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CN-121478001-B - Flow control method, device, equipment and medium of magnetorheological fluid circulating system

CN121478001BCN 121478001 BCN121478001 BCN 121478001BCN-121478001-B

Abstract

The application discloses a flow control method, a device, equipment and a medium of a magnetorheological fluid circulation system, which relate to the technical field of optical processing and comprise the steps of determining a preset operation parameter target value of a target magnetorheological fluid circulation system, comprising a flow target value and a component parameter target value, obtaining a current operation parameter real-time value of the system, comprising a flow real-time value and a component parameter real-time value, processing the flow real-time value through a Kalman filtering algorithm to obtain a flow feedback value, determining a current feedback control value based on the flow feedback value and the flow target value, calculating a component parameter fluctuation value based on the component parameter target value and the component parameter real-time value, calculating the current feedforward control value according to a target feedforward parameter, calculating the current flow control value by utilizing the feedback control value and the feedforward control value, and adjusting the rotating speed of a centrifugal pump to perform flow control of the current flow control period, and jumping to an operation parameter real-time value obtaining step to perform next flow control.

Inventors

  • CHEN GUANG
  • GUO SHENGAN
  • LIU LILI

Assignees

  • 朗信(苏州)精密光学有限公司

Dates

Publication Date
20260505
Application Date
20260112

Claims (7)

  1. 1. A method for controlling flow of a magnetorheological fluid circulating system, comprising: Determining a preset operation parameter target value of a target magnetorheological fluid circulating system, wherein the operation parameter target value comprises a flow target value and a component parameter target value of a target system execution component; Acquiring a current operation parameter real-time value of the target magnetorheological fluid circulation system, wherein the operation parameter real-time value comprises a flow real-time value and a component parameter real-time value of an execution component of the target system; processing the flow real-time value through a Kalman filtering algorithm to obtain an optimized flow feedback value, and determining a current feedback control amount based on the flow feedback value and the flow target value; Calculating a component parameter fluctuation value of the target system execution component based on the component parameter target value and the component parameter real-time value to calculate a current feedforward control quantity according to the component parameter fluctuation value and a target feedforward parameter, wherein the component parameter fluctuation value comprises a polishing wheel rotating speed fluctuation value and a recovery pump rotating speed fluctuation value; Calculating a current flow control value by using the feedback control quantity and the feedforward control quantity, adjusting the rotating speed of a centrifugal pump based on the flow control value so as to perform flow control of the current flow control period on the target magnetorheological fluid circulating system, and jumping to the step of acquiring the current operation parameter real-time value of the target magnetorheological fluid circulating system so as to perform flow control operation of the next flow control period; wherein the determining the current feedback control amount based on the flow feedback value and the flow target value includes: determining an absolute difference value between the flow feedback value and the flow target value as a current flow deviation value; Calculating the current feedback control quantity by using the flow feedback value, the flow deviation value and a target PI parameter, wherein the target PI parameter is a target parameter of a target PI controller and comprises a preset proportional gain coefficient and an integral gain coefficient; the target feedforward parameters comprise preset feedforward coefficients of the rotation speed of the polishing wheel and feedforward coefficients of the rotation speed of the recovery pump; correspondingly, the calculating the current feedforward control quantity according to the component parameter fluctuation value and the target feedforward parameter comprises the following steps: determining a first product between the polishing wheel rotational speed fluctuation value and the polishing wheel rotational speed feedforward coefficient, and determining a second product between the recovery pump rotational speed fluctuation value and the recovery pump rotational speed feedforward coefficient; Determining a sum between the first product and the second product as a current feedforward control amount; Wherein the calculating the current flow control value by using the feedback control amount and the feedforward control amount includes: determining the sum value between the feedback control quantity and the feedforward control quantity as the control instruction increment of the current flow control period, and determining the first control instruction of the last flow control period; determining a second control instruction of the current flow control period according to the first control instruction and the control instruction increment; And calculating a current flow control value based on the second control instruction and a preset rotating speed control gain coefficient.
  2. 2. The method according to claim 1, wherein the processing the flow real-time value by a kalman filter algorithm to obtain an optimized flow feedback value comprises: Determining a first flow state posterior estimation parameter of the last flow control period and a preconfigured Kalman filtering model parameter; determining a flow state prior estimation parameter of the current flow control period according to the first flow state posterior estimation parameter and the Kalman filtering model parameter; calculating the Kalman gain of the current flow control period through the flow state priori estimated parameters and the Kalman filtering model parameters; And calculating a second flow state posterior estimation parameter of the current flow control period by using the Kalman gain, the flow state prior estimation parameter and the flow real-time value so as to obtain an optimized flow feedback value through the second flow state posterior estimation parameter.
  3. 3. The method according to claim 2, wherein each of the flow state posterior estimation parameters includes a flow posterior estimation value and a posterior estimation covariance; Correspondingly, the obtaining the optimized flow feedback value through the second flow state posterior estimation parameter includes: And determining the flow posterior estimation value in the second flow state posterior estimation parameter as an optimized flow feedback value.
  4. 4. The method according to claim 1, wherein the target system executing component comprises a polishing wheel and a recovery pump in the target magnetorheological fluid circulating system, the component parameter target value comprises a polishing wheel rotating speed target value and a recovery pump rotating speed target value, and the component parameter real-time value comprises a polishing wheel rotating speed real-time value and a recovery pump rotating speed real-time value; correspondingly, the calculating the component parameter fluctuation value of the target system execution component based on the component parameter target value and the component parameter real-time value comprises the following steps: Determining an absolute difference value between the polishing wheel rotating speed target value and the polishing wheel rotating speed real-time value as a polishing wheel rotating speed fluctuation value; And determining an absolute difference value between the recovery pump rotation speed target value and the recovery pump rotation speed real-time value as a recovery pump rotation speed fluctuation value.
  5. 5. A flow control device for a magnetorheological fluid circulating system, comprising: the system comprises a target value determining module, a target system executing module and a target control module, wherein the target value determining module is used for determining a preset operation parameter target value of a target magnetorheological fluid circulating system, and the operation parameter target value comprises a flow target value and a component parameter target value of a target system executing component; the real-time value acquisition module is used for acquiring the current real-time value of the operating parameter of the target magnetorheological fluid circulation system, wherein the real-time value of the operating parameter comprises a flow real-time value and a component parameter real-time value of an execution component of the target system; The control quantity determining module is used for processing the flow real-time value through a Kalman filtering algorithm to obtain an optimized flow feedback value, and determining the current feedback control quantity based on the flow feedback value and the flow target value; the fluctuation value calculation module is used for calculating a component parameter fluctuation value of the target system execution component based on the component parameter target value and the component parameter real-time value so as to calculate the current feedforward control quantity according to the component parameter fluctuation value and the target feedforward parameter, wherein the component parameter fluctuation value comprises a polishing wheel rotation speed fluctuation value and a recovery pump rotation speed fluctuation value; The step jump module is used for calculating a current flow control value by utilizing the feedback control quantity and the feedforward control quantity, adjusting the rotating speed of the centrifugal pump based on the flow control value so as to perform flow control of the current flow control period on the target magnetorheological fluid circulation system, and jumping to the step of acquiring the current operation parameter real-time value of the target magnetorheological fluid circulation system so as to perform flow control operation of the next flow control period; Wherein the control amount determination module includes: a deviation value determining unit, configured to determine an absolute difference value between the flow feedback value and the flow target value as a current flow deviation value; The control quantity calculation unit is used for calculating the current feedback control quantity by utilizing the flow feedback value, the flow deviation value and a target PI parameter, wherein the target PI parameter is a target parameter of a target PI controller and comprises a preset proportional gain coefficient and an integral gain coefficient; the target feedforward parameters comprise preset feedforward coefficients of the rotation speed of the polishing wheel and feedforward coefficients of the rotation speed of the recovery pump; correspondingly, the fluctuation value calculation module comprises: A product determination unit configured to determine a first product between the polishing wheel rotation speed fluctuation value and the polishing wheel rotation speed feedforward coefficient, and determine a second product between the recovery pump rotation speed fluctuation value and the recovery pump rotation speed feedforward coefficient; a control amount determining unit configured to determine a sum value between the first product and the second product as a current feedforward control amount; Wherein, the step jumps the module, including: A first instruction determining unit, configured to determine a sum value between the feedback control amount and the feedforward control amount as a control instruction increment of the current flow control period, and determine a first control instruction of a previous flow control period; The second instruction determining unit is used for determining a second control instruction of the current flow control period according to the first control instruction and the control instruction increment; And the control value calculation unit is used for calculating the current flow control value based on the second control instruction and a preset rotating speed control gain coefficient.
  6. 6. An electronic device, comprising: A memory for storing a computer program; a processor for executing the computer program to implement the flow control method of the magnetorheological fluid circulating system of any one of claims 1 to 4.
  7. 7. A computer readable storage medium for storing a computer program, wherein the computer program when executed by a processor implements a flow control method of a magnetorheological fluid circulating system according to any one of claims 1 to 4.

Description

Flow control method, device, equipment and medium of magnetorheological fluid circulating system Technical Field The invention relates to the technical field of optical processing, in particular to a flow control method, a flow control device, flow control equipment and flow control medium of a magnetorheological fluid circulating system. Background The magnetorheological fluid circulating system is used as an important component of magnetorheological polishing equipment and mainly used for conveying and recovering magnetorheological fluid for the polishing wheel so as to realize continuous polishing of the element. In order to ensure consistency and stability of magnetorheological polishing processing, a magnetorheological fluid circulation system needs to maintain stable flow and viscosity and reduce flow and viscosity fluctuation. The flow stability is a key technical index of a magnetorheological fluid circulating system, and the current flow control method mainly comprises the steps of adjusting the rotating speed of a centrifugal pump or the opening of a Proportional valve through a digital PI (Proportional-Integral) controller, specifically adopting a closed-loop feedback control scheme of the centrifugal pump and a flowmeter, namely feeding back the flow in real time through the flowmeter, and adjusting the rotating speed of the centrifugal pump through a PID (Proportional, integral, differential, proportional, integral and differential) algorithm to realize flow adjustment. However, because of noise interference of the flow measurement result, the flow measurement value is mostly obtained by adopting smoothing processing of sampling values at a plurality of time points in the past, although high-frequency errors can be avoided, hysteresis of the measurement result can be caused, disturbance exists in a circulating system, a PI controller only focuses on errors and cannot restrain disturbance effects, and meanwhile, hysteresis exists in sampling data, so that control precision is not high, and stability requirements of magnetorheological processing cannot be met. In summary, how to overcome the problem of insufficient flow control stability of the magnetorheological fluid circulation system to improve the precision and efficiency of magnetorheological processing is a problem to be solved at present. Disclosure of Invention In view of the above, the present invention aims to provide a flow control method, a device, equipment and a medium for a magnetorheological fluid circulation system, which can overcome the problem of insufficient flow control stability of the magnetorheological fluid circulation system to improve precision and efficiency of magnetorheological processing. The specific scheme is as follows: In a first aspect, the present application provides a flow control method for a magnetorheological fluid circulation system, including: Determining a preset operation parameter target value of a target magnetorheological fluid circulating system, wherein the operation parameter target value comprises a flow target value and a component parameter target value of a target system execution component; Acquiring a current operation parameter real-time value of the target magnetorheological fluid circulation system, wherein the operation parameter real-time value comprises a flow real-time value and a component parameter real-time value of an execution component of the target system; processing the flow real-time value through a Kalman filtering algorithm to obtain an optimized flow feedback value, and determining a current feedback control amount based on the flow feedback value and the flow target value; Calculating a component parameter fluctuation value of the target system execution component based on the component parameter target value and the component parameter real-time value so as to calculate a current feedforward control quantity according to the component parameter fluctuation value and a target feedforward parameter; and calculating a current flow control value by using the feedback control quantity and the feedforward control quantity, adjusting the rotating speed of the centrifugal pump based on the flow control value so as to perform flow control of the current flow control period on the target magnetorheological fluid circulating system, and jumping to the step of acquiring the current operation parameter real-time value of the target magnetorheological fluid circulating system so as to perform flow control operation of the next flow control period. Optionally, the processing the flow real-time value by using a kalman filter algorithm to obtain an optimized flow feedback value includes: Determining a first flow state posterior estimation parameter of the last flow control period and a preconfigured Kalman filtering model parameter; determining a flow state prior estimation parameter of the current flow control period according to the first flow state posterior estimation parameter a