CN-121984391-A - Interference compensation control method of pump control electrohydraulic servo system based on FPGA and DSP architecture

CN121984391ACN 121984391 ACN121984391 ACN 121984391ACN-121984391-A

Abstract

The application relates to the technical field of control of pump control electro-hydraulic servo systems and discloses an interference compensation control method of a pump control electro-hydraulic servo system based on an FPGA and DSP framework. The method comprises the steps of constructing a mathematical model of a pump control electrohydraulic servo system, comprising a mathematical model of a hydraulic actuator system and a mathematical model of a permanent magnet synchronous motor, determining a control target to enable the position of the pump control electrohydraulic servo system to output a position command expected to track, constructing a magnetic field directional control algorithm of the permanent magnet synchronous motor by adopting an FPGA (field programmable gate array) based on the mathematical model of the permanent magnet synchronous motor, constructing a servo tracking control algorithm of the hydraulic actuator by adopting a DSP (digital signal processor) based on the mathematical model of the hydraulic actuator system, and adjusting values of control parameters in the magnetic field directional control algorithm in the FPGA and the servo tracking control algorithm of the hydraulic actuator in the DSP so as to realize the control target. The method can ensure that the position output of the pump control electrohydraulic servo system accurately tracks the expected position instruction.

Inventors

Liang Qiankun
LI TING
Song Shimeng
YANG FAN
LIU JIA
WANG JIAN
Leng Aocheng

Assignees

湖北三江航天红峰控制有限公司

Dates

Publication Date: 20260505
Application Date: 20251231

Claims (8)

1. The interference compensation control method of the pump control electrohydraulic servo system based on the FPGA and the DSP architecture is characterized by comprising the following steps: step 1, constructing a mathematical model of a pump control electrohydraulic servo system, comprising a mathematical model of a hydraulic actuator system and a mathematical model of a permanent magnet synchronous motor, and determining a control target to enable the position output of the pump control electrohydraulic servo system to track a desired position instruction; step 2, constructing a magnetic field directional control algorithm of the permanent magnet synchronous motor by adopting an FPGA based on a mathematical model of the permanent magnet synchronous motor, and completing the rotation speed control of the motor from a bottom layer; Step 3, constructing a servo tracking control algorithm of the hydraulic actuator by adopting a DSP based on a mathematical model of the hydraulic actuator system, and completing the rotation speed control of the hydraulic pump from an upper layer; And 4, adjusting control parameters of a magnetic field orientation control algorithm in the FPGA and values of control parameters in a servo tracking control algorithm of the hydraulic actuator in the DSP so as to realize a control target.
2. The method of claim 1, wherein the mathematical model of the hydraulic actuator system includes a force balance equation and a flow continuity equation for the hydraulic actuator system, and wherein constructing the mathematical model of the hydraulic actuator system in step 1 comprises: Defining state variables Wherein Is the sum of the masses of the piston and the load, Indicating the displacement of the piston rod of the hydraulic cylinder, In order to be a load pressure, And The pressure of the left cavity and the right cavity of the hydraulic cylinder is shown, Is the annular area of the piston rod; Writing a mathematical model of the hydraulic actuator system as a state space form: (1) In the formula, 、 And Representing known nonlinear functions, their mathematical expressions are: 、 And , wherein, And Respectively represents the initial volumes of the left cavity and the right cavity of the hydraulic cylinder, Representing the non-linear friction of the system, The unmodeled disturbance terms on the speed dynamics of the hydraulic actuator are represented, including modeling errors, load forces and disturbances caused by external environments, Indicating the overall internal leakage coefficient of the hydraulic actuator system, For the elastic modulus of the hydraulic oil, Is the displacement of the hydraulic pump, Representing the rotating speed of the permanent magnet synchronous motor; representing an unknown nonlinear disturbance, the expression is: , And Representing the pressure dynamics and make-up flow of the unknown model.
3. The method of claim 2, wherein the mathematical model of the permanent magnet synchronous motor comprises a torque balance equation and a permanent magnet synchronous motor three-phase voltage balance equation, and wherein constructing the mathematical model of the permanent magnet synchronous motor in step 1 comprises: and (3) constructing a moment balance equation: (2) In the formula, Is the electromagnetic torque output by the permanent magnet synchronous motor, For the angle of the rotor of the motor, Is the pole pair number of the permanent magnet synchronous motor, For the three-phase winding current, Is a flux linkage of a three-phase winding, For load torque, mainly using the differential pressure and displacement of two cavities of hydraulic pump, ; Is the friction torque suffered by the permanent magnet synchronous motor, The method comprises the steps of modeling errors and disturbance caused by an external environment, wherein the disturbance items are unmodeled on motor speed dynamics; Constructing a three-phase voltage balance equation of the permanent magnet synchronous motor: (3) In the formula, Is a flux linkage of a three-phase winding, In order to be at an electrical angle, Is a magnetic linkage of a permanent magnet, For three-phase winding current, inductance By mutual inductance of stators And stator leakage inductance The composition and expression are: , ; In the formula, For the voltages of the three-phase windings, Is a three-phase winding resistor.
4. The method according to claim 1, wherein the step 2 is based on a mathematical model of the permanent magnet synchronous motor, and the method comprises the steps of constructing a magnetic field directional control algorithm of the permanent magnet synchronous motor by using an FPGA, and completing the rotation speed control of the motor from a bottom layer, and comprises the following steps: performing Clark transformation on a mathematical model of the permanent magnet synchronous motor by adopting an FPGA; performing Park conversion on the Clark converted mathematical model; PID control operation of a current loop and a speed loop is carried out on the mathematical model after Park transformation, and a voltage component under a d-q coordinate system is obtained; and processing the voltage component under the d-q coordinate system by adopting polar coordinate transformation to generate SVPWM waves.
5. The method of claim 4, wherein processing the voltage components in the d-q coordinate system using polar transformation to generate the SVPWM wave comprises: Taking the voltage components under the d-q coordinate system as an X axis and a Y axis respectively, dividing the XY coordinates into areas, and converting the areas into 45-90 degrees through a mirror rotation relationship; The accumulator replaces division operation, the vector is normalized to be a vector with Y as a unit 1, and at the moment, X1 uniquely represents the related information of the secondary vector, and the related information comprises amplitude and angle; inputting X1 to look up a table to obtain amplitude and angle; Multiplying the Y coordinate value of the original vector, carrying out proportional amplification, and restoring the amplitude; Restoring the real angle through the mirror rotation relationship; And carrying out table lookup record on 1/4 period of the single-phase SVPWM wave, and then obtaining the SVPWM output duty ratio of the three-phase output through phase shift or inversion of the XY axis.
6. The method of claim 5, wherein the output waveform of the SVPWM is a saddle wave.
7. The method of claim 2, wherein the step 3 of constructing a servo tracking control algorithm of the hydraulic actuator by using the DSP based on a mathematical model of the hydraulic actuator system, and completing the rotation speed control of the hydraulic pump from an upper layer comprises: The uncertain physical parameters in the formula (1) 、 And Giving a nominal value, wherein uncertainty caused by deviation between a true value and the nominal value is classified into matching disturbance; Definition of the definition 、、、 And , Formula (1) can then be written as: (7) In the formula (7), the amino acid sequence of the compound, 、 And Respectively are 、 And Is used in the present invention, For a time-varying disturbance and for a non-matching disturbance, Is a time-varying disturbance and is a matching disturbance, Is present and bounded, Is present and bounded.
8. The method of claim 1, wherein step 3 further comprises constructing a disturbance estimator for asymptotically estimating matched disturbances in the pump-controlled electro-hydraulic servo system, and constructing an adaptive robust integral term for processing unmatched disturbances to ensure asymptotic control of upper control.

Description

Interference compensation control method of pump control electrohydraulic servo system based on FPGA and DSP architecture Technical Field The application relates to the technical field of control of pump control electro-hydraulic servo systems, in particular to an interference compensation control method of a pump control electro-hydraulic servo system based on an FPGA and DSP framework. Background The pump control electrohydraulic servo mechanism is used as an executing mechanism for doing work externally, and is widely applied to the fields of aerospace, robots, engineering equipment, medical rehabilitation and the like due to the advantages of high power-weight ratio, high energy efficiency, high reliability and the like. The pump control electrohydraulic servo system has various uncertain models, including parameter uncertainty, nonlinear friction, unmodeled dynamics, external load disturbance and the like, and has become an obstacle for realizing high-performance motion control. The control method of the current pump control electrohydraulic servo system has the following defects: (1) The whole pump control electrohydraulic servo system is regarded as a third-order system, and the mathematical model of the permanent magnet synchronous motor is not considered; (2) The upper control is only carried out in the DSP, and the control parameters of the motor cannot be adjusted and optimized from the bottom layer so as to ensure the stability of the rotation of the pump and the rapidity of response, thereby improving the control performance as a whole; (3) Only a final consistent and bounded result of tracking errors can be obtained, and asymptotic tracking control is difficult to realize. Disclosure of Invention In order to solve the problems, the invention provides an interference compensation control method of a pump control electro-hydraulic servo system based on an FPGA and a DSP framework, which ensures that the position output of the pump control electro-hydraulic servo system accurately tracks a desired position instruction from two aspects of a bottom permanent magnet synchronous motor and an upper hydraulic system. To achieve the above object, according to a first aspect of the present invention, there is provided an interference compensation control method for a pump-controlled electro-hydraulic servo system based on FPGA and DSP architecture, the method comprising: step 1, constructing a mathematical model of a pump control electrohydraulic servo system, comprising a mathematical model of a hydraulic actuator system and a mathematical model of a permanent magnet synchronous motor, and determining a control target to enable the position output of the pump control electrohydraulic servo system to track a desired position instruction; step 2, constructing a magnetic field directional control algorithm of the permanent magnet synchronous motor by adopting an FPGA based on a mathematical model of the permanent magnet synchronous motor, and completing the rotation speed control of the motor from a bottom layer; Step 3, constructing a servo tracking control algorithm of the hydraulic actuator by adopting a DSP based on a mathematical model of the hydraulic actuator system, and completing the rotation speed control of the hydraulic pump from an upper layer; And 4, adjusting control parameters of a magnetic field orientation control algorithm in the FPGA and values of control parameters in a servo tracking control algorithm of the hydraulic actuator in the DSP so as to realize a control target. Further, the mathematical model of the hydraulic actuator system includes a force balance equation and a flow continuity equation of the hydraulic actuator system, and constructing the mathematical model of the hydraulic actuator system in step1 includes: Defining state variables WhereinIs the sum of the masses of the piston and the load,Indicating the displacement of the piston rod of the hydraulic cylinder,In order to be a load pressure,AndThe pressure of the left cavity and the right cavity of the hydraulic cylinder is shown,Is the annular area of the piston rod; Writing a mathematical model of the hydraulic actuator system as a state space form: (1) In the formula, 、AndRepresenting known nonlinear functions, their mathematical expressions are:、 And , wherein,AndRespectively represents the initial volumes of the left cavity and the right cavity of the hydraulic cylinder,Representing the non-linear friction of the system,The unmodeled disturbance terms on the speed dynamics of the hydraulic actuator are represented, including modeling errors, load forces and disturbances caused by external environments,Indicating the overall internal leakage coefficient of the hydraulic actuator system,For the elastic modulus of the hydraulic oil,Is the displacement of the hydraulic pump,Representing the rotating speed of the permanent magnet synchronous motor; representing an unknown nonlinear disturbance, the expression is: , And