CN-121993387-A - Combined control method and system for motor pump integrated machine

CN121993387ACN 121993387 ACN121993387 ACN 121993387ACN-121993387-A

Abstract

The invention relates to the field of pump control, in particular to a motor pump integrated machine joint control method and system, wherein the method comprises the steps of collecting multi-source sensor data and equipment configuration parameters of the motor pump integrated machine, preprocessing the collected data and constructing a state feature vector; and carrying out state analysis and dynamic weighted compensation based on the state feature vector, generating compensation torque considering both response speed and inhibition capacity by constructing an effective adjustment intensity coefficient and a disturbance separation factor, and adding the compensation torque to the speed loop output to generate a final motor torque instruction. The invention solves the control logic conflict caused by the fact that the traditional observer cannot distinguish the expected load from the unknown disturbance, and combines high dynamic response and high stability.

Inventors

XIA JIANPEI
YANG JIE
ShangGuan Piaowen

Assignees

宁波威克斯液压有限公司

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (8)

1. The motor pump integrated machine joint control method is characterized by comprising the following steps of: The method comprises the steps of collecting multi-source sensor data and equipment configuration parameters of the motor pump integrated machine, preprocessing the collected data, and constructing a state feature vector; Based on the real-time flow, the target flow, the current pressure and the intrinsic parameters of the motor in the state feature vector, determining a flow deviation factor, a motor efficiency calibration factor and a pressure safety constraint factor, and multiplying the flow deviation factor, the motor efficiency calibration factor and the pressure safety constraint factor to obtain an effective adjustment intensity coefficient; Calculating a predicted value of a desired torque change rate based on an actual torque change rate, a pressure change rate, a displacement conversion coefficient and the effective adjustment intensity coefficient in the state feature vector, and constructing a disturbance separation factor for representing the proportion of unknown disturbance in torque change according to the residual error of the actual torque change rate and the predicted value of the desired torque change rate and the total energy of the actual torque change rate and the predicted value of the desired torque change rate; based on the current pressure and displacement conversion coefficient in the state feature vector, calculating feedforward torque, and taking the disturbance separation factor as weight, carrying out weighted fusion on the total disturbance torque estimated by the extended state observer and the feedforward torque to construct compensation torque; and superposing the compensation torque to a basic torque command output by the speed ring, generating a final motor torque command, and outputting the final motor torque command to a servo driving unit for execution.
2. The motor pump integrated machine joint control method according to claim 1, wherein the collected data includes: collecting system working pressure, motor rotor position and motor rotating speed, motor three-phase current, system real-time flow and target flow analyzed from a previous-stage controller; The method includes the steps of reading motor intrinsic parameters from a nonvolatile memory area, wherein the motor intrinsic parameters comprise motor rated torque, motor rated current, motor torque constant, reference pressure, maximum working pressure, pressure-displacement mapping parameter sets containing a plurality of calibration pressure levels corresponding to oil pump displacement values and displacements corresponding to the reference pressure.
3. The motor pump integrated machine joint control method according to claim 2, wherein preprocessing the collected data comprises: filtering the collected system working pressure, motor three-phase current and system real-time flow; Interpolation processing is carried out on the pressure-displacement mapping parameter set, a continuous pressure-displacement function is established, and a displacement conversion coefficient is calculated based on the pressure-displacement function; Calculating to obtain a target rotating speed based on the target flow and the actual displacement under the current pressure; based on the actual output torque and pressure sequences of the current control period and a plurality of previous control periods, the actual torque change rate and the pressure change rate are calculated.
4. The motor-pump integrated machine joint control method according to claim 3, wherein the flow deviation factor is a result of dividing an absolute value of a difference between a real-time flow and a target flow by the target flow; The motor efficiency calibration factor is a result obtained by dividing motor rated torque in motor inherent parameters by the product of motor torque constant and motor rated current; The pressure safety constraint factor is a result of dividing a difference of the maximum working pressure minus the current pressure by a difference of the maximum working pressure and the reference pressure.
5. A motor pump integrated machine joint control method according to claim 3, wherein the construction of the disturbance separation factor includes: Taking the absolute value of the difference between the absolute value of the actual torque change rate and the predicted value of the expected torque change rate as a torque change residual error term, wherein the predicted value of the expected torque change rate is the product of the effective adjustment intensity coefficient, the absolute value of the pressure change rate and the displacement conversion coefficient; taking the sum of the absolute value of the actual torque change rate and the predicted value of the expected torque change rate as an energy normalization term; dividing the torque variation residual error term by an energy normalization term to obtain the disturbance separation factor.
6. The method of claim 1, wherein generating the final motor torque command further comprises: performing amplitude limiting processing on the generated final motor torque command; and carrying out smoothing filtering processing on the motor torque command subjected to the amplitude limiting processing.
7. A motor pump integrated machine joint control method according to claim 3, wherein the estimating of the total disturbance torque includes: the actual output torque and the motor rotating speed in the state characteristic vector are used as input, and the total disturbance torque of the system is estimated in real time through a pre-designed extended state observer algorithm.
8. A motor-pump integrated machine joint control system, characterized by comprising a processor and a memory, the memory storing computer program instructions that, when executed by the processor, implement the motor-pump integrated machine joint control method according to any one of claims 1-7.

Description

Combined control method and system for motor pump integrated machine Technical Field The present invention relates to the field of pump control. More particularly, the invention relates to a motor pump integrated machine joint control method and system. Background The motor pump integrated machine integrates a servo motor, a driver and a hydraulic pump into a power unit, adopts a double closed-loop control architecture, controls the rotating speed of the motor through an inner ring and controls hydraulic output through an outer ring. In actual operation, the change of the output torque of the motor comprises two sources with different properties, namely an expected load change caused by process requirements, the motor is required to actively follow, and unknown disturbance such as system friction, leakage or external impact is required to be restrained. The prior art generally adopts an extended state observer to estimate and compensate the system disturbance, but the method treats all load changes as disturbance needing to be restrained uniformly. In a motor pump integrated machine control scene, an observer cannot distinguish expected load from unknown disturbance, normal pressure rising is misjudged to be disturbance for inhibition, and effective inhibition is difficult to realize while dynamic response is kept. Disclosure of Invention In order to solve the technical problem that the observer cannot distinguish the expected load from the unknown disturbance, misjudges the normal pressure rise as disturbance to inhibit, and is difficult to realize effective inhibition while maintaining dynamic response, the invention provides the following aspects. In a first aspect, a motor pump integrated machine joint control method includes: The method comprises the steps of collecting multi-source sensor data and equipment configuration parameters of the motor pump integrated machine, preprocessing the collected data, and constructing a state feature vector; Based on the real-time flow, the target flow, the current pressure and the intrinsic parameters of the motor in the state feature vector, determining a flow deviation factor, a motor efficiency calibration factor and a pressure safety constraint factor, and multiplying the flow deviation factor, the motor efficiency calibration factor and the pressure safety constraint factor to obtain an effective adjustment intensity coefficient; Calculating a predicted value of a desired torque change rate based on an actual torque change rate, a pressure change rate, a displacement conversion coefficient and the effective adjustment intensity coefficient in the state feature vector, and constructing a disturbance separation factor for representing the proportion of unknown disturbance in torque change according to the residual error of the actual torque change rate and the predicted value of the desired torque change rate and the total energy of the actual torque change rate and the predicted value of the desired torque change rate; based on the current pressure and displacement conversion coefficient in the state feature vector, calculating feedforward torque, and taking the disturbance separation factor as weight, carrying out weighted fusion on the total disturbance torque estimated by the extended state observer and the feedforward torque to construct compensation torque; and superposing the compensation torque to a basic torque command output by the speed ring, generating a final motor torque command, and outputting the final motor torque command to a servo driving unit for execution. Optionally, the collected data includes: collecting system working pressure, motor rotor position and motor rotating speed, motor three-phase current, system real-time flow and target flow analyzed from a previous-stage controller; The method includes the steps of reading motor intrinsic parameters from a nonvolatile memory area, wherein the motor intrinsic parameters comprise motor rated torque, motor rated current, motor torque constant, reference pressure, maximum working pressure, pressure-displacement mapping parameter sets containing a plurality of calibration pressure levels corresponding to oil pump displacement values and displacements corresponding to the reference pressure. Optionally, preprocessing the collected data includes: filtering the collected system working pressure, motor three-phase current and system real-time flow; Interpolation processing is carried out on the pressure-displacement mapping parameter set, a continuous pressure-displacement function is established, and a displacement conversion coefficient is calculated based on the pressure-displacement function; Calculating to obtain a target rotating speed based on the target flow and the actual displacement under the current pressure; based on the actual output torque and pressure sequences of the current control period and a plurality of previous control periods, the actual torque change rate and the pressure cha