CN116104826A - A hydraulic cylinder control method, system and electronic equipment - Google Patents
A hydraulic cylinder control method, system and electronic equipment Download PDFInfo
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- CN116104826A CN116104826A CN202310227994.XA CN202310227994A CN116104826A CN 116104826 A CN116104826 A CN 116104826A CN 202310227994 A CN202310227994 A CN 202310227994A CN 116104826 A CN116104826 A CN 116104826A
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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
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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
- 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
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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
- 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
- F15B13/0416—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor with means or adapted for load sensing
- F15B13/0417—Load sensing elements; Internal fluid connections therefor; Anti-saturation or pressure-compensation valves
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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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/16—Special measures for feedback, e.g. by a follow-up device
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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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
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
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Abstract
The invention discloses a hydraulic cylinder control method, a hydraulic cylinder control system and electronic equipment, and relates to the technical field of control engineering. According to the hydraulic cylinder control method, displacement deviation signals with different sampling times are obtained based on command signals and displacement signals obtained in a sampling period, displacement deviation change rate is obtained after displacement deviation change quantity is obtained based on the displacement deviation signals, then, after pressure difference is obtained based on rodless cavity pressure signals and rodless cavity pressure signals, fuzzy control algorithm is adopted to carry out fuzzy processing on the displacement deviation change rate and the pressure difference to obtain a fuzzy output value, then, self-adaptive dead-zone compensation value is obtained based on the fuzzy output value, and self-adaptive dynamic compensation is carried out on dead-zone change caused by load change based on the sliding mode control rate obtained by sliding mode control on a current displacement signal and the self-adaptive dead-zone compensation value to obtain control, so that the purpose of accurately controlling the position of the hydraulic cylinder is achieved.
Description
Technical Field
The present invention relates to the field of control engineering technologies, and in particular, to a hydraulic cylinder control method, a hydraulic cylinder control system, and an electronic device.
Background
The proportional valve control hydraulic cylinder control system is one type of motion control system and is an important automatic device for intelligent manufacturing, metallurgical equipment, electric equipment, weapon equipment and the like.
At present, compared with an electric control system, the proportional valve control hydraulic cylinder control system has the outstanding advantages of convenient linear motion, large power quality ratio, quick dynamic response and the like, and compared with an electrohydraulic servo valve control method, the proportional valve control hydraulic cylinder control system also has the advantages of low cost, high reliability, simple maintenance and the like, so that the proportional valve control hydraulic cylinder control system has important application in intelligent manufacturing, metallurgical equipment, electric equipment, weaponry and the like. However, in practical applications mainly under gravity load, the dead zone generated by the gravity load and the proportional valve is relatively large, which affects the control accuracy. At present, the dead zone compensation control method is relatively few, mainly static compensation is performed, the compensation precision is low, dead zone change is caused by load change, and the control precision is further reduced.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a hydraulic cylinder control method, a hydraulic cylinder control system and electronic equipment.
In order to achieve the above object, the present invention provides the following solutions:
a hydraulic cylinder control method comprising:
respectively acquiring an instruction signal and a displacement signal in a sampling period;
obtaining displacement deviation signals with different sampling times based on the instruction signals and the displacement signals;
obtaining displacement deviation variation based on displacement deviation signals of different adoption times;
obtaining a displacement deviation change rate based on the displacement deviation change amount and the sampling period;
acquiring a rodless cavity pressure signal and a rod cavity pressure signal;
obtaining a pressure difference based on the rodless cavity pressure signal and the rod cavity pressure signal;
fuzzifying the displacement deviation change rate and the pressure difference into a plurality of fuzzy values by adopting a fuzzy control algorithm;
obtaining a fuzzy output value based on a plurality of fuzzy values;
performing fuzzy processing on the fuzzy output value to obtain a self-adaptive dead zone compensation value;
carrying out sliding mode control on the current displacement signal to obtain a sliding mode control rate;
obtaining a control output quantity based on the sliding mode control rate and the self-adaptive dead zone compensation value;
and controlling the position of the hydraulic cylinder based on the control output quantity.
Optionally, the method includes respectively acquiring the instruction signal and the displacement signal in a sampling period, specifically including:
acquiring a first instruction signal and a first displacement signal at a first sampling time;
at a second sampling time, a second instruction signal and a second displacement signal are acquired.
Optionally, the method specifically includes:
obtaining a first displacement deviation signal based on the first command signal and the first displacement signal;
obtaining a second displacement deviation signal based on the second instruction signal and the second displacement signal;
and obtaining a displacement deviation variation amount based on the first displacement deviation signal and the second displacement deviation signal.
Optionally, obtaining the fuzzy output value based on a plurality of fuzzy values specifically includes:
and carrying out fuzzy calculation according to a preset fuzzy rule table based on the fuzzy values to obtain the fuzzy output value.
Optionally, aThe sliding mode control rate is u SMC ：
In the method, in the process of the invention,
third derivative, ω, of the desired displacement of the hydraulic cylinder h Is natural frequency, xi h S is the slip plane, c is the damping ratio 1 For the sliding mode surface constant, k is the adjustment time, sat (s/phi) is the boundary layer function, phi is the boundary layer width, ε is the approach speed, e 2 E is the speed error of the hydraulic cylinder 3 For acceleration errors of hydraulic cylinders, +.>
For the desired acceleration of the hydraulic cylinder, +.>
K is the open loop gain, which is the desired speed of the hydraulic cylinder.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the hydraulic cylinder control method, displacement deviation signals with different sampling times are obtained based on command signals and displacement signals obtained in a sampling period, displacement deviation change rate is obtained after displacement deviation change quantity is obtained based on the displacement deviation signals, then, after pressure difference is obtained based on rodless cavity pressure signals and rodless cavity pressure signals, fuzzy control algorithm is adopted to carry out fuzzy processing on the displacement deviation change rate and the pressure difference to obtain a fuzzy output value, then, self-adaptive dead-zone compensation value is obtained based on the fuzzy output value, and self-adaptive dynamic compensation is carried out on dead-zone change caused by load change based on the sliding mode control rate obtained by sliding mode control on a current displacement signal and the self-adaptive dead-zone compensation value to obtain control, so that the purpose of accurately controlling the position of the hydraulic cylinder is achieved.
The invention also provides a hydraulic cylinder control system for implementing the hydraulic cylinder control method; the system comprises: the hydraulic system comprises an oil tank, a hydraulic pump, an overflow valve, a proportional valve, a hydraulic cylinder, a rodless cavity pressure sensor, a rod cavity pressure sensor, a displacement sensor, a controller and an amplifier;
the inlet of the hydraulic pump is connected with the oil tank pipeline; the outlet of the hydraulic pump is connected with a P port pipeline of the proportional valve; the port A of the proportional valve is connected with a rodless cavity pipeline of the hydraulic cylinder; the port B of the proportional valve is connected with a rod cavity pipeline of the hydraulic cylinder; the T port of the proportional valve is connected with the oil tank pipeline;
the inlet of the overflow valve is connected to a connecting pipeline between the outlet of the hydraulic pump and the P port of the proportional valve; the overflow valve is connected with the oil tank pipeline;
the overflow valve, the rodless cavity pressure sensor, the rod cavity pressure sensor, the displacement sensor and the amplifier are all electrically connected with the controller; the amplifier is electrically connected with the proportional valve;
the rodless cavity pressure sensor is used for acquiring a rodless cavity pressure signal; the rod cavity pressure sensor is used for acquiring a rod cavity pressure signal; the displacement sensor is used for acquiring a displacement signal of the hydraulic cylinder; a fuzzy control algorithm is implanted in the controller, the control output quantity is obtained based on the rodless cavity pressure signal, the rod cavity pressure signal and the displacement signal, and a control instruction signal is generated based on the control output quantity; the amplifier is used for amplifying the control command signal; the proportional valve realizes proportional adjustment based on the amplified control command signal.
Optionally, a gravity load is also included;
the gravity load is connected with an output shaft of the hydraulic cylinder.
In addition, the invention also provides electronic equipment, which comprises:
a memory for storing a computer software program;
and the processor is connected with the memory and used for calling and executing the computer software program so as to implement the hydraulic cylinder control method.
The technical effects achieved by the system and the electronic device provided by the invention are the same as those achieved by the hydraulic cylinder control method provided by the invention, so that the detailed description is omitted.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a hydraulic cylinder control method provided by the invention;
fig. 2 is a schematic structural diagram of a control system of a self-adaptive dead zone compensation proportional valve control hydraulic cylinder.
Symbol description: the hydraulic system comprises a 1-oil tank, a 2-hydraulic pump, a 3-overflow valve, a 4-proportional valve, a 5-hydraulic cylinder, a 6-rodless cavity pressure sensor, a 7-rod cavity pressure sensor, an 8-displacement sensor, a 9-controller, a 10-amplifier and an 11-gravity load.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a hydraulic cylinder control method, a system and electronic equipment, which can carry out self-adaptive dynamic compensation on dead zone change caused by load change, thereby improving the control precision of the hydraulic cylinder.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
In this embodiment, there is mainly provided a hydraulic cylinder control method, as shown in fig. 1, including:
step 100: the command signal and the displacement signal are acquired respectively in a sampling period. For example, at a first sampling time, a first command signal and a first displacement signal are acquired. At a second sampling time, a second instruction signal and a second displacement signal are acquired.
Step 101: and obtaining displacement deviation signals of different sampling times based on the instruction signals and the displacement signals.
Step 102: and obtaining the displacement deviation variation based on the displacement deviation signals of different application times. Based on the instruction signal and the displacement signal acquired at different sampling times, the implementation process of the step may be:
a first displacement deviation signal is derived based on the first command signal and the first displacement signal.
A second displacement deviation signal is derived based on the second command signal and the second displacement signal.
A displacement deviation variation is obtained based on the first displacement deviation signal and the second displacement deviation signal.
Step 103: and obtaining the displacement deviation change rate based on the displacement deviation change amount and the sampling period.
Step 104: and acquiring a rodless cavity pressure signal and a rod cavity pressure signal.
Step 105: and obtaining the pressure difference based on the rodless cavity pressure signal and the rod cavity pressure signal.
Step 106: and blurring the displacement deviation change rate and the pressure difference into a plurality of fuzzy values by adopting a fuzzy control algorithm.
Step 107: fuzzy output values are based on a plurality of fuzzy values. For example, fuzzy calculation is performed according to a preset fuzzy rule table based on a plurality of fuzzy values to obtain fuzzy output values. The preset fuzzy rule table is shown in table 1.
TABLE 1 preset fuzzy rule TABLE
In Table 1, P A Is a rodless cavity pressure signal, P B The pressure signal of the rod cavity, delta e is the displacement deviation change rate, P A -P B For the pressure difference, NB, NM, NS, ZO, PS, PM, PB are 7 fuzzy values obtained by fuzzification, which represent negative large, negative medium, negative small, zero, positive small, medium, positive large, respectively.
Step 108: and carrying out fuzzy processing on the fuzzy output value to obtain a self-adaptive dead zone compensation value.
Step 109: and carrying out sliding mode control on the current displacement signal to obtain a sliding mode control rate.
Step 110: and obtaining a control output quantity based on the sliding mode control rate and the self-adaptive dead zone compensation value.
Step 111: the position of the hydraulic cylinder is controlled based on the control output.
Example two
This embodiment provides a hydraulic cylinder 5 control system for implementing the hydraulic cylinder 5 control method provided in the first embodiment described above. As shown in fig. 2, the system includes: the hydraulic system comprises an oil tank 1, a hydraulic pump 2, an overflow valve 3, a proportional valve 4, a hydraulic cylinder 5, a rodless cavity pressure sensor 6, a rod cavity pressure sensor 7, a displacement sensor 8, a controller 9 and an amplifier 10. In fig. 2, a Controller represents a control center in a Controller.
The inlet of the hydraulic pump 2 is connected with the oil tank 1 through a pipeline. The outlet of the hydraulic pump 2 is connected with a P-port pipeline of the proportional valve 4. The port A of the proportional valve 4 is connected with a rodless cavity pipeline of the hydraulic cylinder 5. The port B of the proportional valve 4 is connected with a rod cavity pipeline of the hydraulic cylinder 5. The T port of the proportional valve 4 is connected with the oil tank 1 through a pipeline.
The inlet of the relief valve 3 is connected to a connection line between the outlet of the hydraulic pump 2 and the P-port of the proportional valve 4. The overflow valve 3 is connected with the oil tank 1 through a pipeline.
The overflow valve 3, the rodless cavity pressure sensor 6, the rod cavity pressure sensor 7, the displacement sensor 8 and the amplifier 10 are all electrically connected with the controller 9. The amplifier 10 is electrically connected to the proportional valve 4.
The rodless cavity pressure sensor 6 is used to acquire a rodless cavity pressure signal. The rod cavity pressure sensor 7 is used for acquiring a rod cavity pressure signal. The displacement sensor 8 is used for acquiring a displacement signal of the hydraulic cylinder 5. The controller 9 is implanted with a fuzzy control algorithm, obtains a control output quantity based on the rodless cavity pressure signal, the rod cavity pressure signal and the displacement signal, and generates a control instruction signal based on the control output quantity. The amplifier 10 is used for amplifying the control command signal. The proportional valve 4 realizes proportional adjustment based on the amplified control command signal.
Further, in order to facilitate the implementation of the gravity adjustment, the hydraulic cylinder 5 control system provided in this embodiment further includes a gravity load 11. The gravitational load 11 is connected to the output shaft of the hydraulic cylinder 5.
Example III
The embodiment mainly provides a specific implementation flow of a hydraulic cylinder control method, which applies the hydraulic cylinder control method provided in the first embodiment to the system structure provided in the second embodiment, and specifically includes the following steps:
step 301, a proportional valve control hydraulic cylinder control system is built, and a gravity load 11 is additionally arranged on an output shaft of the hydraulic cylinder 5.
Step 302, the hydraulic pump 2 and the relief valve 3 are started, and the output pressure value of the hydraulic pump 2 is set to a set experimental value.
In step 303, T1 is sampled, the controller 9 generates a command signal and reads the signal of the displacement sensor 8, and the command signal of the controller 9 is subtracted from the signal of the displacement sensor 8 to obtain a displacement deviation signal e1. At the next consecutive T2 sampling time, the controller 9 generates a command signal and reads the displacement sensor 8 signal, and the controller 9 subtracts the displacement sensor 8 signal from the command signal to obtain a displacement deviation signal e2.
In step 304, the displacement deviation signal e1 and the displacement deviation signal e2 are subtracted to obtain a variation e1-e2 of the displacement deviation, and the variation e1-e2 of the displacement deviation is divided by a sampling period T of the control system to obtain a displacement deviation variation rate Δe.
Step 305, the controller 9 reads the pressure signal P of the rodless cavity pressure sensor 6 A And a pressure signal P of a rod cavity pressure sensor 7 B Pressure signal P A And a pressure signal P B Subtracting to obtain the pressure difference P A -P B 。
Step 306, by displacement deviation change rate Δe and pressure difference P A -P B As input of the fuzzy controller, the displacement deviation change rate deltae and the pressure difference P are used A -P B Respectively fuzzifying into (NB, NM, NS, ZO, PS, PM, PB) 7 fuzzy values, performing fuzzy calculation according to a fuzzy rule table of table 1 to obtain a fuzzy output value u, and performing defuzzification calculation on the fuzzy output value u to obtain an accurate output value delta u 1 I.e. adaptive dead-zone compensation value Deltau 1 。
Step 307, the following sliding mode control calculation is performed on the signal of the displacement sensor 8 in the controller 9 to obtain a sliding mode control rate, and the specific process may be:
setting state variables
Output y=x 1 Input u=x V The bias of the system is noted as: e, e 1 ＝x r -x 1 (1)
Wherein x is r X is the desired displacement of the hydraulic cylinder 5 1 Is an actual measurement of the displacement of the hydraulic cylinder 5.
Is the speed of the hydraulic cylinder 5.
Is the acceleration of the hydraulic cylinder 5. An error state equation can be derived:
wherein E is a systematic error matrix and has
Is the derivative matrix of the error matrix,>
third derivative, ω, of the desired displacement of the hydraulic cylinder h To control the natural frequency of the system, ζ h K is the open loop gain of the hydraulic cylinder control system for controlling the damping ratio of the system.
The control amount of the slip-form control can be expressed as: u (u) SMC ＝u eq +u sw (3)
Wherein u is eq Is equivalent control of sliding mode control, u sw The switching control is sliding mode control.
The sliding die surface can be designed as follows:
wherein c 1 、c 2 Are all constants of the sliding mode surface,
the first and second derivatives of the error e, respectively.
Order the
The equivalent control is obtained as follows: />
A switching control section that selects an index approach law, that is:
u sw ＝-ε·sgn(s)-ks (6)
wherein the parameter epsilon characterizes the approaching speed and the parameter k characterizes the adjustment time.
The presence of the symbolic function causes buffeting of the system, so that the boundary layer function sat (s/phi) is used instead of the symbolic function to weaken buffeting of the system, namely:
where Φ is the boundary layer width.
The slip-form control law obtained according to formulas (2), (3) (4) and (5) is:
step 308, output value Deltau of sliding mode control law is calculated 2 (Δu 2 ＝u SMC ) And an adaptive dead-zone compensation value Deltau 1 The output quantity Deltau of the controller 9 is obtained by adding, the output quantity Deltau of the controller 9 is input to the amplifier 11, the output of the amplifier 11 is connected with the proportional valve 4, the proportional valve 4 controls the hydraulic cylinder 5 to realize displacement movement, and the command signal generated by the controller 9 of the hydraulic cylinder 5 is used for realizing closed-loop control of the position of the hydraulic cylinder.
Example IV
The embodiment provides an electronic device including:
and a memory for storing a computer software program.
And the processor is connected with the memory and used for retrieving and executing a computer software program to implement the hydraulic cylinder control method provided by the first embodiment.
Furthermore, the computer program in the above-described memory may be stored in a computer-readable storage medium when it is implemented in the form of a software functional unit and sold or used as a separate product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or 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 or a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.
Based on the description of the first to fourth embodiments, the present invention has the following advantages over the prior art:
1. the control system device is simple, and the linear motion position closed-loop control is realized.
2. The load change can be subjected to self-adaptive dynamic compensation, and the control precision is high.
3. The control method based on the system can realize the closed-loop control of the linear motion position, is simple, easy to operate and has good practicability and reliability.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (8)
1. A hydraulic cylinder control method, characterized by comprising:
respectively acquiring an instruction signal and a displacement signal in a sampling period;
obtaining displacement deviation signals with different sampling times based on the instruction signals and the displacement signals;
obtaining displacement deviation variation based on displacement deviation signals of different adoption times;
obtaining a displacement deviation change rate based on the displacement deviation change amount and the sampling period;
acquiring a rodless cavity pressure signal and a rod cavity pressure signal;
obtaining a pressure difference based on the rodless cavity pressure signal and the rod cavity pressure signal;
fuzzifying the displacement deviation change rate and the pressure difference into a plurality of fuzzy values by adopting a fuzzy control algorithm;
obtaining a fuzzy output value based on a plurality of fuzzy values;
performing fuzzy processing on the fuzzy output value to obtain a self-adaptive dead zone compensation value;
carrying out sliding mode control on the current displacement signal to obtain a sliding mode control rate;
obtaining a control output quantity based on the sliding mode control rate and the self-adaptive dead zone compensation value;
and controlling the position of the hydraulic cylinder based on the control output quantity.
2. The hydraulic cylinder control method according to claim 1, wherein the command signal and the displacement signal are acquired in the sampling period, respectively, specifically comprising:
acquiring a first instruction signal and a first displacement signal at a first sampling time;
at a second sampling time, a second instruction signal and a second displacement signal are acquired.
3. The hydraulic cylinder control method according to claim 2, characterized in that the displacement deviation variation amount is obtained based on displacement deviation signals of different usage times, specifically comprising:
obtaining a first displacement deviation signal based on the first command signal and the first displacement signal;
obtaining a second displacement deviation signal based on the second instruction signal and the second displacement signal;
and obtaining a displacement deviation variation amount based on the first displacement deviation signal and the second displacement deviation signal.
4. The hydraulic cylinder control method according to claim 1, characterized in that obtaining a fuzzy output value based on a plurality of the fuzzy values, specifically includes:
and carrying out fuzzy calculation according to a preset fuzzy rule table based on the fuzzy values to obtain the fuzzy output value.
5. The hydraulic cylinder control method according to claim 1, characterized in that the slip-form control rate is u SMC ：
In the method, in the process of the invention,
third derivative, ω, of the desired displacement of the hydraulic cylinder h Is natural frequency, xi h S is the slip plane, c is the damping ratio 1 For the sliding mode surface constant, k is the adjustment time, sat (s/phi) is the boundary layer function, phi is the boundary layer width, ε is the approach speed, e 2 E is the speed error of the hydraulic cylinder 3 For acceleration errors of hydraulic cylinders, +.>
For the desired acceleration of the hydraulic cylinder, +.>
K is the open loop gain, which is the desired speed of the hydraulic cylinder.
6. A hydraulic cylinder control system for implementing the hydraulic cylinder control method according to any one of claims 1 to 5; the system comprises: the hydraulic system comprises an oil tank, a hydraulic pump, an overflow valve, a proportional valve, a hydraulic cylinder, a rodless cavity pressure sensor, a rod cavity pressure sensor, a displacement sensor, a controller and an amplifier;
the inlet of the hydraulic pump is connected with the oil tank pipeline; the outlet of the hydraulic pump is connected with a P port pipeline of the proportional valve; the port A of the proportional valve is connected with a rodless cavity pipeline of the hydraulic cylinder; the port B of the proportional valve is connected with a rod cavity pipeline of the hydraulic cylinder; the T port of the proportional valve is connected with the oil tank pipeline;
the inlet of the overflow valve is connected to a connecting pipeline between the outlet of the hydraulic pump and the P port of the proportional valve; the overflow valve is connected with the oil tank pipeline;
the overflow valve, the rodless cavity pressure sensor, the rod cavity pressure sensor, the displacement sensor and the amplifier are all electrically connected with the controller; the amplifier is electrically connected with the proportional valve;
the rodless cavity pressure sensor is used for acquiring a rodless cavity pressure signal; the rod cavity pressure sensor is used for acquiring a rod cavity pressure signal; the displacement sensor is used for acquiring a displacement signal of the hydraulic cylinder; a fuzzy control algorithm is implanted in the controller, the control output quantity is obtained based on the rodless cavity pressure signal, the rod cavity pressure signal and the displacement signal, and a control instruction signal is generated based on the control output quantity; the amplifier is used for amplifying the control command signal; the proportional valve realizes proportional adjustment based on the amplified control command signal.
7. The hydraulic cylinder control system of claim 6 further comprising a gravitational load;
the gravity load is connected with an output shaft of the hydraulic cylinder.
8. An electronic device, comprising:
a memory for storing a computer software program;
a processor, connected to the memory, for retrieving and executing the computer software program to implement the hydraulic cylinder control method according to any one of claims 1-5.
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| CN114412883A (en) * | 2022-01-14 | 2022-04-29 | 西安建筑科技大学 | Hydraulic system control method, device, system and storage medium |
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| CN112879359A (en) * | 2021-01-25 | 2021-06-01 | 武汉工程大学 | Displacement tracking control system and method for coal bed gas horizontal well drilling hydraulic propulsion system |
| CN112901570A (en) * | 2021-01-29 | 2021-06-04 | 燕山大学 | Electro-hydraulic actuating system applied to hydraulic press |
| CN114412883A (en) * | 2022-01-14 | 2022-04-29 | 西安建筑科技大学 | Hydraulic system control method, device, system and storage medium |
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