CN116447191B - An active damping compensation and vibration suppression method for a dual-actuator valve port independent control system - Google Patents

Abstract

The invention relates to the field of hydraulic control technology, and specifically relates to an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system. S1 collects handle signals and actuator two-cavity pressures to obtain the collected signals; S2 establishes the execution based on the collected signals. The motion mode determination model and working mode determination model of the actuator; S3, if the motion mode is a single actuator motion mode, execute S4; if the working mode is a dual actuator composite motion mode, execute S5; S4 establishes a single actuator damping compensation model , dynamically adjust the displacement of the pump or the opening of the outlet valve; S5 establishes a dual-actuator damping compensation model to dynamically adjust the displacement of the pump or the opening of the outlet valve. This method adjusts the number of actuator movements and work Mode judgment can effectively perform damping compensation under different numbers of actuators and different working modes of motion, and reduce the impact vibration of the actuator during motion on the basis of its stability.

Description

An active damping compensation and vibration suppression method for a dual-actuator valve port independent control system

Technical field

The invention relates to the technical field of hydraulic control, and in particular to an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system.

Background technique

Because the hydraulic system has the characteristics of compact structure and high energy density, it is widely used in various types of construction machinery. The traditional hydraulic control system of construction machinery controls an actuator through a directional valve. In this mode, due to the mechanical presence of the inlet and outlet valve, Due to the coupling relationship, the actuator inlet valve and outlet valve both have large throttling losses, resulting in low energy utilization. In order to pursue higher energy utilization to save energy and reduce emissions, an independent valve port control loop is introduced. The dual valve cores of the inlet and outlet valves break the traditional coupling relationship between the inlet and outlet valves to reduce throttling losses and improve energy utilization.

However, in the valve port independent control loop, because the valve port is fully open in some modes, the back chamber pressure is adjusted to a lower state, causing the actuator to be in a low damping state. During the movement, oscillations are caused by external loads and speed changes. The impact is serious. During the movement of multiple actuators, the working modes of each actuator may be different and the movement states will affect each other, causing the impact vibration to be more serious during the compound movement, making the entire movement process unstable. In the actual working process Especially under heavy loads of large construction machinery, impact vibration will not only increase the wear rate of various components in the system, but also affect the operator's comfort and even work safety.

Contents of the invention

The purpose of the present invention is to provide an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system, aiming to reduce the impact vibration generated during the movement of the actuator under the valve port independent control loop.

In order to achieve the above objectives, the present invention provides an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system, which includes the following steps:

S1 collects the handle signal and the pressure of the two chambers of the actuator to obtain the collected signal;

S2 establishes a movement mode determination model and a working mode determination model of the actuator based on the collected signals;

S3: If the motion mode is a single-actuator motion mode, execute S4; if the working mode is a dual-actuator compound motion mode, execute S5;

S4 establishes a single actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve;

S5 establishes a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve.

Wherein, the motion mode determination model includes: if there is only one actuator action, the actuator motion mode is a single actuator motion mode; if two actuators are a compound action, the actuator motion mode is a dual actuator compound motion. model.

Wherein, the working mode determination model determines that the actuator is in the impedance extension working mode, the impedance retraction working mode, the over-extending working mode or the over-retracting working mode.

Among them, the specific method of establishing a single actuator damping compensation model and dynamically adjusting the pump displacement or the opening of the outlet valve is:

Establish a single actuator damping compensation model. If the actuator works in the impedance extension or impedance retraction working mode, the displacement of the pump is dynamically adjusted. If the actuator works in the overrun extension or overrun retraction working mode, this When there is no need for a pump to supply oil, the outlet valve performs flow control. At this time, the opening of the outlet valve is dynamically adjusted.

Among them, the specific method of establishing a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve:

Establish a dual-actuator damping compensation model. If each actuator works in the impedance extension or impedance retraction mode, decouple the dual-actuator loop, and the heavy-load actuator loop dynamically adjusts the pump displacement, and the light-load actuator Dynamically adjust the opening of the inlet valve; if each actuator works in the over-extension or over-retraction working mode, dynamically adjust the opening of the outlet valve corresponding to each actuator; if an actuator works in the impedance extension or over-retraction mode, Impedance retraction working mode, the other actuator works in the over-extension or over-retraction working mode, then the circuit working in the impedance extension or impedance retraction working mode dynamically adjusts the pump displacement; working in the over-extension or over-retraction working mode A circuit that overrides the retract operating mode dynamically adjusts the outlet valve opening.

In the active damping compensation and vibration suppression method of a dual-actuator valve port independent control system of the present invention, S1 collects the handle signal and the pressure of the two chambers of the actuator to obtain the collected signal; S2 establishes the movement mode determination of the actuator based on the collected signal. Model and working mode determination model; S3, if the motion mode is a single actuator motion mode, execute S4; if the working mode is a dual-actuator composite motion mode, execute S5; S4 establishes a single actuator damping compensation model, Dynamically adjust the displacement of the pump or the opening of the outlet valve; S5 establishes a dual-actuator damping compensation model to dynamically adjust the displacement of the pump or the opening of the outlet valve. This method uses the number of actuator movements and working modes to dynamically adjust the displacement of the pump or the opening of the outlet valve. According to the judgment, damping compensation can be effectively carried out under the motion conditions of different numbers of actuators and different working modes. When multiple actuators are working in impedance mode, by decoupling the independent control loop of the valve port, the equivalent Damping compensation is performed for multiple independent single-actuator hydraulic circuits respectively, which reduces the impact and vibration problem of the actuator during movement while ensuring its stability.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic diagram of the electronic control method of the hydraulic system of the present invention.

Figure 2 is an overall schematic diagram of the hydraulic system of the present invention.

Figure 3 is a schematic diagram of the equivalent single-actuator hydraulic circuit damping compensation after decoupling.

Figure 4 is a flow chart of an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system provided by the present invention.

Figure 5 is a step diagram of an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system provided by the present invention.

In the figure: motor 1, electronically controlled variable pump 2, fuel tank 3, variable pump displacement signal 4, first pressure sensor 51, second pressure sensor 52, third pressure sensor 53, fourth pressure sensor 54, fifth pressure sensor 55. The sixth pressure sensor 56. The first joint valve of the valve port independent control valve group 61. The second joint valve 62 of the valve port independent control valve group. The third valve joint of the valve port independent control valve group 63. The valve port independent control valve group The fourth joint valve 64, the first actuator 71, the second actuator 72, the control handle 8, the active damping compensation controller 9, and the one-way valve 10.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and are not to be construed as limiting the present invention.

Please refer to Figures 1 to 5. The present invention provides an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system, which includes the following steps:

S1 collects the handle signal and the pressure of the two chambers of the actuator to obtain the collected signal;

S2 establishes a movement mode determination model and a working mode determination model of the actuator based on the collected signals;

Specifically, the motion mode determination model includes that if there is and is only one actuator action (i.e. u ₁ ≠ 0, u ₂ = 0 or u ₁ = 0, u ₂ ≠ 0), then the actuator motion mode is single execution. The movement mode of the actuator. If the two actuators are compound actions (u ₁ ≠ 0, u ₂ ≠ 0), the movement mode of the actuator is the compound movement mode of the two actuators, where u _i represents the signal sent by the operating handle (i=1 or 2);

The working mode determination model determines whether the actuator is in the impedance extension working mode, the impedance retraction working mode, the overrunning extension working mode or the overrunning retraction working mode.

Among them, i=1 or 2, F _i represents the external load force, where:

F _i = p _ai A _ai - p _bi A _bi (1)

Among them, p _ai represents the rodless cavity pressure of the hydraulic cylinder, p _bi represents the rod cavity pressure of the hydraulic cylinder, A _ai represents the rodless cavity area of the hydraulic cylinder, and A _bi represents the rod cavity area of the hydraulic cylinder.

S3: If the motion mode is a single-actuator motion mode, execute S4; if the working mode is a dual-actuator compound motion mode, execute S5;

S4 establishes a single actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve;

Specific methods:

Establish a single actuator damping compensation model. If the actuator works in the impedance extension or impedance retraction working mode, the displacement of the pump is dynamically adjusted. If the actuator works in the overrun extension or overrun retraction working mode, this When there is no need for a pump to supply oil, the outlet valve performs flow control. At this time, the opening of the outlet valve is dynamically adjusted.

Specifically, the single actuator damping compensation model adopts the following calculation method:

When the actuator is in the impedance extension or impedance retraction working mode, the variable pump signal is dynamically adjusted to achieve the effect of active damping compensation, and the following control signals are used:

Among them, u′ _p represents the signal before compensation of the variable pump, u″ _p represents the compensation signal of the variable pump, u _p represents the signal of the variable pump after compensation, A _1i represents the measured inlet area of the hydraulic cylinder i, v _ref,i represents the hydraulic pressure The expected speed of cylinder i, k _lp represents the leakage coefficient of the variable pump, p _p represents the outlet pressure of the variable pump, n _p represents the speed of the variable pump, k _pp represents the maximum displacement of the variable pump, k _com represents the feedback gain of the damping compensator, ω _c represents the cutoff frequency of the high-pass filter, and p _1i represents the pressure on the inlet side of hydraulic cylinder i.

When the actuator is in the overreaching extension mode or the overrunning retraction mode, the outlet valve signal is dynamically adjusted to achieve the effect of active damping compensation, and the following control signals are used:

Among them, u′ _mo represents the signal before the outlet valve is compensated, u″ _mo represents the compensated signal of the outlet valve, u _mo represents the signal after the outlet valve is compensated, and the definition coefficient is: A _2i represents the area of the hydraulic cylinder on the outlet side, and the pressure difference Δp is defined as: Δp=p _2i -p _t , p _2i represents the pressure on the outlet side of the actuator, and pt represents the oil return pressure.

S5 establishes a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve.

Specific methods:

Establish a dual-actuator damping compensation model. If each actuator works in the impedance extension or impedance retraction mode, decouple the dual-actuator loop, and the heavy-load actuator loop dynamically adjusts the pump displacement, and the light-load actuator Dynamically adjust the opening of the inlet valve; if each actuator works in the over-extension or over-retraction working mode, dynamically adjust the opening of the outlet valve corresponding to each actuator; if an actuator works in the impedance extension or over-retraction mode, Impedance retraction working mode, the other actuator works in the over-extension or over-retraction working mode, then the circuit working in the impedance extension or impedance retraction working mode dynamically adjusts the pump displacement; working in the over-extension or over-retraction working mode A circuit that overrides the retract operating mode dynamically adjusts the outlet valve opening.

Specifically, if each actuator is in the impedance extension or impedance retraction working mode, the dual-actuator valve port independent control loop is equivalently decoupled into multiple single-actuator valve port independent control loops, and the load of each actuator is The size is judged. For heavy-load actuators, the variable pump is used as the damping compensation object. For light-load actuators, its corresponding inlet valve is used as the damping compensation object;

According to the mathematical model of the valve port independent control loop, the speed of each actuator satisfies the following relationship:

Among them, v _ci represents the speed of the heavy-load actuator, v _cj represents the speed of the light-load actuator, s represents the Laplacian operator, β _e represents the effective bulk modulus; α represents the flow ratio required by each actuator, and m _ci represents The equivalent load mass of each actuator, b represents the constant back chamber pressure value, A _1i represents the rodless cavity area of the actuator, and F _ei represents the external load force of the actuator. In order to achieve independent control of the valve port, the dual actuator circuit is decoupled. For damping compensation, the opening of the inlet valve of the light-load actuator and the pump displacement need to satisfy the following relationship:

In the formula:

Through the above relationship, the corresponding damping compensation signal of the electronically controlled variable pump 2 and the light-load actuator inlet valve can be obtained;

If each actuator works in the override extension or override retraction mode, each actuator can be regarded as an override working mode under a single actuator. The corresponding outlet valve active damping compensation method of each actuator is the same as that of a single actuator in the override mode. The active damping compensation method in working mode is the same.

If one actuator works in the impedance extension or impedance retraction mode, and the other actuator works in the over-extension or over-retraction mode, the actuator in the impedance extension or impedance retraction mode can be regarded as being in the impedance extension or impedance retraction mode. In the impedance extension or impedance retraction working mode of a single actuator, the active damping compensation method of the variable pump is consistent with the active damping compensation method of a single actuator in the impedance working mode. The actuator can be regarded as an overrun extension or override retraction working mode under a single actuator. The active damping compensation method of the outlet valve corresponding to the actuator is consistent with the active damping compensation method of a single actuator under overrunning working mode.

In order to better understand the technical solution, the present invention provides the following examples for further introduction.

This embodiment involves an active damping compensation and vibration suppression method for a dual-actuator valve port independent control system. The hydraulic system is shown in Figure 2. The valve port independent control hydraulic circuit is controlled by an electronically controlled variable pump 2, a fuel tank 3, and a valve port independent control. It consists of a valve group, an actuator, an active damping compensation controller 9, a pressure sensor, a control handle 8, and a one-way valve 10. One end of the valve group is independently controlled and connected to the actuator rod cavity or rodless cavity, and the other end is connected to the electronic control The variable pump 2 is connected to the fuel tank 3.

In this embodiment, the active damping compensation controller 9 sends a variable pump displacement signal 4, the first pressure sensor 51 is connected to the outlet of the electronically controlled variable pump 2, and the second pressure sensor 52 is connected to the outlet of the electronically controlled variable pump 2. The first actuator 71 is connected to the rodless cavity side, the third pressure sensor 53 is connected to the rod cavity side of the first actuator 71 , the fourth pressure sensor 54 is connected to the oil return port, and the fifth pressure sensor 53 is connected to the rodless cavity side of the first actuator 71 . The sensor 55 is connected to the rodless cavity side of the second actuator 72, the sixth pressure sensor 56 is connected to the rod cavity side of the second actuator 72, and the valve port independent control valve group first joint valve 61 The second joint valve 62 of the valve port independent control valve group is connected to the rodless cavity side of the first actuator 71 and is connected to the rod cavity side of the first actuator 71 . The valve port independent control valve group is connected to the second valve group 62 . The triple valve 63 is connected to the rodless cavity side of the second actuator 72, the fourth valve 64 of the valve port independent control valve group is connected to the rod cavity side of the second actuator 72, and the active damping compensation The controller 9 receives the signals from the handle and each pressure sensor and sends out the pump displacement signal and the valve core displacement signal. The load of each actuator may be different, and the actuator may involve impedance extension, impedance retraction, overrun extension, Beyond the retraction working mode, the actuator may work with a single actuator or with dual actuators. Different actuators may work in different working modes. Therefore, the active damping compensation method first collects the two cavities of the operating handle and the actuator. Pressure signal; establish the actuator movement mode determination model and each actuator working mode determination model based on the collected handle and actuator two-cavity pressure signals; if the actuator movement mode is single actuator movement, use the single actuator damping compensation model. Active damping compensation. If the actuator motion mode is dual actuator compound motion, active damping compensation is performed through the dual actuator damping compensation model; a single actuator damping compensation model is established to adjust the pump displacement or outlet according to the single actuator working mode. The valve opening is dynamically adjusted; a dual-actuator damping compensation model is established to dynamically adjust the pump displacement or the opening of the inlet and outlet valves of each actuator according to different actuator working modes. Through the above method, the control of reducing the impact vibration during the movement of the valve port independent control loop is achieved.

Includes the following steps:

S1 collects the handle signal and the pressure of the two chambers of the actuator to obtain the collected signal;

S2 establishes a movement mode determination model and a working mode determination model of the actuator based on the collected signals;

The actuator motion mode determination model uses the following formula: If there is and is only one actuator action (i.e. u ₁ ≠ 0, u ₂ = 0 or u ₁ = 0, u ₂ ≠ 0), then the actuator motion mode is single execution The movement mode of the actuator. If the two actuators are compound actions (u ₁ ≠ 0, u ₂ ≠ 0), the movement mode of the actuator is the compound movement mode of the two actuators, where u _i represents the signal sent by the operating handle (i=1 or 2);

The working mode determination model determines whether the actuator is in the impedance extension working mode, the impedance retraction working mode, the overrunning extension working mode or the overrunning retraction working mode.

Among them, i=1 or 2, F _i represents the external load force, where:

F _i = p _ai A _ai - p _bi A _bi (6)

Among them, p _ai represents the rodless cavity pressure of the hydraulic cylinder, p _bi represents the rod cavity pressure of the hydraulic cylinder, A _ai represents the rodless cavity area of the hydraulic cylinder, and A _bi represents the rod cavity area of the hydraulic cylinder.

S3: If the motion mode is a single-actuator motion mode, execute S4; if the working mode is a dual-actuator compound motion mode, execute S5;

S4 establishes a single actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve;

Specifically, when the actuator is in the impedance extension or impedance retraction working mode, the variable pump signal is dynamically adjusted to achieve the effect of active damping compensation, and the following control signals are used:

Among them, u′ _p represents the signal before compensation of the variable pump, u″ _p represents the compensation signal of the variable pump, u _p represents the signal of the variable pump after compensation, A _1i represents the measured inlet area of the hydraulic cylinder i, v _ref,i represents the hydraulic pressure The expected speed of cylinder i, k _lp represents the leakage coefficient of the variable pump, p _p represents the outlet pressure of the variable pump, n _p represents the speed of the variable pump, k _pp represents the maximum displacement of the variable pump, k _com represents the feedback gain of the damping compensator, ω _c represents the cutoff frequency of the high-pass filter, and p _1i represents the pressure on the inlet side of hydraulic cylinder i.

When the actuator is in the overreaching extension mode or the overrunning retraction mode, the outlet valve signal is dynamically adjusted to achieve the effect of active damping compensation, and the following control signals are used:

Among them, u′ _mo represents the signal before the outlet valve is compensated, u″ _mo represents the compensated signal of the outlet valve, u _mo represents the signal after the outlet valve is compensated, and the definition coefficient is:

A _2i represents the area of the hydraulic cylinder on the outlet side, and the pressure difference Δp is defined as: Δp=p _2i -p _t , p _2i represents the pressure on the outlet side of the actuator, and pt represents the oil return pressure.

S5 establishes a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve.

Specifically, a dual-actuator damping compensation model is established to dynamically adjust the pump displacement or the opening of the inlet and outlet valves of each actuator according to different actuator working modes;

If each actuator is in the impedance extension or impedance retraction working mode, the dual-actuator valve port independent control loop is equivalently decoupled into multiple single-actuator valve port independent control loops, and the load size of each actuator is judged. , for heavy-load actuators, the variable pump is used as the damping compensation object, and for light-load actuators, its corresponding inlet valve is used as the damping compensation object;

Determine the load size of each actuator and fully open the inlet valve of the heavy-loaded actuator:

u _1i = u _max (8)

Control the pressure of the back pressure chamber of each actuator:

u _2j ＝k _p e _j +k _I ∫e _j dt,j＝1,2 (9)

Establish a mathematical model of the valve port independent control dual-actuator hydraulic circuit, and use the flow continuity equation to obtain:

Among them, pp represents the pump outlet pressure, s represents the Laplacian operator, qp represents the flow rate generated by the pump, qli represents the flow rate of each actuator, and β _e represents the effective bulk modulus;

The flow rate passing through the valve ports on both sides of the actuator can be expressed by a linear expression as the following equation:

Among them, q1i represents the flow rate on the rodless cavity side of the actuator, and q2i represents the flow rate on the rod cavity side of the actuator;

The pressure of the two chambers of the actuator can be expressed as the following equation through the flow continuity equation (assuming that the actuator is extended):

Among them, p1i represents the pressure on the side of the actuator without rod cavity, and p2i represents the pressure on the side of the actuator with rod cavity;

According to the actuator dynamic balance equation, the following expression can be obtained:

(m _ci s+b _ci )v _ci (s)＝A _1i p _1i (s)-A _2i p _2i (s)-F _ei (s) (15)

Among them, mci represents the equivalent load mass of the actuator, bci represents the viscous damping coefficient of the actuator, vci represents the actuator speed, A1i represents the area of the actuator without rod cavity, A2i represents the area of the actuator with rod cavity, and Fei represents the outer surface of the actuator. load capacity;

Distribute the flow required by each actuator through the handle signal

(u _i represents the signal sent by the handle)

Through the simultaneous solution of various mathematical models established above, the pressure expressions of each cavity of the actuator are obtained.

For the back cavity pressure value to be controlled at a certain value and set to b, the expression of the back cavity pressure can be obtained as

From the above pressure expression and the actuator dynamic balance equation, the actuator speed expression can be obtained

It can be obtained from the speed expression of each actuator that for the heavy-load actuator, its speed is determined by α _i A _1i β _e n _p V _p (s), and for the light-load actuator, its speed is determined by k _pq1i β _e A _1j α _j n _p V _p (s)+A _1j V _pi k _q1j k _vj su _vj (s) determines that when the dual actuator loop is decoupled and equivalent to multiple single actuator loops, the movement speed of each actuator is guaranteed. Equality before and after decoupling.

Through the speed expression of each actuator, the expression that equates multiple actuator loops into multiple independent loops is obtained, which ensures that the speed remains consistent before and after damping compensation decoupling;

In equation (17),

Equations (19) and (20) represent the high-pass filter. ω _ph and ω _vhj represent the cut-off frequency of the high-pass filter. They should be selected according to the natural characteristic frequency of the hydraulic system. The pressure signal on the high-pressure side of the actuator passes through the high-pass filter. After filtering, the compensation signal is obtained by combining the feedback gain, and then the decoupled compensation signal is solved according to equation (17);

If each actuator works in the overrun extension or overrun retraction mode, the outlet valve corresponding to each actuator is used as the damping compensation object, and the opening of each outlet valve is adjusted through the pressure feedback method to perform damping compensation.

Among them, i=1 or 2;

If an actuator works in the impedance extension or impedance retraction working mode, and an actuator works in the over-extension or over-retraction working mode, then the damping compensation object of the actuator corresponding to the impedance extension or impedance retraction working mode is: Variable pump, the signal of the variable pump at this time is:

The damping compensation object of the actuator corresponding to the overrun extension or overrun retraction working mode is the outlet valve. At this time, the signal of the outlet valve is:

What is disclosed above is only a preferred embodiment of the active damping compensation and vibration suppression method of a dual-actuator valve port independent control system of the present invention. Of course, it cannot be used to limit the scope of rights of the present invention. Those of ordinary skill in the art can understand that the implementation All or part of the processes of the above embodiments, and equivalent changes made in accordance with the claims of the present invention, still fall within the scope of the invention.

Claims (1)

1. An active damping compensation and vibration suppression method for a dual-actuator valve port independent control system, which is characterized by including the following steps: S1 collects the handle signal and the pressure of the two chambers of the actuator to obtain the collected signal; S2 establishes a movement mode determination model and a working mode determination model of the actuator based on the collected signals; the movement mode determination model includes: if there is only one actuator action, the actuator movement mode is a single actuator movement mode, If the two actuators perform a composite action, the actuator movement mode is a dual-actuator composite movement mode; the working mode determination model determines that the actuator is in the impedance extension working mode, the impedance retraction working mode, the overreaching extension working mode, or Beyond retracted working mode; S3: If the motion mode is a single-actuator motion mode, execute S4; if the working mode is a dual-actuator compound motion mode, execute S5; S4 establishes a single actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve; S5 establishes a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve; The specific method of establishing a single actuator damping compensation model and dynamically adjusting the pump displacement or the opening of the outlet valve is as follows: Establish a single actuator damping compensation model. If the actuator works in the impedance extension or impedance retraction working mode, the displacement of the pump is dynamically adjusted. If the actuator works in the overrun extension or overrun retraction working mode, this When there is no need for a pump to supply oil, the outlet valve performs flow control. At this time, the opening of the outlet valve is dynamically adjusted; The specific method of establishing a dual-actuator damping compensation model to dynamically adjust the pump displacement or the opening of the outlet valve: Establish a dual-actuator damping compensation model. If each actuator works in the impedance extension or impedance retraction mode, decouple the dual-actuator loop, and the heavy-load actuator loop dynamically adjusts the pump displacement, and the light-load actuator Dynamically adjust the opening of the inlet valve; if each actuator works in the over-extension or over-retraction working mode, dynamically adjust the opening of the outlet valve corresponding to each actuator; if an actuator works in the impedance extension or over-retraction mode, Impedance retraction working mode, the other actuator works in the over-extension or over-retraction working mode, then the circuit working in the impedance extension or impedance retraction working mode dynamically adjusts the pump displacement; working in the over-extension or over-retraction working mode A circuit that overrides the retract operating mode dynamically adjusts the outlet valve opening.