CN116428230B - Global dynamic programming-based electro-hydrostatic operation system and compound control method - Google Patents

Global dynamic programming-based electro-hydrostatic operation system and compound control method Download PDF

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Publication number
CN116428230B
CN116428230B CN202310367192.9A CN202310367192A CN116428230B CN 116428230 B CN116428230 B CN 116428230B CN 202310367192 A CN202310367192 A CN 202310367192A CN 116428230 B CN116428230 B CN 116428230B
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hydraulic pump
motor
pump motor
moment
mode
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CN116428230A (en
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王峰
吴佳明
张琪
林梓畅
张浩翔
林振川
乔艺涵
汪佳佳
徐兵
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Zhejiang University ZJU
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Zhejiang University ZJU
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B1/00—Installations or systems with accumulators; Supply reservoir or sump assemblies
    • F15B1/02—Installations or systems with accumulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B13/00—Details of servomotor systems ; Valves for servomotor systems
    • F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
    • F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Fluid-Pressure Circuits (AREA)

Abstract

The application discloses an electro-hydrostatic operation system based on global dynamic programming and a compound control method. The system can control the displacement of the hydraulic pump motor and the rotating speed of the motor through the controller, so that the whole electro-hydrostatic operation system always works in an energy efficiency optimal state. The method is applied to a controller of the electro-hydrostatic operation system, the rotating speed of the motor and the displacement of the hydraulic pump motor are regulated in a combined mode by adopting an overall dynamic planning energy management strategy, the rotating speed of the motor is decoupled from the load speed, and the working point of the motor is further optimized on the basis of removing the throttling loss of the valve control system, so that the electro-hydrostatic operation system realizes overall energy efficiency optimization in a single working period.

Description

Global dynamic programming-based electro-hydrostatic operation system and compound control method
Technical Field
The application relates to the technical field of hydraulic power, in particular to an electro-hydrostatic operation system based on global dynamic programming and a compound control method.
Background
The hydraulic system is usually used in the industrial application process, and the hydraulic system generally controls the flow directions of hydraulic oil of hydraulic execution mechanisms for driving different actions of the engineering machinery through a plurality of control valves respectively to form different actions of the engineering machinery, and works such as pressure transmission, lubrication and the like are performed in the actual working process. Because of the importance of hydraulic systems, hydraulic systems are widely used by people in most industrial processes and work.
The system energy consumption is one of the most important performance indexes of the hydraulic system. The electro-hydrostatic control hydraulic system has higher system efficiency due to the elimination of throttling losses of the flow control valve. Currently, electro-hydrostatic control hydraulic systems often employ variable speed motors to drive a fixed-displacement hydraulic pump as a flow source for the system. In this system configuration, the motor output speed and torque vary with load, and the consequent varying motor efficiency becomes an important factor affecting system efficiency. At high pressure and low flow load demands, the motor operates in a lower efficiency interval.
Disclosure of Invention
The present application aims to provide an electro-hydrostatic operation system and a compound control method based on global dynamic programming, which can improve the problems.
Embodiments of the present application are implemented as follows:
in a first aspect, the present application provides an electro-hydrostatic operation system based on global dynamic programming, comprising:
a motor driver for driving the corresponding motor under the control of the controller;
the motor is started under the drive of the motor driver and drives the corresponding hydraulic pump motor to work;
the hydraulic pump motor comprises a first oil port and a second oil port;
the input end of the first hydraulic control one-way valve is communicated with the first oil port, the input end of the second hydraulic control one-way valve is communicated with the second oil port, and the output ends of the first hydraulic control one-way valve and the second hydraulic control one-way valve are both communicated with the low-pressure accumulator;
the input end and the output end of the electromagnetic switch valve are respectively communicated with the first oil port and the second oil port;
the rod cavity and the rodless cavity of the hydraulic cylinder are respectively communicated with the first oil port and the second oil port;
and the controller is respectively and electrically connected with the hydraulic pump motor, the motor driver and the electromagnetic switch valve.
In an alternative embodiment of the present application, the electrostatic liquid operation system based on global dynamic programming further includes: the safety valve comprises a first safety valve and a second safety valve, wherein the input end of the first safety valve is communicated with the first oil port, the output end of the first safety valve is communicated with the second oil port, the input end of the second safety valve is communicated with the second oil port, and the output end of the second safety valve is communicated with the first oil port.
In an alternative embodiment of the present application, the electrostatic liquid operation system based on global dynamic programming further includes: the first pressure sensor is arranged on the first oil port, and the second pressure sensor is arranged on the second oil port; the speed sensor is arranged in a rod cavity of the hydraulic cylinder and used for monitoring the load speed of the hydraulic cylinder; the first pressure sensor, the second pressure sensor and the speed sensor are respectively and electrically connected with the controller.
It can be understood that the overall dynamic programming-based electro-hydrostatic operation system disclosed by the application can control the displacement of the hydraulic pump motor and the rotating speed of the motor through the controller, so that the whole electro-hydrostatic operation system always works in the state of optimal energy efficiency.
Under the working condition that the load speed and the load force are both greater than zero, the hydraulic pump motor works in a hydraulic pump mode, a first oil port of the hydraulic pump motor sucks hydraulic oil, a second oil port of the hydraulic pump motor outputs the hydraulic oil, and the low-pressure accumulator supplements the hydraulic oil to the first oil port of the hydraulic pump motor through the first hydraulic control one-way valve.
Under the working condition that the load speed is smaller than zero and the load force is larger than zero, the hydraulic pump motor works in an idle mode, the electromagnetic switch valve is opened, the hydraulic pump motor idles, one part of hydraulic oil in the rodless cavity of the hydraulic cylinder is led to the rod cavity of the hydraulic cylinder through the electromagnetic switch valve, the other part of hydraulic oil is led to the second oil port of the hydraulic pump motor, and the hydraulic oil output by the first oil port of the hydraulic pump motor is led to the low-pressure accumulator through the first hydraulic control one-way valve.
And under the working condition that the load speed and the load force are smaller than zero, the hydraulic pump motor works in a hydraulic pump mode, one part of hydraulic oil without a rod cavity of the hydraulic cylinder is led to the low-pressure accumulator through the second hydraulic control one-way valve, and the other part is led to the second oil port of the hydraulic pump motor.
Under the working conditions that the load speed is greater than zero and the load force is less than zero, the hydraulic pump motor works in a hydraulic motor mode, the first oil port of the hydraulic pump motor sucks hydraulic oil, the second oil port outputs hydraulic oil, and the low-pressure accumulator supplements the hydraulic oil to the rodless cavity of the hydraulic cylinder through the second hydraulic control one-way valve.
In a second aspect, the present application provides a global dynamic programming-based composite control method for an electro-hydrostatic operation system, which is applied to the electro-hydrostatic operation system based on global dynamic programming in any one of the first aspects, and includes:
s1, acquiring load working condition data of each moment in a single period input by a user, wherein the load working condition data comprise load speed and load force;
s2, calculating the total power loss of the current system at each moment in a single period according to the load working condition data;
s3, connecting the total power loss of the current system at two adjacent moments to obtain a minimum energy consumption equation at each moment in a single period;
s4, solving the minimum energy consumption equation to obtain the optimal motor rotation speed and the optimal hydraulic pump motor displacement at each moment in a single period;
s5, controlling the motor driver to drive the motor, enabling the rotating speed of the motor to be the optimal rotating speed of the motor at each moment in a single period, and controlling the hydraulic pump motor to enable the displacement of the hydraulic pump motor to be the optimal displacement of the hydraulic pump motor at each moment in the single period.
The steps S1, S2, etc. are only step identifiers, and the execution sequence of the method is not necessarily performed in the order from small to large, for example, the step S2 may be executed first and then the step S1 may be executed, which is not limited in this application.
It can be appreciated that the application discloses a composite control method of an electro-hydrostatic operation system based on global dynamic programming, which adopts an energy management strategy of the global dynamic programming to compositely adjust the rotating speed of a motor and the displacement of a hydraulic pump motor, decouples the rotating speed of the motor from the load speed, and further optimizes the working point of the motor on the basis of removing the throttling loss of a valve control system so as to ensure that the electro-hydrostatic operation system realizes global energy efficiency optimization in a single working period.
In an alternative embodiment of the present application, step S2 includes:
s21, determining a corresponding working mode of each moment according to the load working condition data of each moment in a single period;
s22, calculating the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment according to the working mode and the load working condition data at each moment in a single period;
s23, taking the sum of the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment as the current total power loss of the system at the corresponding moment.
In an alternative embodiment of the present application, step S21 includes:
s211, determining the working mode at the current moment as a first mode under the condition that the load speed is greater than zero and the load force is greater than zero;
s212, determining the working mode at the current moment as a second mode under the condition that the load speed is smaller than zero and the load force is larger than zero;
s213, determining the working mode at the current moment as a third mode under the condition that the load speed is smaller than zero and the load force is smaller than zero;
and S214, determining the working mode at the current moment as a fourth mode under the condition that the load speed is larger than zero and the load force is smaller than zero.
In an alternative embodiment of the present application, step S22 includes:
in case the operation mode is determined as the first mode or the third mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the current moment are calculated by:
in case the operating mode is determined to be the second mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the present moment are determined by:
P pvl ＝0，P pml ＝0，P ml ＝0；
in case the operation mode is determined to be the fourth mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the current time are calculated by:
wherein P is pvl Representing the hydraulic pump motor volume loss, P pml Represents the mechanical loss of the hydraulic pump motor, P ml Representing the power loss of the motor, Δp representing the differential pressure across the hydraulic pump motor, ω representing the rotational speed of the hydraulic pump motor, D representing the displacement of the hydraulic pump motor, η pv Representing the volumetric efficiency, eta, of the hydraulic pump motor pm Representing the mechanical efficiency, eta of the hydraulic pump motor m Representing the motor efficiency of the motor, T representing the torque of the motor.
In an alternative embodiment of the present application, in case the operation mode is determined as the first mode, the differential pressure Δp between both sides of the hydraulic pump motor is calculated according to the following formula:
when the operation mode is determined to be the second mode, the differential pressure Δp between the two sides of the hydraulic pump motor is calculated according to the following formula:
Δp＝0；
in the case where the operation mode is determined to be the third mode or the fourth mode, the differential pressure Δp between both sides of the hydraulic pump motor is calculated according to the following formula:
wherein p is a Representative of the rodless cavity pressure, p, of the hydraulic cylinder b The pressure in the rod chamber, p, representing the cylinder lp Representing the pressure of the low pressure accumulator, F representing the load force, A a Representing the effective area of the rodless cavity of the hydraulic cylinder, A b Representing the effective area of the rod cavity of the hydraulic cylinder.
In an alternative embodiment of the present application, step S3 includes:
the system loss from the current time to the next time is obtained according to the following equation:
wherein E is k (omega, D) represents the system loss from the current time k to the next time (k+1), P tl,k Representing the total power loss of said current system at current instant k, P tl,k+1 Representing the total power loss of the current system at the next time (k+1), Δt representing the time interval from the current time k to the next time (k+1);
obtaining the minimum energy consumption equation at the current moment according to the following formula:
J k ＝min{E k (ω,D)+J k+1 }，
wherein J is k Minimum energy consumption equation, J, representing current time k k+1 Representing the minimum energy consumption equation for the next time (k+1).
In an alternative embodiment of the present application, step S4 includes: and listing the minimum energy consumption equation of each moment in a single period, and sequentially solving the corresponding minimum energy consumption equation from the final moment in the single period to obtain the corresponding optimal motor speed and optimal hydraulic pump motor displacement until the minimum energy consumption equation corresponding to the initial moment in the single period is solved.
In a third aspect, the present application provides a controller comprising a processor and a memory interconnected, wherein the memory is for storing a computer program comprising program instructions, the processor being configured to invoke the program instructions to perform the method of any of the second aspects.
In a fourth aspect, the present application provides a computer readable storage medium storing a computer program comprising program instructions which, when executed by a processor, cause the processor to perform the method of any of the second aspects.
The beneficial effects are that:
according to the overall dynamic programming-based electro-hydrostatic operation system, disclosed by the application, the displacement of the hydraulic pump motor and the rotating speed of the motor can be controlled through the controller, so that the whole electro-hydrostatic operation system always works in an energy efficiency optimal state.
The method adopts an energy management strategy of global dynamic programming to compositely adjust the rotating speed of a motor and the displacement of a hydraulic pump motor, decouples the rotating speed of the motor from the load speed, and further optimizes the working point of the motor on the basis of removing the throttling loss of a valve control system so as to ensure that the overall energy efficiency of the electro-hydrostatic operation system is optimal in a single working period.
In order to make the above objects, features and advantages of the present application more comprehensible, alternative embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an overall dynamic programming-based electro-hydrostatic operation system provided herein;
FIG. 2 is a flow chart of a method for controlling a hydrostatic operation system based on global dynamic programming;
FIG. 3 is a schematic diagram of the present application for determining an operating mode based on load condition data.
Reference numerals:
the hydraulic control system comprises a controller 1, a motor driver 2, a motor 3, a first pressure sensor 4, a second pressure sensor 5, a hydraulic pump motor 6, a first oil port 61, a second oil port 62, a low-pressure accumulator 7, a first hydraulic control check valve 8, a second hydraulic control check valve 9, a first safety valve 10, a second safety valve 11, an electromagnetic switch valve 12, a speed sensor 13 and a hydraulic cylinder 14.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
In a first aspect, as shown in fig. 1, the present application provides an electro-hydrostatic operation system based on global dynamic programming, which includes: a motor driver 2 driving the corresponding motor 3 under the control of the controller 1; the motor 3 is started under the drive of the motor driver 2 and drives the corresponding hydraulic pump motor 6 to work; the hydraulic pump motor 6 includes a first oil port 61 and a second oil port 62; the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9, the input end of the first hydraulic control one-way valve 8 is communicated with the first oil port 61, the input end of the second hydraulic control one-way valve 9 is communicated with the second oil port 62, and the output ends of the first hydraulic control one-way valve 8 and the second hydraulic control one-way valve 9 are both communicated with the low-pressure accumulator 7; the input end and the output end of the electromagnetic switch valve 12 are respectively communicated with the first oil port 61 and the second oil port 62; the hydraulic cylinder 14, the rod cavity and the rodless cavity of the hydraulic cylinder 14 are respectively communicated with the first oil port 61 and the second oil port 62; the controller 1 is electrically connected to the hydraulic pump motor 6, the motor driver 2, and the electromagnetic switching valve 12, respectively.
In an alternative embodiment of the present application, the electrostatic liquid operation system based on global dynamic programming further includes: the safety valve comprises a first safety valve 10 and a second safety valve 11, wherein the input end of the first safety valve 10 is communicated with a first oil port 61, the output end of the first safety valve 10 is communicated with a second oil port 62, the input end of the second safety valve 11 is communicated with the second oil port 62, and the output end of the second safety valve 11 is communicated with the first oil port 61.
In an alternative embodiment of the present application, the electrostatic liquid operation system based on global dynamic programming further includes: a first pressure sensor 4 and a second pressure sensor 5, the first pressure sensor 4 is arranged on the first oil port 61, and the second pressure sensor 5 is arranged on the second oil port 62; a speed sensor 13, which is arranged in a rod cavity of the hydraulic cylinder 14 and is used for monitoring the load speed of the hydraulic cylinder 14; the first pressure sensor 4, the second pressure sensor 5 and the speed sensor 13 are electrically connected to the controller 1, respectively.
It can be understood that the overall dynamic programming-based electro-hydrostatic operation system disclosed by the application can control the displacement of the hydraulic pump motor 6 and the rotating speed of the motor 3 through the controller 1, so that the whole electro-hydrostatic operation system always works in the state of optimal energy efficiency.
Under the working condition that the load speed and the load force are both greater than zero, the hydraulic pump motor 6 works in the hydraulic pump mode, the first oil port 61 of the hydraulic pump motor 6 sucks hydraulic oil, the second oil port 62 of the hydraulic pump motor 6 outputs hydraulic oil, and the low-pressure accumulator 7 supplements the hydraulic oil to the first oil port 61 of the hydraulic pump motor 6 through the first hydraulic control one-way valve 8.
Under the working condition that the load speed is smaller than zero and the load force is larger than zero, the hydraulic pump motor 6 works in an idle mode, the electromagnetic switch valve 12 is opened, the hydraulic pump motor 6 idles, one part of hydraulic oil without a rod cavity of the hydraulic cylinder 14 is led to the rod cavity of the hydraulic cylinder 14 through the electromagnetic switch valve 12, the other part of hydraulic oil is led to the second oil port 62 of the hydraulic pump motor 6, and the hydraulic oil output by the first oil port 61 of the hydraulic pump motor 6 is led to the low-pressure accumulator 7 through the first hydraulic control one-way valve 8.
Under the working condition that the load speed and the load force are smaller than zero, the hydraulic pump motor 6 works in the hydraulic pump mode, one part of hydraulic oil in a rodless cavity of the hydraulic cylinder 14 is led to the low-pressure accumulator 7 through the second hydraulic control one-way valve 9, and the other part of hydraulic oil is led to the second oil port 62 of the hydraulic pump motor 6.
Under the working condition that the load speed is greater than zero and the load force is less than zero, the hydraulic pump motor 6 works in a hydraulic motor mode, the first oil port 61 of the hydraulic pump motor 6 sucks hydraulic oil, the second oil port 62 outputs the hydraulic oil, and the low-pressure accumulator 7 supplements the hydraulic oil to the rodless cavity of the hydraulic cylinder 14 through the second hydraulic control one-way valve 9.
In a second aspect, as shown in fig. 2, the present application provides a global dynamic programming-based composite control method for an electro-hydrostatic operation system, which is applied to any one of the global dynamic programming-based electro-hydrostatic operation systems in the first aspect, and includes:
s1, acquiring load condition data of each moment in a single period input by a user, wherein the load condition data comprise load speed and load force.
S2, calculating the total power loss of the current system at each moment in a single period according to the load working condition data.
And S3, connecting the total power loss of the current system at two adjacent moments to obtain the minimum energy consumption equation at each moment in a single period.
In an alternative embodiment of the present application, step S3 includes: the system loss from the current time to the next time is obtained according to the following equation:
wherein E is k (omega, D) represents the system loss from the current time k to the next time (k+1), P tl,k Representing the total power loss of the current system at the current moment k, P tl,k+1 Representing the current total power loss of the system at the next time (k+1), Δt representing the time interval from the current time k to the next time (k+1);
obtaining the minimum energy consumption equation at the current moment according to the following formula:
J k ＝min{E k (ω,D)+J k+1 }，
wherein J is k Minimum energy consumption equation, J, representing current time k k+1 Representing the minimum energy consumption equation for the next time (k+1).
And S4, solving a minimum energy consumption equation to obtain the optimal motor rotation speed and the optimal hydraulic pump motor displacement at each moment in a single period.
In an alternative embodiment of the present application, step S4 includes: and listing the minimum energy consumption equation of each moment in a single period, and sequentially solving the corresponding minimum energy consumption equation from the final moment in the single period to the front to obtain the corresponding optimal motor speed and optimal hydraulic pump motor displacement until the minimum energy consumption equation corresponding to the initial moment in the single period is solved.
S5, controlling the motor driver to drive the motor, enabling the rotating speed of the motor to be the optimal rotating speed of the motor at each moment in a single period, and controlling the hydraulic pump motor to enable the displacement of the hydraulic pump motor to be the optimal displacement of the hydraulic pump motor at each moment in the single period.
The steps S1, S2, etc. are only step identifiers, and the execution sequence of the method is not necessarily performed in the order from small to large, for example, the step S2 may be executed first and then the step S1 may be executed, which is not limited in this application.
It can be appreciated that the application discloses a composite control method of an electro-hydrostatic operation system based on global dynamic programming, which adopts an energy management strategy of the global dynamic programming to compositely adjust the rotating speed of a motor and the displacement of a hydraulic pump motor, decouples the rotating speed of the motor from the load speed, and further optimizes the working point of the motor on the basis of removing the throttling loss of a valve control system so as to ensure that the electro-hydrostatic operation system realizes global energy efficiency optimization in a single working period.
In an alternative embodiment of the present application, step S2 includes:
s21, determining a corresponding working mode at each moment according to the load working condition data at each moment in a single period.
As shown in fig. 3, step S21 includes: under the condition that the load speed is greater than zero and the load force is greater than zero, determining the working mode at the current moment as a first mode; under the condition that the load speed is smaller than zero and the load force is larger than zero, determining the working mode at the current moment as a second mode; under the condition that the load speed is smaller than zero and the load force is smaller than zero, determining the working mode at the current moment as a third mode; and under the condition that the load speed is greater than zero and the load force is less than zero, determining the working mode at the current moment as a fourth mode.
S22, calculating the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment according to the working mode and the load working condition data at each moment in a single period.
In an alternative embodiment of the present application, step S22 includes:
in case the operation mode is determined as the first mode or the third mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the current moment are calculated by:
in case the working mode is determined as the second mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the present moment are determined by:
P pvl ＝0，P pml ＝0，P ml ＝0；
in case the operation mode is determined as the fourth mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the present moment are calculated by:
wherein P is pvl Representing the loss of volume of the hydraulic pump motor, P pml Represents the mechanical loss of the hydraulic pump motor, P ml Represents the power loss of the motor, Δp represents the differential pressure of two sides of the hydraulic pump motor, ω represents the rotating speed of the hydraulic pump motor, D represents the displacement of the hydraulic pump motor, η pv Representing the volumetric efficiency, eta of the hydraulic pump motor pm Representing the mechanical efficiency, eta of the hydraulic pump motor m Representing the motor efficiency of the motor, and T represents the torque of the motor.
In an alternative embodiment of the present application, in case the operation mode is determined as the first mode, the differential pressure Δp across the hydraulic pump motor is calculated according to the following formula:
in the case where the operation mode is determined to be the second mode, the differential pressure Δp between both sides of the hydraulic pump motor is calculated according to the following formula: Δp=0;
in the case where the operation mode is determined to be the third mode or the fourth mode, the differential pressure Δp between both sides of the hydraulic pump motor is calculated according to the following formula:
wherein p is a Representing the rodless cavity pressure, p, of the hydraulic cylinder b Representing the rod chamber pressure, p, of the hydraulic cylinder lp Representing the pressure of the low pressure accumulator, F representing the load force, A a Representing the effective area of the rodless cavity of the hydraulic cylinder, A b Representing the effective area of the rod cavity of the hydraulic cylinder.
And S23, taking the sum of the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment as the current total power loss of the system at the corresponding moment.
In a third aspect, the present application provides a controller. The controller includes one or more processors and one or more memories. The processor and the memory are connected through a bus. The memory is for storing a computer program comprising program instructions and the processor is for executing the program instructions stored by the memory. Wherein the processor is configured to invoke the program instructions to perform the operations of any of the methods of the second aspect.
It should be appreciated that in embodiments of the present invention, the processor may be a central processing unit (Central Processing Unit, CPU), which may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSPs), application specific integrated circuits (Application Specific Integrated Circuit, ASICs), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory may include read only memory and random access memory and provide instructions and data to the processor. A portion of the memory may also include non-volatile random access memory. For example, the memory may also store information of the device type.
In a specific implementation, the processor described in the embodiment of the present invention may perform an implementation manner described by any method of the second aspect, or may perform an implementation manner of the terminal device described in the embodiment of the present invention, which is not described herein again.
In a fourth aspect, the present invention provides a computer readable storage medium storing a computer program comprising program instructions which when executed by a processor implement the steps of any of the methods of the second aspect.
The computer readable storage medium may be an internal storage unit of the terminal device of any of the foregoing embodiments, for example, a hard disk or a memory of the terminal device. The computer readable storage medium may be an external storage device of the terminal device, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, which are provided in the terminal device. Further, the computer-readable storage medium may further include both an internal storage unit and an external storage device of the terminal device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the terminal device. The above-described computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be embodied in electronic hardware, in computer software, or in a combination of the two, and that the elements and steps of the examples have been generally described in terms of function in the foregoing description to clearly illustrate the 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 solution. 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.
In several embodiments provided in the present application, it should be understood that the disclosed terminal device and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices, or elements, or may be an electrical, mechanical, or other form of connection.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiment of the present invention.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention is essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method in the various embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The terms "first," "second," "the first," or "the second," as used in various embodiments of the present disclosure, may modify various components without regard to order and/or importance, but these terms do not limit the corresponding components. The above description is only configured for the purpose of distinguishing an element from other elements. For example, the first user device and the second user device represent different user devices, although both are user devices. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure.
When an element (e.g., a first element) is referred to as being "coupled" (operatively or communicatively) to "another element (e.g., a second element) or" connected "to another element (e.g., a second element), it is understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., a third element). In contrast, it will be understood that when an element (e.g., a first element) is referred to as being "directly connected" or "directly coupled" to another element (a second element), then no element (e.g., a third element) is interposed therebetween.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the element defined by the phrase "comprising one … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element, and furthermore, elements having the same name in different embodiments of the present application may have the same meaning or may have different meanings, a particular meaning of which is to be determined by its interpretation in this particular embodiment or by further combining the context of this particular embodiment.
The above description is only illustrative of the principles of the technology being applied to alternative embodiments of the present application. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrase "if determined" or "if detected (stated condition or event)" may be interpreted as "when determined" or "in response to determination" or "when detected (stated condition or event)" or "in response to detection (stated condition or event), depending on the context.
The above description is only illustrative of the principles of the technology being applied to alternative embodiments of the present application. It will be appreciated by persons skilled in the art that the scope of the invention referred to in this application is not limited to the specific combinations of features described above, but it is intended to cover other embodiments in which any combination of features described above or equivalents thereof is possible without departing from the spirit of the invention. Such as the above-described features and technical features having similar functions (but not limited to) disclosed in the present application are replaced with each other.
The foregoing is merely an alternative embodiment of the present application and is not intended to limit the present application, and various modifications and variations may be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims (6)

1. A composite control method of an electro-hydrostatic operation system based on global dynamic programming is applied to a controller of the electro-hydrostatic operation system based on global dynamic programming,
the controller of the electrostatic liquid operation system based on global dynamic programming comprises:
a motor driver for driving the corresponding motor under the control of the controller;
the motor is started under the drive of the motor driver and drives the corresponding hydraulic pump motor to work;
the hydraulic pump motor comprises a first oil port and a second oil port;
the input end of the first hydraulic control one-way valve is communicated with the first oil port, the input end of the second hydraulic control one-way valve is communicated with the second oil port, and the output ends of the first hydraulic control one-way valve and the second hydraulic control one-way valve are both communicated with the low-pressure accumulator;
the input end and the output end of the electromagnetic switch valve are respectively communicated with the first oil port and the second oil port;
the rod cavity and the rodless cavity of the hydraulic cylinder are respectively communicated with the first oil port and the second oil port;
the controller is respectively and electrically connected with the hydraulic pump motor, the motor driver and the electromagnetic switch valve;
the controller of the electrostatic liquid operation system based on the global dynamic programming further comprises: the input end of the first safety valve is communicated with the first oil port, the output end of the first safety valve is communicated with the second oil port, the input end of the second safety valve is communicated with the second oil port, and the output end of the second safety valve is communicated with the first oil port;
the controller of the electrostatic liquid operation system based on the global dynamic programming further comprises:
the first pressure sensor is arranged on the first oil port, and the second pressure sensor is arranged on the second oil port;
the speed sensor is arranged on a rod cavity of the hydraulic cylinder and used for monitoring the load speed of the hydraulic cylinder;
the first pressure sensor, the second pressure sensor and the speed sensor are respectively and electrically connected with the controller;
characterized in that the method comprises:
load working condition data of each moment in a single period input by a user are obtained, wherein the load working condition data comprise load speed and load force;
calculating the total power loss of the current system at each moment in a single period according to the load working condition data;
connecting the total power loss of the current system at two adjacent moments to obtain a minimum energy consumption equation at each moment in a single period;
solving the minimum energy consumption equation to obtain the optimal motor rotation speed and the optimal hydraulic pump motor displacement at each moment in a single period;
controlling the motor driver to drive the motor, so that the rotating speed of the motor is the optimal motor rotating speed at each moment in a single period, and controlling the hydraulic pump motor to ensure that the displacement of the hydraulic pump motor is the optimal hydraulic pump motor displacement at each moment in the single period;
and the total power loss of the current system connecting the adjacent two moments is obtained, and a minimum energy consumption equation of each moment in a single period is obtained, comprising:
the system loss from the current time to the next time is obtained according to the following equation:
wherein E is k (omega, D) represents the system loss from the current time k to the next time (k+1),
P tl,k representing the total power loss of said current system at current instant k, P tl,k+1 Representing the total power loss of the current system at the next time (k+1), Δt representing the time interval from the current time k to the next time (k+1);
obtaining the minimum energy consumption equation at the current moment according to the following formula:
J k ＝min{E k (ω,D)+J k+1 }，
wherein J is k Minimum energy consumption equation, J, representing current time k k+1 Representing the minimum energy consumption equation for the next time (k+1).
2. The global dynamic programming-based electro-hydrostatic operation system compound control method according to claim 1, wherein,
calculating the total power loss of the current system at each moment in a single period according to the load working condition data, wherein the total power loss comprises the following steps:
determining a corresponding working mode of each moment according to the load working condition data of each moment in a single period;
calculating the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment according to the working mode and the load working condition data at each moment in a single period;
the sum of the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each instant is taken as the current total system power loss at the corresponding instant.
3. The global dynamic programming-based electro-hydrostatic operation system compound control method according to claim 2, wherein,
the determining the working mode corresponding to each moment according to the load working condition data of each moment in a single period comprises the following steps:
when the load speed is greater than zero and the load force is greater than zero, determining the working mode at the current moment as a first mode;
under the condition that the load speed is smaller than zero and the load force is larger than zero, determining the working mode at the current moment as a second mode;
under the condition that the load speed is smaller than zero and the load force is smaller than zero, determining the working mode at the current moment as a third mode;
and determining the working mode at the current moment as a fourth mode under the condition that the load speed is larger than zero and the load force is smaller than zero.
4. The composite control method of the electrostatic liquid operation system based on the global dynamic programming according to claim 3, wherein,
calculating the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at each moment according to the working mode and the load working condition data at each moment in a single period, wherein the method comprises the following steps:
in case the operation mode is determined as the first mode or the third mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the current moment are calculated by:
in case the operating mode is determined to be the second mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the present moment are determined by:
P pvl ＝0，P pml ＝0，P ml ＝0；
in case the operation mode is determined to be the fourth mode, the hydraulic pump motor volume loss, the hydraulic pump motor mechanical loss and the motor power loss at the current time are calculated by:
wherein P is pvl Representing the hydraulic pump motor volume loss, P pml Represents the mechanical loss of the hydraulic pump motor, P ml Representing the power loss of the motor, Δp representing the differential pressure across the hydraulic pump motor, ω representing the rotational speed of the hydraulic pump motor, D representing the displacement of the hydraulic pump motor, η pv Representing the volumetric efficiency, eta, of the hydraulic pump motor pm Representing the mechanical efficiency, eta of the hydraulic pump motor m Representing the motor efficiency of the motor, T representing the torque of the motor.
5. The global dynamic programming-based electro-hydrostatic operating system composite control method of claim 4, further comprising:
when the operation mode is determined to be the first mode, the differential pressure Δp between the two sides of the hydraulic pump motor is calculated according to the following formula:
when the operation mode is determined to be the second mode, the differential pressure Δp between the two sides of the hydraulic pump motor is calculated according to the following formula:
Δp＝0；
in the case where the operation mode is determined to be the third mode or the fourth mode, the differential pressure Δp between both sides of the hydraulic pump motor is calculated according to the following formula:
wherein p is a Representative of the rodless cavity pressure, p, of the hydraulic cylinder b The pressure in the rod chamber, p, representing the cylinder lp Representing the pressure of the low pressure accumulator, F representing the load force, A a Representing the effective area of the rodless cavity of the hydraulic cylinder, A b Representing the effective area of the rod cavity of the hydraulic cylinder.
6. The global dynamic programming-based electro-hydrostatic operation system compound control method according to claim 1, wherein,
solving the minimum energy consumption equation to obtain the optimal motor rotation speed and the optimal hydraulic pump motor displacement at each moment in a single period, wherein the method comprises the following steps:
and listing the minimum energy consumption equation of each moment in a single period, and sequentially solving the corresponding minimum energy consumption equation from the final moment in the single period to obtain the corresponding optimal motor speed and optimal hydraulic pump motor displacement until the minimum energy consumption equation corresponding to the initial moment in the single period is solved.
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CN211343531U (en) * 2019-11-23 2020-08-25 山东科技大学 Pump and valve combined control electric hydrostatic actuator
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