CN114063441A - Electric cylinder loading control method and device, electronic equipment and storage medium - Google Patents
Electric cylinder loading control method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The invention provides an electric cylinder loading control method, which can simultaneously calculate PID (proportion integration differentiation) control quantity, first-order feedforward control quantity and second-order feedforward control quantity by using target load force value data and corresponding current load force value data when entering each round of control period, and control the electric cylinder loading by using the three control quantities, wherein the first-order feedforward control parameter is the first-order differential quantity of the change value of the target load force value data and can compensate the speed error of an electric cylinder in the loading process, and the second-order feedforward control quantity is the second-order differential quantity of the change value of the target load force value data and can compensate the acceleration error in the loading process, so that the error of the electric cylinder in the dynamic loading process can be reduced by using the control quantities to load the electric cylinder, and the effect of improving the loading accuracy of the electric cylinder is further realized. The invention also provides an electric cylinder loading control device, electronic equipment and a storage medium, and has the beneficial effects.
Description
Technical Field
The invention relates to the field of electric cylinders, in particular to an electric cylinder loading control method and device, electronic equipment and a storage medium.
Background
The electric cylinder is a modularized product integrating a servo motor and a lead screw, and is an actuating element for providing linear motion and thrust. The working principle is that the rotary motion of the motor is converted into the linear reciprocating motion of the push rod through the lead screw, and the load is driven through the push rod. And the precise control of the thrust, the speed and the position is realized by utilizing the control characteristics of the servo motor.
When the electric cylinder is applied to fatigue tests of automobile seats, brake pedals, angle adjusters and the like, because the system has larger nonlinear and time-varying factors, the oscillation of a servo system is easily caused by adopting the traditional PID control strategy, the dynamic performance and the steady-state precision of the electric cylinder during loading are difficult to be considered simultaneously, the response speed is slowed, and the precision cannot be ensured.
Disclosure of Invention
The invention aims to provide a method and a device for controlling loading of an electric cylinder, electronic equipment and a storage medium, wherein a two-stage feedforward compensation mode can be adopted, so that errors of the electric cylinder in a dynamic loading process are reduced, and the effect of improving the loading accuracy of the electric cylinder is further realized.
In order to solve the technical problem, the invention provides an electric cylinder loading control method, which comprises the following steps:
when entering a control period of the current wheel, acquiring target load force value data and corresponding current load force value data, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the control period of the current wheel;
performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter;
performing difference calculation by using each target load force value data and the corresponding current load force value data to obtain a second difference data set, and calculating PID control quantity corresponding to the target load force value data by using the proportional coefficient and the second difference data set;
and calculating the total control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by using the total control quantity.
Optionally, the calculating a first order feedforward control quantity and a second order feedforward control quantity using the first difference data set, the first order feedforward control parameter, and the second order feedforward control parameter includes:
removing the maximum value and the minimum value in the first difference data set, and calculating by using the removed first difference data set and the first-order feedforward control parameter to obtain the first-order feedforward control quantity;
and extracting a middle value and a tail value in the original first difference data set according to a calculation sequence, and calculating by using the middle value, the tail value and the second-order feedforward control parameter to obtain the second-order feedforward control quantity.
Optionally, the calculating the PID control amount corresponding to the target load force value data by using the proportionality coefficient and the second difference data set includes:
acquiring a preset integral coefficient and a preset differential coefficient;
calculating a proportional control quantity, an integral control quantity and a differential control quantity for each difference data in the second difference data set by respectively utilizing the proportional coefficient, the preset integral and the differential coefficient;
and calculating the PID control quantity by using the proportional control quantity, the integral control quantity and the differential control quantity as target load force value data corresponding to the difference data.
Optionally, the calculating an overall control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity includes:
summing the first-order feedforward control quantity and the second-order feedforward control quantity with each PID control quantity to obtain an output value;
judging whether the output value is larger than a preset control threshold value or not;
if so, setting the preset control threshold value as the total control quantity;
and if not, setting the output value as the total control quantity.
Optionally, before controlling the electric cylinder to be loaded by using the total control amount, the method further includes:
and performing smoothing treatment on the total control quantity, and executing the step of controlling the electric cylinder to be loaded by using the total control quantity after the smoothing treatment.
Optionally, the calculating a first order feedforward control parameter, a second order feedforward control parameter, and a scaling factor of the current round of control period includes:
acquiring a preset first load force value range and corresponding boundary values of feedforward control parameters, and a plurality of preset second load force value ranges and corresponding boundary values of proportionality coefficients; the second load force value ranges are not overlapped, the first load force value range is composed of all the second load force value ranges, and the feedforward control parameter boundary value comprises a first feedforward control parameter boundary value and a second feedforward control parameter boundary value;
extracting the latest value in the current load force value data, and respectively performing linear compensation on the first feedforward control parameter boundary value and the second feedforward control parameter boundary value according to the position of the latest value in the first load force value range to obtain the first-order feedforward control parameter and the second-order feedforward control parameter;
and determining a target range to which the latest value belongs in the second load force value range, and performing linear compensation on a proportional coefficient boundary value corresponding to the target range according to the position of the latest value in the target range to obtain the proportional coefficient.
The present invention also provides an electric cylinder loading control apparatus, including:
the data acquisition and parameter calculation module is used for acquiring target load force value data and corresponding current load force value data when entering a control period of the current wheel, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the control period of the current wheel;
the feedforward control quantity calculation module is used for performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter;
the PID control quantity calculation module is used for performing difference calculation on each target load force value data and the corresponding current load force value data to obtain a second difference value data set, and calculating the PID control quantity corresponding to the target load force value data by using the proportional coefficient and the second difference value data set;
and the total control quantity calculating module is used for calculating the total control quantity by utilizing the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by utilizing the total control quantity.
Optionally, the feedforward control amount calculation module includes:
the first feedforward control quantity calculating unit is used for removing the maximum value and the minimum value in the first difference data set and calculating to obtain the first-order feedforward control quantity by using the removed first difference data set and the first-order feedforward control parameter;
and the second feedforward control quantity calculating unit is used for extracting a middle value and a tail value in the original first difference data set according to a calculating sequence and calculating the second-order feedforward control quantity by using the middle value, the tail value and the second-order feedforward control parameter.
The present invention also provides an electronic device comprising:
a memory for storing a computer program;
and a processor for implementing the electric cylinder loading control method when executing the computer program.
The invention also provides a storage medium, wherein the storage medium stores computer-executable instructions, and when the computer-executable instructions are loaded and executed by a processor, the method for controlling the loading of the electric cylinder is realized.
The invention provides an electric cylinder loading control method, which comprises the following steps: when entering a control period of the current wheel, acquiring target load force value data and corresponding current load force value data, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the control period of the current wheel; performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter; performing difference calculation by using each target load force value data and the corresponding current load force value data to obtain a second difference data set, and calculating PID control quantity corresponding to the target load force value data by using the proportional coefficient and the second difference data set; and calculating the total control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by using the total control quantity.
Therefore, when entering each round of control cycle, the invention can calculate the PID control quantity by using the target load force value data and the corresponding current load force value data, and can also calculate the first-order feedforward control quantity and the second-order feedforward control quantity by additionally using the target load force value data, wherein the first-order feedforward control parameter is the first-order differential quantity of the change value of the target load force value data and can compensate the speed error of the electric cylinder in the loading process, and the second-order feedforward control quantity is the second-order differential quantity of the change value of the target load force value data and can compensate the acceleration error in the process. In other words, the invention can adopt the second-order feedforward differential of the target value to compensate the acceleration error of the dynamic loading signal, adopts the first-order feedforward differential to compensate the speed error, and combines the corresponding PID algorithm to form the composite control algorithm, thereby reducing the error of the electric cylinder in the dynamic loading process and further realizing the effect of improving the loading accuracy of the electric cylinder. The invention also provides an electric cylinder loading control device, electronic equipment and a storage medium, and has the beneficial effects.
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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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of an electric cylinder loading control method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the control quantity required by the electric cylinder at each stage of dynamic sinusoidal curve loading according to the embodiment of the present invention;
FIG. 3 is a schematic diagram of a first-order feedforward control parameter, a second-order feedforward control parameter, and a scaling factor partition calculation according to an embodiment of the present invention;
fig. 4 is a flowchart of another method for controlling loading of an electric cylinder according to an embodiment of the present invention;
fig. 5 is a block diagram of a structure of an electric cylinder loading control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
When the electric cylinder is applied to fatigue tests of automobile seats, brake pedals, angle adjusters and the like, because the system has larger nonlinear and time-varying factors, the oscillation of a servo system is easily caused by adopting the traditional PID control strategy, the dynamic performance and the steady-state precision of the electric cylinder during loading are difficult to be considered simultaneously, the response speed is slowed, and the precision cannot be ensured. In view of this, the invention provides a method for controlling loading of an electric cylinder, which can reduce an error of the electric cylinder in a dynamic loading process by adopting a two-stage feedforward compensation mode, thereby achieving an effect of improving the loading accuracy of the electric cylinder. Referring to fig. 1, fig. 1 is a flowchart of an electric cylinder loading control method according to an embodiment of the present invention, where the method includes:
s101, when the current round of control cycle is entered, acquiring target load force value data and corresponding current load force value data, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the current round of control cycle.
It can be understood that the loading control of the electric cylinder is a dynamic process, and therefore, the data acquisition, the control quantity calculation and the loading control of the electric cylinder are generally performed in a cycle, that is, one round of the data acquisition, the control quantity calculation and the loading control of the electric cylinder is a control period. It should be noted that a control cycle may be set with a fixed duration, or may be set with a fixed number of load force value data pairs to be collected and processed, where the load force value data pair includes target load force value data and current load force value data corresponding to the target load force value data, and the target load force value data and the current load force value data are collected at the same time. In the embodiment of the present invention, for convenience of processing, a fixed number of pairs of load force value data are collected and processed as one control cycle. The number of load force value data pairs required to be processed in each control period is not limited in the embodiment of the invention, and the number of load force value data pairs can be set according to actual application requirements, for example, 60 pairs can be set, that is, the target load force value data and the current load force value data of 60 pairs are collected and processed in each control period. Further, in the field of electric cylinder control, target load force value data is usually calculated by using a sine curve, and current load force value data is acquired by a sensor. The embodiment of the invention does not adopt the current load force value data acquisition mode and can refer to the related technology of the electric cylinder.
Further, in order to reduce the problems of jitter, climbing phenomenon and poor control precision in the loading process of the electric cylinder, a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient used in each round of control period can be specially calculated, wherein the first-order feedforward control parameter, the second-order feedforward control parameter and the proportional coefficient are respectively used for calculating proportional control quantities in the first-order feedforward control quantity, the second-order feedforward control quantity and the PID control quantity. Specifically, a plurality of load force value positions for parameter adjustment can be selected from the load force value range loaded by the electric cylinder, appropriate first-order feedforward control parameter boundary values, second-order feedforward control parameter boundary values and proportional coefficient boundary values are adjusted at the load force values, and then in each control cycle, the current load force values and load force value positions acquired in the cycle are used for carrying out linear compensation on the boundary values, so that the first-order feedforward control parameters, the second-order feedforward control parameters and the proportional coefficients of the cycle can be obtained. It should be noted that the number of load force value positions for parameter adjustment is not limited in the embodiments of the present invention, and is at least 2; the embodiment of the invention also does not limit the specific mode of boundary value debugging, and can refer to the related technology of electric cylinder control.
S102, performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter.
It can be understood that the target load force value data has a collection time sequence, in this sequence, subtraction is performed between a certain target load force value data and another adjacent target load force value data collected after the certain target load force value data, and the adjacent difference is determined, and a data set formed by difference data obtained by adjacent difference of the target load force value data is a first difference data set.
Further, for ease of understanding, the first order feedforward control amount and the object to be compensated by the second order feedforward control amount will be described below. Referring to fig. 2, fig. 2 is a schematic diagram of the control amount required by the electric cylinder in each stage of dynamic sinusoidal loading according to the embodiment of the present invention. The electric cylinder in the section a-b has the largest movement speed and the smallest acceleration, and can be approximately regarded as constant-speed operation, and the control quantity can be constant at the moment; the electric cylinder in the b-c interval starts to decelerate, the acceleration is a negative value, and the control quantity needs to be reduced; the speed at point c is 0, and the control quantity should also be 0; and (4) starting acceleration of the electric cylinder in the c-d interval, wherein the acceleration is positive, the required control amount is positive at the moment, the control amount needs to be increased, and the steps are cycled in sequence. The error of the dynamic sinusoidal signal output by the conventional PID control algorithm mainly appears in a b-d interval, and when the speed of a b-c section electric cylinder needs to be reduced, the actual control quantity is still increased; when the cylinder position exceeds the point c and acceleration is started, the actual control quantity is still reduced, so that the change of the dynamic loading curve of the actual output always lags behind the set control sine signal. Therefore, the control quantity of the b-c section is quickly reduced to 0, meanwhile, the control quantity of the c-d section can be increased, and the key point of reducing the dynamic loading error is that from the analysis, the invention takes the second-order feedforward differential of the target value to compensate the acceleration error of the dynamic loading signal, and the first-order feedforward differential to compensate the speed error, and combines with the corresponding PID control method to form the composite control method, so that the error can be obviously reduced in the dynamic loading process. The specific control quantity calculation formula is as follows:
wherein u (t) is the total control quantity, kPIs the proportionality coefficient, kIIs the integral coefficient, kDIs the differential coefficient, Kq1Is a first order feedforward control parameter, Kq2Is a second-order feedforward control parameter, e (t) is the deviation between the target value and the actual value, and f (t) is the set target value (i.e. sinusoidal curve).
Discretizing the formula through the transformation of a difference equation to obtain:
and n represents the nth total control quantity, the nth target load force value data and the current load force value data corresponding to the nth total control quantity. Further, the above expression can be divided into:
PID control expression:
feedforward control expression:
u2(n)＝Kq1(f(n)-f(n-1))+Kq2(f(n)-2f(n-1)+f(n-2))
wherein, Kq1(f (n) -f (n-1)) is a first-order feedforward control quantity, Kq2(f (n) -2f (n-1) + f (n-2)) is a second-order feedforward control amount.
Based on the above derivation, for the first feedforward control amount, each difference data in the first difference data set may be summed, and the summed result may be multiplied by the first feedforward control parameter, so as to obtain a first-order feedforward control amount. Of course, in order to improve reliability, the maximum value and the minimum value in the first difference data set may be removed, and the first-order feedforward control amount may be calculated by using the removed first difference data set and the first-order feedforward control parameter. For the second feedforward control quantity, the middle value and the tail value in the first difference data set can be extracted according to the calculation sequence, the tail value and the middle value are subtracted, and the subtraction result is multiplied by the second feedforward control parameter, so that the second-order feedforward control quantity can be obtained.
In one possible case, calculating the first order feedforward control quantity and the second order feedforward control quantity using the first difference data set, the first order feedforward control parameter, and the second order feedforward control parameter may include:
step 11: removing the maximum value and the minimum value in the first difference data set, and calculating by using the removed first difference data set and a first-order feedforward control parameter to obtain a first-order feedforward control quantity;
step 12: and extracting a middle value and a tail value in the original first difference data set according to the calculation sequence, and calculating by using the middle value, the tail value and a second-order feedforward control parameter to obtain a second-order feedforward control quantity.
S103, performing difference calculation by using each target load force value data and the corresponding current load force value data to obtain a second difference data set, and calculating PID control quantity corresponding to the target load force value data by using the proportionality coefficient and the second difference data set.
The PID control amount is composed of a Proportional unit (proportionality), an Integral unit (Integral) and a Derivative unit (Derivative), and each target load force value data and the corresponding current load force value data need to be calculated. Specifically, the difference operation is performed on each target load force value data and the corresponding current load force value data to obtain a difference value, a proportional control quantity, an integral control quantity and a differential control quantity are respectively calculated for each difference value, and finally the control quantities are summed to obtain a PID control quantity corresponding to the target load force value data. It can be understood that, the calculation of the proportional control quantity, the integral control quantity and the derivative control quantity all needs to use adjustable coefficients, i.e. proportional coefficient, integral coefficient and derivative coefficient, and the related technology of PID can be referred to for the adjustment mode of these coefficients.
In one possible case, calculating the PID control amount corresponding to the target load force value data using the proportionality coefficient and the second difference data set may include:
step 21: acquiring a preset integral coefficient and a preset differential coefficient;
step 22: calculating a proportional control quantity, an integral control quantity and a differential control quantity for each difference data in the second difference data set by using the proportional coefficient, the preset integral coefficient and the differential coefficient respectively;
step 23: and calculating PID control quantity by using the target load force value data corresponding to the difference data as the proportional control quantity, the integral control quantity and the differential control quantity.
Specifically, the PID control expression is:
difference data, k, obtained by subtracting the target load force value data and the current load force value dataD(e (n) -e (n-1)) represents a differential control amount.
And S104, calculating the total control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by using the total control quantity.
After PID control quantity, first-order feedforward control quantity and second-order feedforward control quantity are obtained, the control quantities can be summed to obtain total control quantity; certainly, in practical application, the sum (hereinafter referred to as an output quantity) of the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity may be greater than a preset control limit of the electric cylinder, at this time, the total control quantity needs to be subjected to out-of-range judgment, if the output quantity is greater than the preset control limit, the preset control limit is used as the total control quantity, otherwise, the output quantity is used as the total control quantity.
In one possible case, calculating the total control amount using the PID control amount, the first order feedforward control amount, and the second order feedforward control amount may include:
step 31: summing the first-order feedforward control quantity and the second-order feedforward control quantity with each PID control quantity to obtain an output value;
step 32: judging whether the output value is larger than a preset control threshold value or not; if yes, go to step 33; if not, go to step 34;
step 33: setting a preset control threshold value as a total control quantity;
step 34: and setting the output value as the total control quantity.
Of course, in order to avoid the influence of the abnormal value on the loading control of the electric cylinder, the total control quantity is subjected to smoothing treatment after the total control quantity is obtained, so as to remove the abnormal value. The embodiment of the present invention does not limit the specific way of the smoothing process, and for example, the smoothing process may be a filtering process, and reference may be made to the related art of the electric cylinder loading control.
In a possible case, before the electric cylinder is controlled by the total control quantity to be loaded, the method further comprises the following steps:
step 41: and performing smoothing treatment on the total control quantity, and executing the step of controlling the electric cylinder to load by using the total control quantity after the smoothing treatment.
Based on the above embodiment, when entering each round of control cycle, the present invention may calculate a first-order feedforward control quantity and a second-order feedforward control quantity by using the target load force value data, in addition to the PID control quantity by using the target load force value data and the corresponding current load force value data, wherein the first-order feedforward control quantity is a first-order differential quantity of a change value of the target load force value data, which can compensate a speed error of the electric cylinder in the loading process, and the second-order feedforward control quantity is a second-order differential quantity of the change value of the target load force value data, which can compensate an acceleration error in the process. In other words, the invention can adopt the second-order feedforward differential of the target value to compensate the acceleration error of the dynamic loading signal, adopts the first-order feedforward differential to compensate the speed error, and combines the corresponding PID algorithm to form the composite control algorithm, thereby reducing the error of the electric cylinder in the dynamic loading process and further realizing the effect of improving the loading accuracy of the electric cylinder.
Based on the embodiment, the problems that the electric cylinder is easy to shake and climb in the loading process and the control precision does not reach the standard are further solved, the structure and the stress of an actual system are analyzed, and a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient can be calculated in a linear compensation mode. The calculation of the above parameters and coefficients is described below. In one possible case, calculating the first order feedforward control parameter, the second order feedforward control parameter and the scaling factor for the current round of control period may include:
s201, acquiring a preset first load force value range and corresponding boundary values of feedforward control parameters, and a plurality of preset second load force value ranges and corresponding boundary values of proportional coefficients; the second load force value ranges are not overlapped, the first load force value range is composed of all the second load force value ranges, and the feedforward control parameter boundary value comprises a first feedforward control parameter boundary value and a second feedforward control parameter boundary value.
For the first-order feedforward control parameter and the second-order feedforward control parameter, the corresponding parameter of each control period can be obtained in a simple linear compensation mode; for the proportional coefficient, because the linear expressions of the electric cylinder loading control in different load force value ranges are different, the linearity in some ranges is poor, and the linearity in other ranges is good, in order to perform differentiated compensation on different load force value ranges, the embodiment of the invention performs the sectional linear compensation on the proportional coefficient. It should be noted that, the embodiment of the present invention does not limit the first load force value range and the second load force value range, and does not limit the number of the second load force value ranges, and the second load force value range may be set according to the actual application requirement, where the second load force value range may be set according to the linearity performance of the total control amount. Further, it will be appreciated that for linear compensation, corresponding feedforward control parameter boundary values or scaling factor boundary values are required for the upper and lower limits of each load value range.
S202, extracting the latest value in the current load force value data, and respectively performing linear compensation on the boundary value of the first feedforward control parameter and the boundary value of the second feedforward control parameter according to the position of the latest value in the range of the first load force value to obtain a first-order feedforward control parameter and a second-order feedforward control parameter.
And S203, determining a target range of the latest value in the second load force value range, and performing linear compensation on a proportional coefficient boundary value corresponding to the target range according to the position of the latest value in the target range to obtain a proportional coefficient.
Since the linear compensation is performed in a divisional manner, it is necessary to determine a target range to which the latest value belongs in the second load force value range, and perform the linear compensation within the target range.
The above-described process of calculating the first order feedforward control parameter, the second order feedforward control parameter and the scaling factor is described below with reference to specific examples. Referring to fig. 3, fig. 3 is a schematic diagram of a first-order feedforward control parameter, a second-order feedforward control parameter and a scale factor partition calculation according to an embodiment of the invention.
After analyzing the structure and stress of the actual system, the loading process is divided into a first area, a second area and a third area. As shown in fig. 3, the abscissa x represents the current loading force value, and the ordinate is each control parameter. x is the number of1～x2Is a region, x2～x3Is a two-zone, x3～x4Is a three-region. Respectively acquiring a region x through system debugging1Proportionality coefficient K at positionp1First order feedforward control parameter K'q1And a second order feedforward control parameter K'q2，x2Proportionality coefficient K at positionp2Three regions x3Proportionality coefficient K at positionp3，x4Proportionality coefficient K at positionp3First order feedforward control parameter K'q1And a second order feedforward control parameter K'q2。
For the proportionality coefficient, the linearity in the first area and the third area is poor, the proportionality coefficient in the two areas is obtained by adopting a linear compensation method, and the proportionality coefficient in the second areaHas good linearity, and the proportionality coefficient is a constant value Kp2. Proportionality coefficient K at x position in a zonePComprises the following steps:
proportionality coefficient K 'at x position in three zones'PComprises the following steps:
for feedforward control parameters, linear compensation is carried out on the primary feedforward and the secondary feedforward control parameters in the whole interval of the first area, the second area and the third area, and the primary feedforward control parameter K at the position xq1Comprises the following steps:
two-stage feedforward control parameter K at the x positionq2Comprises the following steps:
based on the above embodiments, the embodiment of the present invention may further accurately calculate the first-order feedforward control parameter and the second-order feedforward control parameter corresponding to each control period in a linear compensation manner, and accurately calculate the proportional coefficient corresponding to each control period in a partitioned linear compensation manner, so as to effectively improve the control accuracy.
Referring to fig. 4, fig. 4 is a flowchart of another method for controlling loading of an electric cylinder according to an embodiment of the present invention. The process comprises the following steps:
1) obtaining the proportionality coefficient K by debuggingp1Is 8.9, the proportionality coefficient Kp2Is 0.9, the proportionality coefficient Kp3Is 3.6, integral coefficient kIIs 0, differential coefficientkDIs 80; first order feedforward control parameter K'q1Is 2.7, K "q1Is 1.6; second order feedforward control parameter K'q2Is 16.8, K "q2Is 10.7.
2) And respectively storing the acquired target load force value data and the acquired current load force value data in two arrays arr _ target [60] and arr _ actual [60], and receiving 60 data each time.
3) And judging the partition where the current load force value is located according to the actual application condition, wherein the first area is a 0-20% target load force value interval, the second area is a 20-80% target load force value interval, and the third area is an 80-100% target load force value interval.
4) Calculating a first-stage feedforward control quantity: target load force value data arr _ target [60]]Making difference between adjacent values to obtain new 59 data, and storing in difference array arr _ diff [59 ]]Removing the maximum and minimum values in the difference array, summing each of the remaining difference array values and multiplying by Kq1Thus, the first-stage feedforward control quantity can be obtained.
5) Calculating a secondary feedforward control quantity: target load force value data arr _ target [60]]Making difference between adjacent values to obtain new 59 data, and storing in difference array arr _ diff [59 ]]Then, the difference array arr _ diff [59 ]]The 59 th data and the 30 th data are subtracted to obtain sum _ diff, and the sum _ diff is multiplied by Kq2Thus obtaining the two-stage feedforward control quantity.
6) And (3) calculating PID control quantity: taking 60 pieces of target load force value data and current load force value data obtained each time as a group, solving the difference value actual _ diff between the latest target load force value data and the current load force value data, and using an array err _ diff [3 ]]Store the latest difference of 3 actual _ diff data sets, none of which are 0, kPMultiplying the actual _ diff to obtain a proportional control quantity, kIMultiplying the sum of the historical actual _ diff to obtain an integral control quantity, kDMultiplication by (err _ diff [2 ]]-err_diff[1]) And obtaining a differential control quantity, and solving the sum of the proportional control quantity, the integral control quantity and the differential control quantity to obtain the PID control quantity.
7) And accumulating the obtained primary feedforward control quantity, secondary feedforward control quantity and PID control quantity to obtain the control quantity output by the actual system.
8) And performing out-of-range judgment on the output control quantity of the system, outputting the boundary value as the control quantity if the output control quantity exceeds the control limit value of the system, and finally performing smoothing treatment to obtain the final output control quantity so as to realize the loading control of the electric cylinder.
The following describes an electric cylinder loading control apparatus, an electronic device, and a storage medium according to embodiments of the present invention, and the electric cylinder loading control apparatus, the electronic device, and the storage medium described below and the electric cylinder loading control method described above may be referred to in correspondence with each other.
Referring to fig. 5, fig. 5 is a block diagram of an electric cylinder loading control apparatus according to an embodiment of the present invention, where the apparatus may include:
the data acquisition and parameter calculation module 501 is configured to acquire target load force value data and corresponding current load force value data when entering a current wheel control period, and calculate a first-order feedforward control parameter, a second-order feedforward control parameter, and a proportional coefficient of the current wheel control period;
the feedforward control quantity calculation module 502 is used for performing adjacent difference calculation on target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, a first-order feedforward control parameter and a second-order feedforward control parameter;
the PID control amount calculation module 503 is configured to perform difference calculation using each target load force value data and the corresponding current load force value data to obtain a second difference data set, and calculate a PID control amount corresponding to the target load force value data using the proportionality coefficient and the second difference data set;
and the control quantity calculation module 504 is used for calculating the total control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to be loaded by using the total control quantity.
Alternatively, the feedforward control amount calculation module 502 may include:
the first feedforward control quantity calculating unit is used for removing the maximum value and the minimum value in the first difference data set and calculating to obtain a first-order feedforward control quantity by using the removed first difference data set and a first-order feedforward control parameter;
and the second feedforward control quantity calculating unit is used for extracting a middle value and a tail value in the original first difference data set according to a calculating sequence and calculating by utilizing the middle value, the tail value and a second feedforward control parameter to obtain a second-order feedforward control quantity.
Optionally, the PID control amount calculation module 503 may include:
the device comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for acquiring a preset integral coefficient and a preset differential coefficient;
the first calculating unit is used for calculating a proportional control quantity, an integral control quantity and a differential control quantity for each difference data in the second difference data set by utilizing a proportional coefficient, a preset integral coefficient and a differential coefficient respectively;
and the second calculating unit is used for calculating the PID control quantity by using the target load force value data corresponding to the difference data of the proportional control quantity, the integral control quantity and the differential control quantity.
Alternatively, the control amount calculation module 504 may include:
the output value calculating unit is used for summing the first-order feedforward control quantity and the second-order feedforward control quantity with each PID control quantity to obtain an output value;
the judging unit is used for judging whether the output value is larger than a preset control threshold value or not;
the first processing unit is used for setting the preset control threshold value as the total control quantity if the preset control threshold value is the total control quantity;
and the second processing unit is used for setting the output value as the total control quantity if the output value is not the total control quantity.
Optionally, the control amount calculation module 504 may further include:
and the smoothing unit is used for smoothing the total control quantity and executing the step of controlling the electric cylinder to load by using the total control quantity after the smoothing processing.
Optionally, the data collecting and parameter calculating module 501 may include:
the second acquisition unit is used for acquiring a preset first load force value range and corresponding boundary values of the feedforward control parameters, and a plurality of preset second load force value ranges and corresponding boundary values of the proportional coefficients; the second load force value ranges are not overlapped, the first load force value range is composed of all the second load force value ranges, and the feedforward control parameter boundary value comprises a first feedforward control parameter boundary value and a second feedforward control parameter boundary value;
the first linear compensation unit is used for extracting the latest value in the current load force value data and respectively performing linear compensation on the first feedforward control parameter boundary value and the second feedforward control parameter boundary value according to the position of the latest value in the first load force value range to obtain a first-order feedforward control parameter and a second-order feedforward control parameter;
and the second linear compensation unit is used for determining a target range to which the latest value belongs in the second load force value range, and performing linear compensation on a proportional coefficient boundary value corresponding to the target range according to the position of the latest value in the target range to obtain a proportional coefficient.
An embodiment of the present invention further provides an electronic device, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the electric cylinder loading control method when executing the computer program.
Since the embodiment of the electronic device portion corresponds to the embodiment of the electric cylinder loading control method portion, please refer to the description of the embodiment of the electric cylinder loading control method portion, and details thereof are not repeated here.
The embodiment of the present invention further provides a storage medium, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the method for controlling loading of an electric cylinder according to any of the above embodiments are implemented.
Since the embodiment of the storage medium portion corresponds to the embodiment of the electric cylinder loading control method portion, please refer to the description of the embodiment of the electric cylinder loading control method portion for the embodiment of the storage medium portion, which is not repeated here.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The present invention provides a method, an apparatus, an electronic device and a storage medium for controlling loading of an electric cylinder. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. An electric cylinder loading control method is characterized by comprising the following steps:
when entering a control period of the current wheel, acquiring target load force value data and corresponding current load force value data, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the control period of the current wheel;
performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter;
performing difference calculation by using each target load force value data and the corresponding current load force value data to obtain a second difference data set, and calculating PID control quantity corresponding to the target load force value data by using the proportional coefficient and the second difference data set;
and calculating the total control quantity by using the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by using the total control quantity.
2. The electric cylinder loading control method according to claim 1, wherein the calculating a first order feedforward control quantity and a second order feedforward control quantity using the first difference data set, the first order feedforward control parameter, and the second order feedforward control parameter includes:
removing the maximum value and the minimum value in the first difference data set, and calculating by using the removed first difference data set and the first-order feedforward control parameter to obtain the first-order feedforward control quantity;
and extracting a middle value and a tail value in the original first difference data set according to a calculation sequence, and calculating by using the middle value, the tail value and the second-order feedforward control parameter to obtain the second-order feedforward control quantity.
3. The electric cylinder loading control method according to claim 1, wherein the calculating the PID control amount corresponding to the target load force value data using the proportionality coefficient and the second difference data set includes:
acquiring a preset integral coefficient and a preset differential coefficient;
calculating a proportional control quantity, an integral control quantity and a differential control quantity for each difference data in the second difference data set by respectively utilizing the proportional coefficient, the preset integral and the differential coefficient;
and calculating the PID control quantity by using the proportional control quantity, the integral control quantity and the differential control quantity as target load force value data corresponding to the difference data.
4. The electric cylinder loading control method according to claim 1, wherein the calculating of the total control amount using the PID control amount, the first order feedforward control amount, and the second order feedforward control amount includes:
summing the first-order feedforward control quantity and the second-order feedforward control quantity with each PID control quantity to obtain an output value;
judging whether the output value is larger than a preset control threshold value or not;
if so, setting the preset control threshold value as the total control quantity;
and if not, setting the output value as the total control quantity.
5. The method for controlling the loading of the electric cylinder according to claim 1, further comprising, before controlling the electric cylinder to be loaded by using the total control amount:
and performing smoothing treatment on the total control quantity, and executing the step of controlling the electric cylinder to be loaded by using the total control quantity after the smoothing treatment.
6. The electric cylinder loading control method according to any one of claims 1 to 5, wherein the calculating the first order feedforward control parameter, the second order feedforward control parameter, and the proportionality coefficient of the present round of control period includes:
acquiring a preset first load force value range and corresponding boundary values of feedforward control parameters, and a plurality of preset second load force value ranges and corresponding boundary values of proportionality coefficients; the second load force value ranges are not overlapped, the first load force value range is composed of all the second load force value ranges, and the feedforward control parameter boundary value comprises a first feedforward control parameter boundary value and a second feedforward control parameter boundary value;
extracting the latest value in the current load force value data, and respectively performing linear compensation on the first feedforward control parameter boundary value and the second feedforward control parameter boundary value according to the position of the latest value in the first load force value range to obtain the first-order feedforward control parameter and the second-order feedforward control parameter;
and determining a target range to which the latest value belongs in the second load force value range, and performing linear compensation on a proportional coefficient boundary value corresponding to the target range according to the position of the latest value in the target range to obtain the proportional coefficient.
7. An electric cylinder loading control apparatus, characterized by comprising:
the data acquisition and parameter calculation module is used for acquiring target load force value data and corresponding current load force value data when entering a control period of the current wheel, and calculating a first-order feedforward control parameter, a second-order feedforward control parameter and a proportional coefficient of the control period of the current wheel;
the feedforward control quantity calculation module is used for performing adjacent difference calculation on the target load force value data to obtain a first difference data set, and calculating a first-order feedforward control quantity and a second-order feedforward control quantity by using the first difference data set, the first-order feedforward control parameter and the second-order feedforward control parameter;
the PID control quantity calculation module is used for performing difference calculation on each target load force value data and the corresponding current load force value data to obtain a second difference value data set, and calculating the PID control quantity corresponding to the target load force value data by using the proportional coefficient and the second difference value data set;
and the total control quantity calculating module is used for calculating the total control quantity by utilizing the PID control quantity, the first-order feedforward control quantity and the second-order feedforward control quantity, entering a lower wheel control period and controlling the electric cylinder to load by utilizing the total control quantity.
8. The electric cylinder load control device according to claim 7, wherein the feedforward control amount calculation module includes:
the first feedforward control quantity calculating unit is used for removing the maximum value and the minimum value in the first difference data set and calculating to obtain the first-order feedforward control quantity by using the removed first difference data set and the first-order feedforward control parameter;
and the second feedforward control quantity calculating unit is used for extracting a middle value and a tail value in the original first difference data set according to a calculating sequence and calculating the second-order feedforward control quantity by using the middle value, the tail value and the second-order feedforward control parameter.
9. An electronic device, comprising:
a memory for storing a computer program;
a processor for implementing the electric cylinder loading control method according to any one of claims 1 to 6 when executing the computer program.
10. A storage medium having stored therein computer-executable instructions that, when loaded and executed by a processor, carry out the electric cylinder loading control method according to any one of claims 1 to 6.
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