CN113325887B - Valve hysteresis compensation method and device, electronic equipment and storage medium - Google Patents
Valve hysteresis compensation method and device, electronic equipment and storage medium Download PDFInfo
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- CN113325887B CN113325887B CN202110594813.8A CN202110594813A CN113325887B CN 113325887 B CN113325887 B CN 113325887B CN 202110594813 A CN202110594813 A CN 202110594813A CN 113325887 B CN113325887 B CN 113325887B
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D16/00—Control of fluid pressure
- G05D16/20—Control of fluid pressure characterised by the use of electric means
- G05D16/2006—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means
- G05D16/2013—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means
- G05D16/2022—Control of fluid pressure characterised by the use of electric means with direct action of electric energy on controlling means using throttling means as controlling means actuated by a proportional solenoid
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Abstract
The embodiment of the invention discloses a method and a device for compensating a valve hysteresis loop, electronic equipment and a storage medium, wherein the method comprises the following steps: the method comprises the steps of obtaining input current, a current change rate, a hysteresis compensation model and outlet pressure of a valve, determining target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model, determining compensated input current according to the input current, the current change rate and the hysteresis compensation model, and inputting the compensated input current into the valve to enable the outlet pressure of the valve to be equal to the target outlet pressure. The invention selects current and current change rate as reference to carry out hysteresis compensation, covers dynamic change, automatically calculates hysteresis compensation amount according to the input current of the valve, has wide application range and strong pertinence, and simply and efficiently eliminates hysteresis phenomenon, thereby improving dynamic and static characteristics of valve response, reducing hysteresis of dynamic response in time sequence, improving operation efficiency and improving control precision and harmony.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method and a device for compensating valve hysteresis, electronic equipment and a storage medium.
Background
With the pursuit of high efficiency and energy saving, the combination of electric control and hydraulic pressure is becoming a necessary trend. As a pivot for electric control, hydraulic components and circuit transmission, the electromagnetic valve plays an important role in the whole mechanical working process. Therefore, the quick and accurate response characteristic of the electromagnetic valve during working is guaranteed, and the key point for guaranteeing the efficient operation of the whole electric control loop is achieved. However, the existing valves have a plurality of problems, and the nonlinear relation between input and output quantities greatly influences the dynamic response of the whole valve and the working effect of the whole valve. The valve has different deviation between the output pressure under the same input current under different conditions and the ideal output pressure on the ideal curve, and the repeatability is poor. The time sequence shows that the response of the whole system is delayed, so that the working experience of an operator is influenced, and the whole working efficiency of the excavator is also influenced. The hysteresis not only affects the outlet pressure output, but also affects subsequent flow output pump valve matching and the like. And the nonlinear characteristics of different valves are different, so that the difference needs to be eliminated and the consistency needs to be improved.
At present, the compensation technology for the hysteresis loop is mainly divided into three types of feedforward compensation, feedback compensation and flutter compensation, and the technology is specifically as follows:
1. the flutter compensation is mainly characterized in that when input current is converted into pulse width modulation current, except parasitic flutter of the current, high-frequency independent flutter is additionally superposed, so that a valve core is always in a small-amplitude back-and-forth movement state, friction force is reduced, and hysteresis effect is reduced. Flutter compensation in practical applications, subsequent connection of a hydraulic circuit rather than a closed space results in a change in the volume of the valve outlet, and hysteresis cannot be eliminated well.
2. During feedforward compensation, a hysteresis compensation model is established through data fitting, and finally, the static model is established and cannot be applied to dynamic occasions.
3. Feedback compensation requires sensors to be installed on each valve, is costly, has low stability, and is not suitable for all situations.
In summary, the fitting of hysteresis at present is focused on the precise fitting of the relationship between the current change and the voltage change under a certain condition, and the main input items are all the magnitude of the current value as the influence factor, and still belong to the static category, so that it is difficult to fall to the ground to actually improve the hysteresis condition of the valve.
Disclosure of Invention
Because the prior method has the problems, the invention provides a method, a device, electronic equipment and a storage medium for compensating valve hysteresis.
In a first aspect, the present invention provides a method of valve hysteresis compensation, comprising:
acquiring input current, current change rate, a hysteresis compensation model and outlet pressure of a valve;
determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model;
determining a compensated input current according to the input current, the current change rate and the hysteresis compensation model;
inputting the compensated input current to the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
Further, the determining a compensated input current according to the input current, the current change rate, and the hysteresis compensation model includes:
inputting the input current, the current change rate and the outlet pressure into the hysteresis compensation model to obtain the relation between the input current and the outlet pressure under multiple groups of current change rates;
and determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates.
Further, the target outlet pressure is an outlet pressure corresponding to the input current when the current change rate is zero.
Further, the determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure at the plurality of sets of current change rates includes:
determining the relationship between the input current and the compensated input current under the multiple groups of current change rates according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
and determining the compensated input current according to the input current and the relation between the input current and the compensated input current.
Further, the determining the relationship between the input current and the compensated input current at the plurality of sets of current change rates includes:
and determining the relation between the input current and the compensated input current under the multiple groups of current change rates in a fitting or interpolation mode.
In a second aspect, the present invention provides a valve hysteresis compensation apparatus, comprising:
the obtaining module is used for obtaining input current, current change rate, a hysteresis compensation model and outlet pressure of the valve;
the processing module is used for determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; determining compensated input current according to the input current, the current change rate and the hysteresis compensation model; inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
Further, the processing module is specifically configured to:
inputting the input current, the current change rate and the outlet pressure into the hysteresis compensation model to obtain the relation between the input current and the outlet pressure under multiple groups of current change rates;
and determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates.
Further, the processing module is specifically configured to:
the target outlet pressure is the outlet pressure corresponding to the input current when the current change rate is zero.
Further, the processing module is specifically configured to:
determining the relationship between the input current and the compensated input current under the multiple groups of current change rates according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
and determining the compensated input current according to the input current and the relation between the input current and the compensated input current.
Further, the processing module is specifically configured to:
and determining the relation between the input current and the compensated input current under the multiple groups of current change rates in a fitting or interpolation mode.
In a third aspect, the present invention also provides an electronic device, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor executes the computer program to implement the method for compensating for valve hysteresis according to the first aspect.
In a fourth aspect, the invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of valve hysteresis compensation as described in the first aspect.
According to the valve hysteresis compensation method, the valve hysteresis compensation device, the electronic equipment and the storage medium, the current and the current change rate are selected to be simultaneously used as references to carry out hysteresis compensation, dynamic change is covered, hysteresis compensation quantity is automatically calculated according to the input current of the valve, the hysteresis phenomenon is simply and efficiently eliminated, the application range is wide, the pertinence is strong, and therefore the dynamic and static characteristics of valve response are improved, the hysteresis of dynamic response on time sequence is reduced, the operation efficiency is improved, and the control precision and the coordination are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a system framework for a method of valve hysteresis compensation provided by the present invention;
FIG. 2 is a schematic flow diagram of a method of valve hysteresis compensation provided by the present invention;
FIG. 3 is a schematic diagram of a method of valve hysteresis compensation provided by the present invention;
FIG. 4 is a schematic flow diagram of a method of valve hysteresis compensation provided by the present invention;
FIG. 5 is a schematic diagram of a method of valve hysteresis compensation provided by the present invention;
FIG. 6 is a schematic structural diagram of a valve hysteresis compensation device provided by the present invention;
fig. 7 is a schematic structural diagram of an electronic device provided in the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
To better explain the embodiments of the present invention, first, the operation of the valve in the embodiments of the present invention will be briefly described.
In the embodiment of the invention, the working mode of the valve generates corresponding feedback current after input current is input, the feedback current generates electromagnetic force on the valve core of the valve to drive the valve core to move against the resistance of the spring, and the sizes of different displacements correspond to different valve opening areas, so that the hydraulic oil flow of different sizes is controlled.
Specifically, in the embodiment of the present invention, before the corresponding feedback current is generated after the input current is input, the input current is input into the hysteresis compensation model to obtain the compensated input current.
The method for compensating the valve hysteresis provided by the embodiment of the present invention may be applied to a system architecture as shown in fig. 1, where the system architecture includes a hysteresis compensation model 100, a controller 200, and a valve 300.
Specifically, the hysteresis compensation model 100 is configured to obtain an input current, a current change rate, and an outlet pressure, generate a relationship between the input current and the outlet pressure at a plurality of sets of current change rates, and determine a compensated input current according to a target outlet pressure and the relationship between the input current and the outlet pressure at the plurality of sets of current change rates.
The controller 200 is configured to input the compensated input current determined by the hysteresis compensation model 100 to the valve 300.
The valve 300 is used for generating electromagnetic force on a valve core of the valve to drive the valve core to move against the resistance of a spring after compensated input current is input, and the sizes of different displacements correspond to different valve opening areas, so that the hydraulic oil flow rates with different sizes are controlled.
It should be noted that fig. 1 is only an example of a system architecture according to the embodiment of the present invention, and the present invention is not limited to this specifically.
Based on the above illustrated system architecture, fig. 2 is a schematic flow chart corresponding to a method for compensating a valve hysteresis provided in an embodiment of the present invention, as shown in fig. 2, the method includes:
It should be noted that, in the embodiment of the present invention, the current change rate is a current change rate of the input current.
In the embodiment of the invention, a plurality of groups of data under the current change rate are acquired by signal acquisition equipment arranged on the excavator, the current change range is from 0 to the maximum current suitable for the electromagnetic valve during acquisition, and the current change rate measurement range is determined by combining with the actual requirement of the excavator, so that the current change rate which possibly occurs in all running conditions is covered.
And 202, determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model.
The target outlet pressure is an outlet pressure corresponding to the input current when the current change rate is zero.
Specifically, as shown in fig. 3, the horizontal axis represents the input current, the vertical axis represents the outlet pressure of the valve, and the straight line portion in the graph represents the relationship between the input current and the outlet pressure when the current change rate is zero, and the outlet pressure corresponding to the input current is the target outlet pressure. The portion of the curve is the actual data collected by the embodiment of the present invention, i.e., the relationship between the input current and the outlet pressure of the valve. It can be seen from the graph that the curve parallel to the horizontal axis is a dead zone, that is, in the dead zone, the outlet pressure does not change significantly as the input current increases; the curve parallel to the longitudinal axis represents the rest section, i.e. the outlet pressure is still increasing in the rest section with a constant input current.
Further, as can be seen from the figure, the input current I i Corresponding target outlet pressure of P ideal 。
And step 203, determining the compensated input current according to the input current, the current change rate and the hysteresis compensation model.
Specifically, the flow of steps is shown in fig. 4, and is as follows:
In the embodiment of the invention, the relationship between the input current and the outlet pressure under the multiple groups of current change rates is as follows:
wherein p is the outlet pressure of the valve, I input In order to input a current, the current is,
is the rate of change of current of the input current.
Specifically, the relationship among the outlet pressure, the input current and the current change rate is established according to the collected actual data.
In the embodiment of the invention, when the current change rate approaches zero, the hysteresis effect is weakened, the outlet pressure approaches an ideal value, namely the target outlet pressure, and the response curve at the moment approaches a straight line, as shown in a straight line part of fig. 3.
In one possible implementation, an ideal characteristic curve of the input current corresponding to the outlet pressure of the valve without the hysteresis effect is obtained according to the factory characteristics of the valve and is used as a reference target of hysteresis compensation.
In another possible embodiment, an ideal characteristic curve of the input current corresponding to the outlet pressure of the valve without the hysteresis effect is obtained when the current change rate is extremely small, and the ideal characteristic curve is used as a reference target of hysteresis compensation.
Specifically, the relationship between the input current and the compensated input current at the multiple sets of current change rates is determined according to the target outlet pressure and the relationship between the input current and the outlet pressure at the multiple sets of current change rates.
In the embodiment of the present invention, as shown in FIG. 3, when the input current is I i The rate of change of current is
Then, the input current I can be obtained according to the ideal curve i Corresponding target outlet pressure P ideal 。
Further, whether the current is in the ascending section or the descending section is determined according to the positive and negative values of the current change rate, and then the target is led outPressure P ideal And substituting the current change rate into the established relation model to obtain the actually required input current under the change rate, namely the compensated current I i ′。
It should be noted that, in the embodiment of the present invention, it is indicated that a current value needs to be increased in the rising section to ensure that the outlet pressure rises in advance, and it is indicated that a current value needs to be decreased in the falling section to ensure that the outlet pressure falls in time, so that the relationship between the input current and the outlet pressure approaches an ideal curve.
Further, the compensated input current is determined from the input current and a relationship of the input current to the compensated input current.
Based on the above scheme, a relation model between the input current, the current change rate and the compensated input current is established, which specifically comprises the following steps:
wherein I is input In order to input a current, the current is,
i 'is the compensated input current, I' is the rate of change of the current of the input current.
In one possible embodiment, the relationship between the input current and the compensated input current at the plurality of sets of current change rates is determined by interpolation.
Specifically, in the embodiment of the present invention, a two-dimensional interpolation table may be established, and the optimal compensated input current may be found by using bilinear interpolation.
In one possible embodiment, the input current and the current change rate are respectively taken as x and y coordinate ranges, four points closest to the (x, y) coordinate to be obtained are searched to calculate the value of the point, namely the compensation value f of four points around (x, y) in the two-dimensional interpolation table is taken, and the compensated input current g (x, y) is calculated.
In one possible embodiment, the relationship between the input current and the compensated input current at a plurality of sets of current change rates is determined by fitting.
Specifically, data are directly input through a fitting mode, a curve model of the relationship between the input current, the current change rate and the outlet pressure is fitted, and the relationship between the input current and the compensated input current is established on the basis of the curve model.
In one possible embodiment, a polynomial curve fitting and interpolation are combined, and a system identification and other methods are used to establish the relationship between the input current and the compensated input current.
In the embodiment of the present invention, the establishment and fitting of the hysteresis compensation model may be performed in any mapping manner that can achieve the target accuracy, and the embodiment of the present invention is not particularly limited thereto.
According to the scheme, the hysteresis compensation model can be established in various ways, and the method has good adaptability.
The compensated input current is input to the valve to cause the outlet pressure of the valve to equal the target outlet pressure, step 204.
According to the scheme, besides the input current, the current change rate is increased to serve as another input quantity of the hysteresis compensation model, so that the application range of hysteresis compensation is expanded. By introducing the current change rate which has large influence on the hysteresis loop, dynamic hysteresis loop compensation is realized according to the input current which changes in real time.
Further, as shown in fig. 5, the hysteresis loop is different in magnitude at different current change rates.
It can be seen from the figure that the embodiment of the present invention collects the change conditions of the outlet pressure corresponding to the range from zero to the maximum of the input current under various current change rates, and the change conditions of the outlet pressure corresponding to the range from zero to the maximum of the input current are sequentially from left to right, wherein the values of the current change rates are 2.5mA/ms, 1.875mA/ms, and 1.5 mA/ms.
In the embodiment of the invention, the whole process is divided into a dead section, an ascending section, a static section and a descending section.
Specifically, a relationship is established mainly for the input current and the outlet pressure of the ascending section and the descending section, and a hysteresis compensation model can be established by adopting a fitting or interpolation mode and the like.
Further, target outlet pressures corresponding to all input currents are obtained, and the corresponding input currents are found in the actual relation curve acquired by the target outlet pressures, namely the compensated input currents.
Taking an interpolation mode as an example, a two-dimensional interpolation compensation table between compensated input current and input current, and between the current change rate and the compensated input current is established, the compensation table is added into a controller program, and the corresponding magnitude of the compensated input current can be obtained through interpolation calculation after the current change rate is calculated according to the input current, so that the pulse width modulation current is generated to control the movement of the valve core and the opening of the valve.
In the embodiment of the invention, the input current, the current change rate and the outlet pressure are obtained and used as raw data for calibration. Establishing an ideal characteristic curve of input current and outlet pressure as a reference target of hysteresis compensation, establishing hysteresis compensation models suitable for different current change rates on the basis of the ideal characteristic curve, inputting the current input current and the current change rate into the hysteresis compensation models, outputting compensated input current, converting the compensated input current into pulse width modulation current, and then inputting the pulse width modulation current into a valve to generate compensated outlet pressure.
According to the scheme, the current and the current change rate are selected to be simultaneously used as references to carry out hysteresis compensation, dynamic change is covered, hysteresis compensation quantity is automatically calculated according to the input current of the valve, the application range is wide, pertinence is strong, and hysteresis is simply and efficiently eliminated, so that the dynamic and static characteristics of valve response are improved, the hysteresis of dynamic response on a time sequence is reduced, the operation efficiency is improved, and the control precision and the coordination are improved.
Based on the same inventive concept, fig. 6 exemplarily illustrates a valve hysteresis compensation apparatus provided in an embodiment of the present invention, which may be a flow chart of a valve hysteresis compensation method.
The device, comprising:
an obtaining module 601, configured to obtain an input current, a current change rate, a hysteresis compensation model, and an outlet pressure of a valve;
the processing module 602 is configured to determine a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; determining a compensated input current according to the input current, the current change rate and the hysteresis compensation model; inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
Further, the processing module 602 is specifically configured to:
inputting the input current, the current change rate and the outlet pressure into the hysteresis compensation model to obtain the relation between the input current and the outlet pressure under multiple groups of current change rates;
and determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates.
Further, the processing module 602 is specifically configured to:
the target outlet pressure is the outlet pressure corresponding to the input current when the current change rate is zero.
Further, the processing module 602 is specifically configured to:
determining the relationship between the input current and the compensated input current under the multiple groups of current change rates according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
and determining the compensated input current according to the input current and the relation between the input current and the compensated input current.
Further, the processing module 602 is specifically configured to:
and determining the relation between the input current and the compensated input current under the multiple groups of current change rates in a fitting or interpolation mode.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device, which specifically includes the following contents, with reference to fig. 7: a processor 701, a memory 702, a communication interface 703 and a communication bus 704;
the processor 701, the memory 702 and the communication interface 703 complete mutual communication through the communication bus 704; the communication interface 703 is used to implement information transmission between the devices;
the processor 701 is configured to call a computer program in the memory 702, and the processor implements all the steps of the above-mentioned method for compensating for valve hysteresis when executing the computer program, for example, the processor implements the following steps when executing the computer program: acquiring input current, current change rate, a hysteresis compensation model and outlet pressure of a valve; determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; determining a compensated input current according to the input current, the current change rate and the hysteresis compensation model; inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
Based on the same inventive concept, a further embodiment of the present invention provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs all the steps of the above-described method for valve hysteresis compensation, e.g. the processor performs the following steps when executing the computer program: acquiring input current, current change rate, a hysteresis compensation model and outlet pressure of a valve; determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; determining a compensated input current according to the input current, the current change rate and the hysteresis compensation model; inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
In addition, the logic instructions in the memory may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a user life pattern prediction apparatus, or a network device) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment of the present invention. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on such understanding, the above technical solutions may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a user life pattern prediction apparatus, or a network device, etc.) to execute the user life pattern prediction method according to the embodiments or some parts of the embodiments.
In addition, in the present invention, terms such as "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Moreover, in the present invention, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
Furthermore, in the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A method of valve hysteresis compensation, comprising:
acquiring input current, current change rate, a hysteresis compensation model and outlet pressure of a valve; the hysteresis compensation model is established by the following method: establishing an ideal characteristic curve of input current and outlet pressure as a reference target of hysteresis compensation, and establishing hysteresis compensation models suitable for different current change rates on the basis of the reference target;
determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; the target outlet pressure is the outlet pressure corresponding to the input current when the current change rate is zero;
determining compensated input current according to the input current, the current change rate and the hysteresis compensation model; the determining the compensated input current comprises: determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
2. The method of valve hysteresis compensation of claim 1, wherein the determining a compensated input current based on the input current, the rate of change of current, and the hysteresis compensation model comprises:
inputting the input current, the current change rate and the outlet pressure into the hysteresis compensation model to obtain the relation between the input current and the outlet pressure under a plurality of groups of current change rates;
and determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates.
3. The method of valve hysteresis compensation as defined in claim 2, wherein the determining the compensated input current based on the target outlet pressure and the relationship of the input current to the outlet pressure at the plurality of sets of current rates of change comprises:
determining the relationship between the input current and the compensated input current under the multiple groups of current change rates according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
and determining the compensated input current according to the input current and the relationship between the input current and the compensated input current.
4. The method of valve hysteresis compensation of claim 3, wherein said determining the relationship of the input current to the compensated input current for the plurality of sets of current rates of change comprises:
and determining the relation between the input current and the compensated input current under the multiple groups of current change rates in a fitting or interpolation mode.
5. An apparatus for valve hysteresis compensation, comprising:
the acquisition module is used for acquiring input current, a current change rate, a hysteresis compensation model and outlet pressure of the valve; the hysteresis compensation model is established by the following method: establishing an ideal characteristic curve of input current and outlet pressure as a reference target of hysteresis compensation, and establishing hysteresis compensation models suitable for different current change rates on the basis of the reference target;
the processing module is used for determining a target outlet pressure corresponding to the input current according to the input current and the hysteresis compensation model; the target outlet pressure is the outlet pressure corresponding to the input current when the current change rate is zero; determining a compensated input current according to the input current, the current change rate and the hysteresis compensation model; the determining the compensated input current comprises: determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates; inputting the compensated input current into the valve to cause the outlet pressure of the valve to equal the target outlet pressure.
6. The device for valve hysteresis compensation of claim 5, wherein the processing module is specifically configured to:
inputting the input current, the current change rate and the outlet pressure into the hysteresis compensation model to obtain the relation between the input current and the outlet pressure under a plurality of groups of current change rates;
and determining the compensated input current according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates.
7. The device for valve hysteresis compensation of claim 6, wherein the processing module is specifically configured to:
determining the relationship between the input current and the compensated input current under the multiple groups of current change rates according to the target outlet pressure and the relationship between the input current and the outlet pressure under the multiple groups of current change rates;
and determining the compensated input current according to the input current and the relationship between the input current and the compensated input current.
8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 4 when executing the program.
9. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 4.
Priority Applications (1)
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