CN116336124A - Real-time control method, controller and control system for hydraulic variable damping cylinder - Google Patents

Real-time control method, controller and control system for hydraulic variable damping cylinder Download PDF

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CN116336124A
CN116336124A CN202111595102.9A CN202111595102A CN116336124A CN 116336124 A CN116336124 A CN 116336124A CN 202111595102 A CN202111595102 A CN 202111595102A CN 116336124 A CN116336124 A CN 116336124A
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target
information
valve core
actual
oil cylinder
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张秀峰
张宁
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National Research Center for Rehabilitation Technical Aids
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National Research Center for Rehabilitation Technical Aids
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/10—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium using liquid only; using a fluid of which the nature is immaterial
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/3207—Constructional features
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
    • F16F9/32—Details
    • F16F9/50—Special means providing automatic damping adjustment, i.e. self-adjustment of damping by particular sliding movements of a valve element, other than flexions or displacement of valve discs; Special means providing self-adjustment of spring characteristics
    • F16F9/512—Means responsive to load action, i.e. static load on the damper or dynamic fluid pressure changes in the damper, e.g. due to changes in velocity

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  • Fluid Mechanics (AREA)
  • Feedback Control In General (AREA)

Abstract

The invention discloses a real-time control method, a controller and a control system for a hydraulic variable damping cylinder, wherein the control method comprises the following steps: acquiring piston position information and external driving force information of an oil cylinder piston in real time, and calculating actual position information, actual speed information and actual acceleration information at the current moment of the oil cylinder by using a filter algorithm based on the piston position information and the external driving force information; acquiring target position information, target speed information and target acceleration information of the oil cylinder at the current moment based on a target track of the oil cylinder, and outputting force required by forming the target track; obtaining a closed-loop target output force of the valve core control system based on the information; based on the actual flow of the throttle valve at the current moment and the closed-loop target output force of the valve core control system, the target valve core position information of the valve core of the throttle valve at the current moment is calculated, and the stability of target track tracking can be ensured.

Description

Real-time control method, controller and control system for hydraulic variable damping cylinder
Technical Field
The invention belongs to the field of hydraulic control, and particularly relates to a real-time control method, a controller and a control system for a hydraulic variable damping cylinder.
Background
The variable damping cylinder can control the passively driven hydraulic cylinder outflow throttle valve in real time so as to achieve the purpose of outputting damping force which changes along with time. The principle is used for automobile shock absorbers and hydraulic knee joint prostheses, and is particularly suitable for a bidirectional electrohydraulic variable damping hydraulic cylinder similar to the patent CN 202011360160.9 and a damping cylinder electric regulating throttle valve in the patent CN 202110452687.2. In general, under the condition that the opening of the throttle valve port is unchanged, the relation between the pressure difference and the flow rate at the two ends of the throttle valve is nonlinear, and the relation between the pressure and the flow rate power function is often represented in the form of an outflow index. In addition, the relationship between the spool position and the flow coefficient of most throttle valves is not linear.
Therefore, the control of the throttle valve is affected by two strong nonlinear characteristics, and a general linear controller cannot meet the control requirement and the adaptability requirement of the throttle valve.
In order to overcome the above problems, a control method capable of implementing linear feedback compensation on the above nonlinear characteristics is needed, and the above problems are needed to be solved in the art.
Disclosure of Invention
The invention provides a real-time control method for a hydraulic variable damping cylinder in order to solve the technical problems.
The technical scheme for solving the technical problems is as follows: the real-time control method for the hydraulic variable damping cylinder is characterized by comprising the following steps of:
acquiring piston position information and external driving force information of an oil cylinder piston in real time, and calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at the current moment by using a filter algorithm based on the position information and the external driving force information of the piston;
based on the target track of the oil cylinder, obtaining target position information, target speed information and target acceleration information of the oil cylinder at the current moment, and tracking the target track to obtain an open-loop target output force required by the oil cylinder;
obtaining a closed-loop target output force of a valve core control system based on the target position information, the actual position information, the target speed information, the actual speed information, the target acceleration information, the actual acceleration information and the open-loop target output force at the current time;
and calculating the target valve element position information of the valve element of the throttle valve at the current moment based on the actual flow of the throttle valve at the current moment and the closed-loop target output force of the valve element control system.
The real-time control method for the hydraulic variable damping cylinder has the beneficial effects that: the method disclosed by the application does not need a fluid pressure sensor, and can save sensing cost and volume. Because the feedback information is in a full state, the system can adapt to external interference, has certain adaptability to variable load, and ensures the stability of target track tracking.
In an alternative embodiment, the method further comprises the step of: and feeding back the target valve core position information to a valve core servo position driver, and driving the throttle valve core to the target valve core position by the valve core servo position driver.
In an alternative embodiment, the actual speed information at the current time is calculated by the following formula:
Figure BDA0003430859320000021
wherein X (t) is the actual position of the oil cylinder at the time t, X (t-1) is the actual position of the oil cylinder at the time t-1, V (t) is the actual speed of the oil cylinder at the time t, V (t-1) is the actual speed of the oil cylinder at the time t-1, and N is the filter sampling number.
In an alternative embodiment, the actual acceleration information at the current time is calculated by the following formula:
Figure BDA0003430859320000022
wherein A (t) is the actual acceleration of the oil cylinder at the time t, A (t-1) is the actual acceleration of the oil cylinder at the time t-1, V (t) is the actual speed of the oil cylinder at the time t, V (t-1) is the actual speed of the oil cylinder at the time t-1, and N is the filter sampling number.
In an alternative embodiment, the target speed information is derived by first deriving the target trajectory over time, and the target acceleration information is derived by second deriving the target trajectory over time.
In an alternative embodiment, the closed loop target output force of the spool control system is calculated from the following equation:
F d (t)＝K x (X(t)-X d (t))+K v (V(t)-V d (t))+K a (A(t)-A d (t))+F(t)
wherein F is d (t) is the closed loop target output force, K, of the spool control system x 、K v 、K a Feedback coefficients, X, of position, velocity, acceleration, respectively d (t)、V d (t)、A d And (t) is the target position, the target speed and the target acceleration of the oil cylinder at the moment t respectively, X (t), V (t) and A (t) are the actual position, the actual speed and the actual acceleration of the oil cylinder at the moment t respectively, and F (t) is the required open-loop target output force at the moment t.
In an alternative embodiment, the target spool position information satisfies the following set of equations:
Figure BDA0003430859320000031
wherein D (V (t)) is the mapping relation between the actual speed V (t) of the oil cylinder at the moment t and the actual flow Q (t) flowing through the throttle valve; c (F) d (t)) is the closed-loop target output force F of the valve core control system at the moment t d (t) a target liquid pressure difference ΔP from both sides of the throttle valve d (t) a mapping relationship between; alpha is the valve core position; c (C) v (alpha) isWhen the valve core position is alpha, the pressure flow coefficient of the throttling valve flow port; m (α) is the flow index when the spool position is α.
In an alternative embodiment, the target spool position information is calculated by:
obtaining the valve core position upper limit and the valve core position lower limit which can meet the relation between the target liquid pressure difference and the actual flow rate at two sides of the throttle valve in an estimated way, taking the midpoint value of the valve core position upper limit and the valve core position lower limit as a temporary valve core position,
calculating the temporary flow of the throttle valve when the valve core is positioned at the temporary valve core position based on the target liquid pressure difference at the two sides of the throttle valve at the current moment;
comparing the temporary flow with the actual flow at the current moment, if the temporary flow is smaller than the actual flow, replacing the upper limit of the valve core position with a temporary valve core position, and if the temporary flow is larger than the actual flow, replacing the lower limit of the valve core position with the temporary valve core position;
and calculating a difference value between the upper limit of the valve core position and the lower limit of the valve core position, if the difference value is larger than the minimum precision of the valve core position servo driver, repeating the steps, and if the difference value is smaller than the minimum precision of the valve core position servo driver, determining the temporary valve core position as the target valve core position.
The application also provides a real-time controller for a hydraulic variable damping cylinder, comprising:
the acquisition unit is used for acquiring piston position information and external driving force information of the oil cylinder piston in real time;
a calculating unit for calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at the current moment by using a filter algorithm based on the position information of the piston and external driving force information,
based on the target track of the oil cylinder, obtaining target position information, target speed information and target acceleration information of the oil cylinder at the current moment, and tracking the target track to obtain an open-loop target output force required by the oil cylinder;
obtaining a closed-loop target output force of a valve core control system based on the target position information, the actual position information, the target speed information, the actual speed information, the target acceleration information, the actual acceleration information and the open-loop target output force at the current time;
calculating to obtain target valve element position information of a valve element of the throttle valve at the current moment based on the actual flow of the oil cylinder at the current moment and the target closed loop output force of the valve element control system;
and the feedback unit is used for feeding back the target valve core position information to a valve core servo position driver.
The application also provides a real-time control system for the hydraulic variable damping cylinder, which comprises the real-time controller;
the position sensor is used for detecting the position of the oil cylinder piston in real time and sending the position to the real-time controller;
the real-time controller is used for sending the target valve core position to the valve core servo position driver;
and the valve core servo position driver is used for driving the valve core of the throttle valve according to the target valve core position information.
Drawings
FIG. 1 is a schematic illustration of a connecting rod configuration for use in an early swing phase of a prosthetic knee joint in accordance with an embodiment of the present application;
figure 2 is a control flow diagram of a method for controlling a prosthetic knee joint in real time using the method of the present application
FIG. 3 is a target trajectory of the prosthetic knee of FIG. 1 during gait of the prosthetic knee;
FIG. 4 is a graph of prosthetic knee joint target forces for the prosthetic knee joint of FIG. 1 in gait;
FIG. 5 is a schematic illustration of a gait phase corresponding to FIGS. 3 and 4;
reference numerals illustrate: sensor 1, hydro-cylinder 2, choke valve 3, case position servo driver 4, low pressure oil storage chamber 5.
Detailed Description
The principles and features of the present application are described below with reference to the drawings and examples, which are provided for the purpose of illustrating the application and are not intended to limit the scope of the application.
The following discloses a number of different embodiments or examples of implementing the subject technology. Specific examples of one or more arrangements of features are described below to simplify the disclosure, but the examples are not limiting of the present disclosure, and a first feature described later in this disclosure is connected to a second feature, and may include embodiments that are directly connected to each other, or may include embodiments that form additional features, and further include embodiments that indirectly connect or combine the first feature and the second feature with each other using one or more other intervening features, so that the first feature and the second feature may not be directly connected to each other.
The application discloses a real-time control method for a hydraulic variable damping cylinder, which comprises the following steps:
s1: acquiring piston position information and external driving force information of an oil cylinder piston in real time, and calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at the current moment by using a filter algorithm based on the position information and the external driving force information of the piston;
s2: obtaining target position information of the oil cylinder at the current moment based on a target track of the oil cylinder, obtaining target speed information by solving a first derivative of the target track with respect to time, obtaining target acceleration information by solving a second derivative of the target track with respect to time, and tracking the target track to obtain an open-loop target output force required by the oil cylinder;
s3: obtaining a closed-loop target output force of a valve core control system based on the target position information, the actual position information, the target speed information, the actual speed information, the target acceleration information, the actual acceleration information and an open-loop target output force at the current moment;
s4: and calculating to obtain target valve element position information of the valve element of the throttle valve at the current moment based on the actual flow of the oil cylinder at the current moment and the closed-loop target output force of the valve element control system.
For convenience of description of the present application, in this application, taking a hydraulic variable damping cylinder to control a prosthetic knee joint as an example, fig. 1 shows a schematic diagram of a link structure of a prosthetic knee joint controlled by the hydraulic variable damping cylinder, and fig. 2 shows an overall control flow chart for controlling the prosthetic knee joint by the method of this application, in a bending direction of the knee joint, the prosthetic knee joint generally includes a position sensor 1, a cylinder 2, a variable damping throttle valve 3, a spool position servo driver 4, and a low-pressure oil storage chamber 5.
In step S1, the position of the cylinder piston may be obtained by the position sensor 1, for example, the position sensor 1 may be an angle sensor, the rotational degree of freedom of the position sensor 1 may be obtained by mapping the position of the connecting rod and the cylinder, and since the rotation angle of the knee is achieved by pushing the connecting rod by the cylinder piston, when the piston is at different positions, the rotation angle of the connecting rod is different, and the link angle information obtained by the position sensor 1 can be converted by the geometric features of the connecting rod and the cylinder in fig. 1, so as to determine the position information of the cylinder piston.
According to the position information of the piston of the oil cylinder and the external driving force information, the extending distance of the piston can be judged, and the position of the oil cylinder can be obtained.
In the example shown in fig. 1, equation (1) can be obtained according to the geometric characteristics of the connecting rod and the cylinder at this time:
Figure BDA0003430859320000051
wherein the rotation angle acquired by the position sensor 1 is theta, and the distance from the position sensor 1 to the connecting position of the connecting rod and the oil cylinder is L 2 The distance from the position sensor to the piston is L 1 The obtained angle information theta can be mapped to the cylinder piston position L 3 Based on the external driving force information of the cylinder piston, the position relation between the cylinder piston and the cylinder can be known, and the position of the cylinder can be calculated.
After reaching the position of the oil cylinder, the actual speed information and the actual acceleration information of the oil cylinder at the current moment can be obtained through a filtering algorithm, and the actual speed information and the actual acceleration information are obtained through time domain derivation and finite difference filtering of the signal of the position sensor 1, and are specifically shown as a formula (2) and a formula (3):
Figure BDA0003430859320000052
Figure BDA0003430859320000053
wherein X (t) is the actual position of the oil cylinder at the t moment, X (t-1) is the actual position of the oil cylinder at the t moment, V (t) is the actual speed of the oil cylinder at the t moment, V (t-1) is the actual speed of the oil cylinder at the t moment, A (t) is the actual acceleration of the oil cylinder at the t moment, A (t-1) is the actual acceleration of the oil cylinder at the t moment, and N is the filter sampling number.
In step S2, after the position information of the piston is obtained, the target position information, the target speed information, the target acceleration information, and the output force required for generating the target track in general of the cylinder at the current moment are calculated according to the target track of the cylinder.
Specifically, the target track of the oil cylinder is a track preset to be presented by the oil cylinder, taking the movement of the prosthetic knee joint in fig. 1 as an example, when the prosthetic knee joint is driven to move by the oil cylinder, the preset prosthetic knee joint gait is shown in fig. 5, at this time, the track presented by the relation between the required prosthetic knee joint movement angle and the gait cycle is shown in fig. 3, the track represents the prosthetic knee target track when the prosthetic knee joint gait is presented, the corresponding oil cylinder track is the target track of the oil cylinder, fig. 4 shows the curve of the torque and the gait cycle percentage when the prosthetic knee joint achieves the above-mentioned prosthetic knee target track, the curve represents the prosthetic knee target force of the prosthetic knee gait, and the output of the corresponding oil cylinder is the required output force.
In step S3, the differences between the target position, speed and acceleration of the cylinder and the actual position, speed and acceleration are comprehensively considered to form closed loop feedback, and meanwhile, the required output force of the open loop is added to be integrated into the closed loop target output force of the valve core control system.
Specifically, the closed-loop target output force of the valve core control system is calculated according to a formula (4):
F d (t)＝K x (X(t)-X d (t))+K v (V(t)-V d (t))+K a (A(t)-A d (t))+F(t) (4)
wherein K is x 、K v 、K a Feedback coefficients, X, of position, velocity, acceleration, respectively d (t)、V d (t)、A d And (t) is the target position, the target speed and the target acceleration of the oil cylinder at the moment t, and F (t) is the open-loop target output force required by the oil cylinder to generate the target track under the general condition.
And S4, after the closed-loop target output force of the valve core control system is obtained, reversely solving the target valve core position required to be input into the valve core position servo system according to the current actual flow of the oil cylinder and the closed-loop target output force of the valve core control system and the equation (5).
Figure BDA0003430859320000061
Wherein D (V (t)) is the mapping relation between the actual speed V (t) of the oil cylinder and the actual flow Q (t) flowing through the throttle valve; c (F) d (t)) is the closed loop target output force F of the spool control system d (t) a target liquid pressure difference DeltaP across the throttle valve from time t d (t) a mapping relationship between; D. and C, the two mapping relations are related to the cylinder diameter, the rod diameter, the number of outgoing rods and the movement direction of the oil cylinder. Alpha is the valve core position; c (C) v And (alpha) is the pressure flow coefficient of the throttling valve flow port when the valve core position is alpha; m (α) is the flow index when the spool position is α in the present embodiment, D (V (t))=v (t) D 2 Pi/4, d is the inner diameter of the oil cylinder,C(F d (t))＝F d (t)/(d 2 π/4).
after the position information of the target spool is obtained, step S5 may be executed: the obtained target valve element position information is sent to the valve element position servo driver 4, and the valve element is driven to the target valve element position by the valve element position servo driver 4, so that the valve element is controlled, for example, the valve element of the throttle valve is controlled to rotate, and the expression form of the valve element position information is the rotation angle of the valve element. When the spool position servo driver 4 obtains the target spool position information, the spool is selected to be rotated to the corresponding rotation angle, thereby completing the control.
Meanwhile, in the above equation set, since the coefficient and the index of the target liquid pressure difference term in the relation between the pressure and the flow are functions related to the valve core position, when the target valve core angle is solved, the overrun equation cannot be resolved, so the valve core position is solved by the binary numerical solution, the specific calculation process is shown in fig. 2, and the steps are as follows:
s401: respectively estimating two valve core position upper limits alpha capable of meeting the relation between the target liquid pressure difference and the actual flow max And the lower limit alpha of the valve core position min At the upper limit alpha of the valve core position max And the lower limit alpha of the valve core position min Takes the middle point value in the range of (a) and marks the middle point value as the temporary valve core position alpha tmp Specifically, as shown in formula (6):
α tmp ＝(α max +α min )/2 (6)
s402: calculating the position alpha of the temporary valve core tmp And a target liquid pressure difference DeltaP d Temporary flow Q at (t) tmp (α tmp ) Specifically, the method is shown in a formula (7):
Figure BDA0003430859320000071
s403: comparison Q tmp (α tmp ) From the current actual flow Q (t), if Q tmp (α tmp )<Q (t), then alpha tmp ＝α max The method comprises the steps of carrying out a first treatment on the surface of the If Q tmp (α tmp )>Q (t), then alpha tmp ＝α min 。
S404: if (alpha) max -α min ) If the precision is larger than the minimum precision of the valve core position servo driver 4 for controlling the variable damping throttle valve 3, returning to S1 for iteration; if (alpha) max -α min ) Less than the minimum accuracy of the spool position servo driver 4, the iteration is stopped, view alpha tmp To generate a target liquid pressure difference under the current flow rate
Figure BDA0003430859320000072
Valve spool angle of (2), i.e., target valve spool position information.
The real-time control method disclosed by the application does not need a fluid pressure sensor, and can save sensing cost and volume. Because the feedback information is in a full state, the system can adapt to external interference, has certain adaptability to variable load, and ensures the stability of target track tracking. In addition, the calculation process of the valve core position information is a finite step, and the synchronization of control frequency can be ensured in specific control, so that the quick response to external load and environment change is realized.
In the description of the present specification, it should be understood that the terms "center", "length", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "inner", "outer", "peripheral side", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present specification and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present specification.
In the description of the present specification, the meaning of "plurality" means at least two, for example, two, three, etc., unless explicitly defined otherwise.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," 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 present application. In this specification, schematic representations of the above terms are not necessarily directed 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, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The terms used in the present specification are those general terms that are currently widely used in the art in view of the functions of the present disclosure, but may vary according to the intention, precedent, or new technology in the art of the person of ordinary skill in the art. Furthermore, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present disclosure. Accordingly, the terms used in the specification should not be construed as simple names, but rather based on the meanings of the terms and the general description of the present disclosure.
Flowcharts or text is used in this specification to describe the operational steps performed according to embodiments of the present application. It should be understood that the steps of operations in embodiments of the present application are not necessarily performed in the order of description. Rather, the various steps may be processed in reverse order or simultaneously, as desired. Also, other operations may be added to or removed from these processes.
The foregoing description of the preferred embodiments of the present application is not intended to limit the invention to the particular embodiments of the present application, but to limit the scope of the invention to the particular embodiments of the present application.

Claims (10)

1. The real-time control method for the hydraulic variable damping cylinder is characterized by comprising the following steps of:
acquiring piston position information and external driving force information of an oil cylinder piston in real time, and calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at the current moment by using a filter algorithm based on the position information and the external driving force information of the piston;
based on the target track of the oil cylinder, obtaining target position information, target speed information and target acceleration information of the oil cylinder at the current moment, and tracking the target track to obtain an open-loop target output force required by the oil cylinder;
obtaining a closed-loop target output force of a valve core control system based on the target position information, the actual position information, the target speed information, the actual speed information, the target acceleration information, the actual acceleration information and the open-loop target output force at the current time;
and calculating the target valve element position information of the valve element of the throttle valve at the current moment based on the actual flow of the throttle valve at the current moment and the closed-loop target output force of the valve element control system.
2. The real-time control method according to claim 1, further comprising the step of: and feeding back the target valve core position information to a valve core servo position driver, and driving the throttle valve core to the target valve core position by the valve core servo position driver.
3. The real-time control method for a hydraulic variable damping cylinder according to claim 1 or 2, wherein the actual speed information at the current time is calculated by the following formula:
Figure FDA0003430859310000011
wherein X (t) is the actual position of the oil cylinder at the time t, X (t-1) is the actual position of the oil cylinder at the time t-1, V (t) is the actual speed of the oil cylinder at the time t, V (t-1) is the actual speed of the oil cylinder at the time t-1, and N is the filter sampling number.
4. The real-time control method according to claim 1 or 2, wherein the actual acceleration information at the current time is calculated by the following formula:
Figure FDA0003430859310000012
wherein A (t) is the actual acceleration of the oil cylinder at the time t, A (t-1) is the actual acceleration of the oil cylinder at the time t-1, V (t) is the actual speed of the oil cylinder at the time t, V (t-1) is the actual speed of the oil cylinder at the time t-1, and N is the filter sampling number.
5. The real-time control method according to claim 1 or 2, wherein the target speed information is obtained by first deriving the target trajectory over time, and the target acceleration information is obtained by second deriving the target trajectory over time.
6. The real-time control method according to claim 1 or 2, wherein the closed-loop target output force of the spool control system is calculated by the following formula:
F d (t)＝K x (X(t)-X d (t))+K v (V(t)-V d (t))+K a (A(t)-A d (t))+F(t)
wherein F is d (t) is the closed loop target output force, K, of the spool control system x 、K v 、K a Feedback coefficients, X, of position, velocity, acceleration, respectively d (t)、V d (t)、A d And (t) is the target position, the target speed and the target acceleration of the oil cylinder at the moment t respectively, X (t), V (t) and A (t) are the actual position, the actual speed and the actual acceleration of the oil cylinder at the moment t respectively, and F (t) is the required open-loop target output force at the moment t.
7. The real-time control method according to claim 1 or 2, characterized in that the target spool position information satisfies the following equation set:
Figure FDA0003430859310000021
wherein D (V (t)) is the mapping relation between the actual speed V (t) of the oil cylinder at the moment t and the actual flow Q (t) flowing through the throttle valve; c (F) d (t)) is the closed-loop target output force F of the valve core control system at the moment t d (t) a target liquid pressure difference ΔP from both sides of the throttle valve d (t) a mapping relationship between; alpha is the valve core position; c (C) v And (alpha) is the pressure flow coefficient of the throttling valve flow port when the valve core position is alpha; m (α) is the flow index when the spool position is α.
8. The real-time control method according to claim 7, wherein the target spool position information is calculated by:
obtaining the valve core position upper limit and the valve core position lower limit which can meet the relation between the target liquid pressure difference and the actual flow rate at two sides of the throttle valve in an estimated way, taking the midpoint value of the valve core position upper limit and the valve core position lower limit as a temporary valve core position,
calculating the temporary flow of the throttle valve when the valve core is positioned at the temporary valve core position based on the target liquid pressure difference at the two sides of the throttle valve at the current moment;
comparing the temporary flow with the actual flow at the current moment, if the temporary flow is smaller than the actual flow, replacing the upper limit of the valve core position with a temporary valve core position, and if the temporary flow is larger than the actual flow, replacing the lower limit of the valve core position with the temporary valve core position;
and calculating a difference value between the upper limit of the valve core position and the lower limit of the valve core position, if the difference value is larger than the minimum precision of the valve core position servo driver, repeating the steps, and if the difference value is smaller than the minimum precision of the valve core position servo driver, determining the temporary valve core position as the target valve core position.
9. A real-time controller for a hydraulic variable damping cylinder, comprising:
the acquisition unit is used for acquiring piston position information and external driving force information of the oil cylinder piston in real time;
a calculating unit for calculating actual position information, actual speed information and actual acceleration information of the oil cylinder at the current moment by using a filter algorithm based on the position information of the piston and external driving force information,
based on the target track of the oil cylinder, obtaining target position information, target speed information and target acceleration information of the oil cylinder at the current moment, and tracking the target track to obtain an open-loop target output force required by the oil cylinder;
obtaining a closed-loop target output force of a valve core control system based on the target position information, the actual position information, the target speed information, the actual speed information, the target acceleration information, the actual acceleration information and the open-loop target output force at the current time;
calculating to obtain target valve element position information of a valve element of the throttle valve at the current moment based on the actual flow of the oil cylinder at the current moment and the target closed loop output force of the valve element control system;
and the feedback unit is used for feeding back the target valve core position information to a valve core servo position driver.
10. A real-time control system for a hydraulic variable damping cylinder, comprising the real-time controller of claim 9;
the position sensor is used for detecting the position of the oil cylinder piston in real time and sending the position to the real-time controller;
the real-time controller is used for sending the target valve core position to the valve core servo position driver;
and the valve core servo position driver is used for driving the valve core of the throttle valve according to the target valve core position information.
CN202111595102.9A 2021-12-24 2021-12-24 Real-time control method, controller and control system for hydraulic variable damping cylinder Pending CN116336124A (en)

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