for iterative training until the preset convergence condition of iterative training is satisfied, so as to obtain the control model.

The sixth aspect of the present application provides a control device for a hydraulic system. The hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to The control signal controls the hydraulic oil flow of multiple actuators to control the movement of multiple actuators. The device includes:

The flow determination unit is configured to input the control command into the control model to determine the hydraulic oil flow corresponding to each actuator, wherein the control model is obtained through the training method for the control model of the hydraulic system provided in the second aspect of the application;

The signal sending unit is used to send a plurality of hydraulic oil flows as control signals to the main control valve.

The seventh aspect of the present application provides an electronic device, including a processor and a memory, the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to realize the use provided by the first aspect of the present application The method for the hydraulic system, or the training method for the control model of the hydraulic system provided in the second aspect of the application, or the control method for the hydraulic system provided in the third aspect of the application.

The eighth aspect of the present application provides a machine-readable storage medium, where instructions are stored on the machine-readable storage medium, and when the instructions are executed by a processor, the processor implements the method for a hydraulic system provided in the first aspect of the present application, Or the training method for the control model of the hydraulic system provided in the second aspect of the present application, or the control method for the hydraulic system provided in the third aspect of the present application.

Through the above technical solution, after the processor obtains the control instruction sent by the instruction generating unit, it determines the instruction error correction amount according to the control instruction through the error model, so as to correct the first control signal output by the feedforward model, so that the first control signal The error between the motion control result and the corresponding target motion is reduced. That is, the processor uses the error model to correct the error existing in the feed-forward model itself during the use of the hydraulic system, which improves the control accuracy of the hydraulic system and the reliability of the construction machinery.

Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description.

Description of drawings

The accompanying drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present invention, but do not constitute limitations to the embodiments of the present invention. In the attached picture:

Fig. 1 schematically shows a flow chart of a method for a hydraulic system according to an embodiment of the present application;

Fig. 2 schematically shows a schematic diagram of steps executed in a hydraulic system according to an embodiment of the present application;

Fig. 3 schematically shows a flow chart of a method for training a control model of a hydraulic system according to an embodiment of the present application;

Fig. 4 schematically shows a flowchart of a control method for a hydraulic system according to an embodiment of the present application.

Detailed ways

The specific implementation manners of the present application will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementations described here are only used to illustrate and explain the present application, and are not intended to limit the present application.

It should be noted that if there are directional indications (such as up, down, left, right, front, back...) in the embodiment of the present application, the directional indications are only used to explain the position in a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

Fig. 1 schematically shows a flow chart of a method for a hydraulic system according to an embodiment of the present application. As shown in Fig. 1, in one embodiment of the present application, a method for a hydraulic system is provided , the hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to control the hydraulic oil flow of multiple actuators according to the obtained control signal, so as to control multiple The actuator moves, the method may include step S100-step S400.

The hydraulic system included in construction machinery is usually controlled by a control method based on a feed-forward model. The feed-forward model can convert the received control command into a signal to control the actuator. The control logic of the feedforward model is open-loop, that is, the hydraulic control accuracy of the feedforward model depends on the accuracy of the feedforward model itself.

Step S100: Obtain the control instructions generated by the instruction generation unit according to the user's operation, wherein each control instruction corresponds to a target movement of the actuator.

Exemplarily, the command generation unit includes a hydraulic control handle integrated on the construction machinery, the operator operates the handle, and the command generation unit generates corresponding control commands according to the opening of the handle, and each control command corresponds to a target movement of the actuator , For example, the operator issues "moving speed 5m/s" by controlling the opening of the handle, that is, instructs a certain actuator to move at a speed of 5m/s. The instruction sending unit sends the control instruction based on the opening of the handle to the processor, so that the processor performs corresponding motion control according to the control instruction.

In one embodiment of the present application, after obtaining the opening degree of the handle, the instruction generation unit first converts it into an opening degree curve, and performs buffer processing to form a control instruction in the form of an electrical signal for the subsequent first The determination of the control signal and the determination of the command error correction amount.

Step S200: Using a feed-forward control model to determine a first control signal according to a control instruction.

FIG. 2 schematically shows a schematic diagram of steps executed in a hydraulic system according to an embodiment of the present application. Please refer to FIG. 1 and FIG. 2 together.

Exemplarily, the hardware facilities of the hydraulic system may also include an oil tank for storing hydraulic oil and a hydraulic auxiliary mechanism. The hydraulic oil in the oil tank is pumped to the main control valve through a load-sensitive main pump, and the main control valve receives The control signals sent by the processor control different valve blocks to distribute hydraulic oil with different flow rates to the corresponding actuators, so as to control the actuators to perform different types of movements.

The processor uses the feed-forward model to output the first control signal corresponding to the obtained control command according to the control command. The first control signal is an uncorrected feed-forward signal whose control accuracy depends on the accuracy of the model itself. If the first control signal directly output to the main control valve, the main control valve will control the hydraulic oil flow of multiple actuators according to the first control signal, then the error existing in the feed-forward model itself will not be corrected, the application for hydraulic pressure provided by the embodiment of this application The purpose of the systematic approach is to correct this error.

Step S300: Using the error model to determine the command error correction amount according to the control command.

The error model can output the command error correction amount corresponding to the control model according to the control command, and the establishment of the error model requires a certain amount of data basis.

In one embodiment of the present application, the hydraulic system also includes a displacement sensor, and the establishment process of the error model includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

The displacement information and corresponding control instructions are used as analysis data, and an error model is established based on the analysis data.

The error model outputs different instruction error corrections according to different control instructions. In the initial stage of the processor's hydraulic system control, the displacement information collected by the displacement sensor is not enough to establish an error model, that is, the processor does not feed forward in this initial stage. The model is corrected.

After the processor has controlled the hydraulic system for a certain number of times, the displacement information collected by the displacement sensor is enough to establish an error model, and the displacement information and the control instruction corresponding to the displacement information generated by the control actuator are used as the analysis data, and the processor can According to the error between the target movement corresponding to the control command and the real motion control result (ie displacement information) generated by the control command, an error model is established, so that the error model can directly output the corresponding command error correction amount according to the control command.

In one embodiment of the present application, the displacement information and corresponding control instructions are used as analysis data, and an error model is established based on the analysis data, including:

Confirm the error between the displacement information in the analysis data and the corresponding control instruction, and verify the error based on statistics, so as to screen out the data whose error does not meet the preset conditions in the analysis data, and obtain the model construction data;

Build an error model from the model building data.

When establishing the error model based on the analysis data, after confirming the error between the displacement information and the corresponding control command, the processor uses a statistical distribution model for error verification to confirm whether the error is reasonable according to the preset conditions, among which The displacement information and control instructions corresponding to large and unreasonable errors will be screened out to obtain model building data for building an error model.

In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

The error model is corrected according to the error between the displacement information and the corresponding control command.

In the method for the hydraulic system provided in the embodiment of the present application, the processor can also correct the error model in real time according to the error between the displacement information of the actuator and the corresponding control command, that is, the error model can be used in the control of the hydraulic system. The process is continuously calibrated, and the output command error correction amount is becoming more and more accurate.

In one embodiment of the present application, before correcting the error model, error verification based on statistics is performed on the error between the collected displacement information and the corresponding control command, so as to screen out unreasonable errors.

Step S400: Correct the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, and obtain a second control signal output to the main control valve.

After obtaining the command error correction amount output by the error model, the first control signal is corrected, and the second control signal obtained after correction can be output to the main control valve, that is, the feedforward signal output in the feedforward control has obtained the corresponding error correction.

In one embodiment of the present application, the hydraulic system further includes a displacement sensor, and the method further includes:

Obtain the displacement information of multiple actuators collected by the displacement sensor;

A third control signal obtained by performing PID adjustment according to the error between the displacement information and the corresponding control command;

Input the third control signal and the second control signal into the main control valve.

The method for the hydraulic system provided in the embodiment of the present application also combines PID (proportional-integral-derivative, proportional-integral-derivative) closed-loop control. PID control is widely used in industrial process control, and it has relatively simple algorithm and stability. High and robust, and because the PID closed-loop control adjusts the next control command based on the error of the previous control, it has the problem of hysteresis. PID closed-loop control calculates the error amount through the determined proportional coefficient, integral coefficient and differential coefficient to obtain the adjustment amount.

After the processor obtains the displacement information of the actuator, it determines the error between the displacement information and the corresponding control command, that is, determines the error between the real motion control result and the target motion, and performs PID adjustment calculation based on this error to obtain the third The control signal, that is, the command correction amount based on PID closed-loop control, the third control signal and the second control signal obtained through error model correction are input into the main control valve together to control the hydraulic oil flow of the actuator, that is, jointly Motion control of actuators.

It can be seen that the method for the hydraulic system provided by the embodiment of the present application combines the open-loop control based on the feed-forward model and the PID closed-loop control, and realizes faster, more stable and more accurate motion control of the actuator.

Through the above technical solution, after the processor obtains the control instruction sent by the instruction generating unit, it determines the instruction error correction amount according to the control instruction through the error model, so as to correct the first control signal output by the feedforward model, so that the first control signal The error between the motion control result and the corresponding target motion is reduced. That is, the processor uses the error model to correct the error existing in the feed-forward model itself during the use of the hydraulic system, which improves the control accuracy of the hydraulic system and the reliability of the construction machinery.

Fig. 3 schematically shows a flow chart of a method for training a control model of a hydraulic system according to an embodiment of the present application. As shown in Fig. 3, in one embodiment of the present application, a method for A method for training a control model of a hydraulic system. The hydraulic system includes a command generating unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to control the multiple actuators according to the obtained control signal. Hydraulic oil flow to control multiple actuator movements by:

Step S500: Obtain the hydraulic oil flow data and displacement data of the actuator during the movement process, and the control command data output by the command generation unit as a data set, wherein the hydraulic oil flow data, displacement data and control command data are used to execute the above implementation obtained by the method used in the hydraulic system in the example;

Step S600: Input the data set into the model to be trained for iterative training until the preset convergence condition of iterative training is satisfied, so as to obtain the control model.

When the processor executes the method for the hydraulic system in the above embodiment, the displacement data of the actuator, the hydraulic oil flow data, and the corresponding control instruction data can all be used as a control model for auxiliary control or automatic control. An effective training set is used to train a control model that can directly obtain the hydraulic oil flow rate of each actuator from the control command. Therefore, the hydraulic oil flow data and displacement data of the actuator during the movement process, as well as the control command data output by the command generation unit are used as the data set, and the data set is input into the model to be trained for iterative training. The model to be trained can be based on the construction machinery The design requirements and motion characteristics are selected until the preset iterative training convergence conditions are met to obtain a control model, which can realize full-action, full-time hydraulic oil flow on-demand distribution, and provide support for unmanned driving and automatic control. It can also be used as an auxiliary guide during manual driving.

Fig. 4 schematically shows a flow chart of a control method for a hydraulic system according to an embodiment of the present application. As shown in Fig. 4, in one embodiment of the present application, a control method for a hydraulic system is provided In the control method, the hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used to control the hydraulic oil flow of multiple actuators according to the obtained control signal to control Multiple actuator movements, methods include:

Step S700: Input the control command into the control model to determine the hydraulic oil flow rate corresponding to each actuator, wherein the control model is obtained through the training method for the control model of the hydraulic system in the above embodiment;

Step S800: Send multiple hydraulic oil flows as control signals to the main control valve.

As mentioned above, the control model can directly obtain the hydraulic oil flow rate of each actuator from the control command. When using the control model to control the hydraulic system, input the control command to the control model to obtain the hydraulic oil flow rate corresponding to each actuator. Flow rate, the obtained hydraulic oil flow rate of multiple actuators is collected as a control signal and sent to the main control valve, and the main control valve can distribute different hydraulic oil flows to each actuator according to the control signal, so as to realize full-action and full-time operation. Hydraulic oil flow is distributed on demand.

In one embodiment of the present application, a device for a hydraulic system is provided. The hydraulic system includes a command generating unit, a main control valve, and multiple actuators connected to the main control valve, wherein the command sending unit is used to output Control instructions, each control instruction corresponds to the target movement of an actuator, the main control valve is used to control the hydraulic oil flow of multiple actuators according to the obtained control signal, so as to control the movement of multiple actuators, the device includes:

An instruction acquiring unit, configured to acquire the control instructions generated by the instruction generating unit according to user operations, wherein each control instruction corresponds to a target motion of an actuator;

a first control signal generating unit, configured to use a feedforward model to determine a first control signal according to a control instruction;

a first control signal correction unit, configured to determine a command error correction amount according to the control command by using an error model;

The first control signal is corrected according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion to obtain a second control signal output to the main control valve.

The device for a hydraulic system provided in the embodiment of the present application can realize the various processes of step S100-step S400 in the method embodiment, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

In one embodiment of the present application, a training device for a control model of a hydraulic system is provided. The hydraulic system includes a command generating unit, a main control valve, and a plurality of actuators connected to the main control valve, wherein the main control The valve is used to control the hydraulic oil flow of multiple actuators according to the obtained control signal to control the movement of multiple actuators. The device includes:

The data acquisition unit is used to obtain the hydraulic oil flow data and displacement data of the actuator during the movement process, and the control command data output by the command generation unit as a data set, wherein the hydraulic oil flow data, displacement data and control command data are Obtained by performing the method for a hydraulic system in the foregoing embodiments;

The model training unit is used to input the data set into the model to be trained for iterative training until the preset convergence condition of iterative training is satisfied, so as to obtain the control model.

The training device for the control model of the hydraulic system provided in the embodiment of the present application can realize the various processes of step S500-step S600 in the method embodiment, and can achieve the same technical effect. To avoid repetition, details are not repeated here.

In one embodiment of the present application, a control device for a hydraulic system is provided. The hydraulic system includes a command generation unit, a main control valve, and multiple actuators connected to the main control valve, wherein the main control valve is used for According to the obtained control signal, the hydraulic oil flow of multiple actuators is controlled to control the movement of multiple actuators. The device includes:

The flow determination unit is used to input the control command into the control model to determine the hydraulic oil flow corresponding to each actuator, wherein the control model is obtained through the training method for the control model of the hydraulic system in the above embodiment;

The signal sending unit is used to send a plurality of hydraulic oil flows as control signals to the main control valve.

The control device for a hydraulic system provided in the embodiment of the present application can implement the processes of step S700-step S800 in the method embodiment, and can achieve the same technical effect, so to avoid repetition, details are not repeated here.

In one embodiment of the present application, an electronic device is provided, including a processor and a memory, the memory stores machine-executable instructions that can be executed by the processor, and the processor can execute the machine-executable instructions to implement the above-mentioned embodiments. The method for the hydraulic system, or the method for training the control model of the hydraulic system in the above embodiment, or the control method for the hydraulic system in the above embodiment.

In one embodiment of the present application, a machine-readable storage medium is provided. Instructions are stored on the machine-readable storage medium. When the instructions are executed by a processor, the processor implements the hydraulic pressure control system provided in the first aspect of the application. The method of the system, or the training method for the control model of the hydraulic system provided in the second aspect of the application, or the control method for the hydraulic system provided in the third aspect of the application.

Those skilled in the art should understand that the embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowcharts and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each procedure and/or block in the flowchart and/or block diagram, and a combination of procedures and/or blocks in the flowchart and/or block diagram can be realized by computer program instructions. These computer program instructions may be provided to a general purpose computer, special purpose computer, embedded processor, or processor of other programmable data processing equipment to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing equipment produce a An apparatus for realizing the functions specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions The device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram. These computer program instructions can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby The instructions provide steps for implementing the functions specified in the flow chart or blocks of the flowchart and/or the block or blocks of the block diagrams.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in computer readable media, in the form of random access memory (RAM) and/or nonvolatile memory such as read only memory (ROM) or flash RAM. The memory is an example of a computer readable medium.

Computer-readable media, including both permanent and non-permanent, removable and non-removable media, can be implemented by any method or technology for storage of information. Information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change 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 memory technology, compact disc read-only memory (CD ROM), digital versatile disc (DVD) or other optical storage, magnetic A magnetic tape cartridge, tape magnetic disk storage or other magnetic storage device or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media excludes transitory computer-readable media, such as modulated data signals and carrier waves.

It should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article, or apparatus comprising a set of elements includes not only those elements, but also includes Other elements not expressly listed, or elements inherent in the process, method, commodity, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

The above are only examples of the present application, and are not intended to limit the present application. For those skilled in the art, various modifications and changes may occur in this application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims (12)

1. A method for a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:

acquiring control instructions generated by the instruction generating unit according to user operation, wherein each control instruction corresponds to the target motion of one executing mechanism;

determining a first control signal according to the control instruction by utilizing a feedforward model;

determining a command error correction amount according to the control command by using an error model;

and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.

2. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, the method further comprising:

acquiring displacement information of the plurality of actuating mechanisms acquired by the displacement sensor;

and correcting the error model according to the error between the displacement information and the corresponding control command.

3. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, the method further comprising:

acquiring displacement information of the plurality of actuating mechanisms acquired by the displacement sensor;

a third control signal obtained by PID adjustment according to the error between the displacement information and the corresponding control instruction;

and inputting the third control signal and the second control signal into the main control valve.

4. The method of claim 1, wherein the hydraulic system further comprises a displacement sensor, and wherein the error model building process comprises:

acquiring displacement information of the plurality of actuating mechanisms acquired by a displacement sensor;

and taking the displacement information and the corresponding control instruction as analysis data, and establishing the error model according to the analysis data.

5. The method of claim 4, wherein the step of establishing the error model based on the analysis data by using the displacement information and the corresponding control command as analysis data comprises:

confirming errors between the displacement information in the analysis data and the corresponding control instructions, and performing error approval based on statistics on the errors to screen out data, which do not accord with preset conditions, in the analysis data to obtain model construction data;

and establishing the error model according to the model construction data.

6. A training method for a control model of a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:

acquiring hydraulic oil flow data and displacement data of the actuating mechanism in the movement process and control instruction data output by the instruction generating unit as a data set, wherein the hydraulic oil flow data, the displacement data and the control instruction data are obtained by executing the method for the hydraulic system according to any one of claims 1-5;

and inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.

7. A control method for a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected with the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the plurality of actuators according to acquired control signals so as to control the plurality of actuators to move, and the method comprises the following steps:

inputting the control commands into a control model to determine a hydraulic oil flow corresponding to each actuator, wherein the control model is obtained by the training method for the control model of the hydraulic system according to claim 6;

sending a plurality of the hydraulic oil flow rates as the control signal to the main control valve.

8. An apparatus for a hydraulic system, the hydraulic system including a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow rates of the plurality of actuators according to an acquired control signal so as to control the plurality of actuators to move, the apparatus comprising:

the instruction acquisition unit is used for acquiring control instructions generated by the instruction generation unit according to user operation, wherein each control instruction corresponds to the target motion of one execution mechanism;

a first control signal generation unit for determining a first control signal according to the control instruction by using a feedforward model;

a first control signal correction unit for determining a commanded error correction from the control command using an error model;

and correcting the first control signal according to the command error correction amount to reduce the error between the motion control result of the first control signal and the corresponding target motion, so as to obtain a second control signal output to the main control valve.

9. A training device for a control model of a hydraulic system, wherein the hydraulic system comprises a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is used for controlling hydraulic oil flow of the actuators according to an acquired control signal to control the actuators to move, the device comprises:

a data acquisition unit, configured to acquire hydraulic oil flow data and displacement data of the actuator during movement, and control instruction data output by the instruction generation unit as a data set, where the hydraulic oil flow data, the displacement data, and the control instruction data are obtained by performing the method for the hydraulic system according to any one of claims 1 to 5;

and the model training unit is used for inputting the data set into a model to be trained for iterative training until a preset iterative training convergence condition is met, so as to obtain the control model.

10. A control device for a hydraulic system, the hydraulic system comprising a command generation unit, a main control valve and a plurality of actuators connected to the main control valve, wherein the main control valve is configured to control hydraulic oil flow of the plurality of actuators according to an acquired control signal so as to control the plurality of actuators to move, the device comprising:

a flow rate determining unit, configured to input the control command into a control model to determine a hydraulic oil flow rate corresponding to each actuator, wherein the control model is obtained by the training method for the control model of the hydraulic system according to claim 6;

and a signal transmitting unit for transmitting the plurality of hydraulic oil flows as the control signal to the main control valve.

11. An electronic device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method for a hydraulic system of any one of claims 1 to 5, or the method for training a control model for a hydraulic system of claim 6, or the method for controlling a hydraulic system of claim 7.

12. A machine readable storage medium, characterized in that it has stored thereon instructions which, when executed by a processor, cause the processor to carry out a method for a hydraulic system according to any one of claims 1 to 5, or a training method for a control model of a hydraulic system according to claim 6, or a control method for a hydraulic system according to claim 7.

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