An intelligent control logic system for a side-discharge bucket

Abstract

This invention discloses an intelligent control logic system for a side-discharge bucket, relating to the field of engineering machinery control technology. It includes a sensor module, an actuator, and a control module. The sensor module collects multi-dimensional data from the side-discharge bucket. The actuator drives the side-discharge bucket to rotate 0° to 90° around its axis, dumping material onto a conveying device, and simultaneously activates a stirring device to agitate the material and prevent clumping. The control module detects the initial states of the sensor module and the actuator, reads the multi-dimensional data to determine if the material weight is excessive, and then, based on the material's characteristics, introduces a fuzzy PID control algorithm to control the actuator. This invention is applicable to material handling equipment such as loaders, achieving efficient and precise side-discharge operations through automatic and manual dual-mode coordinated control.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery control technology, and more specifically, to an intelligent control logic system for a side-discharge bucket. Background Technology

[0002] In existing technologies, side-discharge buckets mostly rely on manual operation or simple mechanical control, which has the following drawbacks: low degree of automation: frequent manual adjustments to the equipment status are required, resulting in low efficiency and susceptibility to operational errors; insufficient adaptability: the unloading process cannot be adjusted in real time according to the weight of the material, which can easily lead to material waste or blockage; operational complexity: the traditional manual mode lacks flexible switching functions and is difficult to cope with complex working conditions (such as narrow areas or sticky materials). Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide an intelligent control logic system for a side-discharge bucket. Through dual collaborative control of automatic and manual modes, combined with weight detection, motor drive, and feedback adjustment, the system solves the problems of low efficiency and poor adaptability in the prior art.

[0004] To achieve the above technical objectives, this application provides an intelligent control logic system for a side-discharge bucket, comprising:

[0005] The sensor module is used to collect multi-dimensional data from the side discharge bucket;

[0006] The actuator is used to drive the side discharge bucket to rotate around the shaft to complete the lateral flip from 0° to 90°, pouring the material onto the conveying device, and at the same time starting the agitator to stir the material to prevent sticky material from clumping.

[0007] The control module detects the initial state of the sensor module and the actuator, reads multi-dimensional data to determine whether the material weight is excessive, and then introduces a fuzzy PID control algorithm to control the actuator based on the material characteristics.

[0008] Preferably, the sensor module includes:

[0009] A strain gauge weight sensor is installed in a critical stress area of ​​the bucket floor to collect material weight signals.

[0010] Temperature sensors are used to monitor changes in the viscosity of materials;

[0011] A position sensor is used to detect the angle of the rotating arm that drives the side discharge bucket;

[0012] Vibration sensors are used to detect equipment vibration data and thus identify abnormal operating conditions of the equipment.

[0013] Preferably, the actuator includes:

[0014] The rotating arm drive unit uses a three-phase asynchronous motor and a planetary gear reducer to drive the bucket to rotate around the axis to complete lateral tilting from 0° to 90°, while supporting dual-mode switching between forward and reverse rotation.

[0015] The material conveying and mixing unit is used to control the synchronous start and stop of the material conveying device and the mixing device. The mixing device consists of a double helical mixing rod driven by an independent servo motor.

[0016] Preferably, the rotating arm drive unit is equipped with an electromagnetic brake to ensure that the rotating arm automatically locks after power failure.

[0017] Preferably, the control module achieves stepless adjustment of motor speed through frequency converter control.

[0018] Preferably, the conveying device consists of a high-strength rubber conveyor belt and a stainless steel roller. The high-strength rubber conveyor belt is driven by a permanent magnet synchronous motor, and the tension adjustment mechanism of the conveying and mixing unit compensates for the slack of the track in real time through the tensioning wheel.

[0019] Preferably, the control module employs optical isolation technology to enhance its anti-interference capability.

[0020] Preferably, the control module achieves high-precision unloading in automatic mode and flexible operation in manual mode through a hierarchical control strategy, wherein...

[0021] The automatic mode control process includes:

[0022] Initialization phase: The system acquires the target unloading value input by the user, and performs a self-check of the status of the sensors and actuators. After confirming that there are no faults, it enters the operation preparation phase.

[0023] Weight detection and judgment: Read the weight sensor data. If the real-time weight is lower than the target unloading value, trigger an audible and visual alarm and lock the actuator to prevent no-load operation. If the real-time weight reaches or exceeds the target value, initiate a multi-level execution sequence.

[0024] Rotating arm movement: The control module outputs a PWM signal to drive the rotating arm motor to rotate forward, and the speed is dynamically adjusted through a PID algorithm to ensure that a 90° flip positioning is completed within 30 seconds;

[0025] Track and material conveying start: After the rotating arm is in position, it outputs an analog signal to the frequency converter to drive the track motor to rotate forward at a preset speed, and at the same time starts the material conveying device;

[0026] Synchronous mixing operation: After the material conveying device is started, the mixing motor immediately runs at a speed of 50 r / min to prevent materials from sticking together;

[0027] Dynamic unloading monitoring: The system calculates the unloading difference ΔW = initial weight - real-time weight in real time. When ΔW ≥ target value, the track speed is gradually reduced to a stop to avoid inertial impact.

[0028] After unloading is completed, the system displays the "Discharge Complete" status and automatically resets the rotating arm to its initial position;

[0029] Manual mode control logic, including:

[0030] Button function mapping: Rotary arm start / stop control button: Short press to start / stop the rotary arm, long press for 2 seconds to switch forward / reverse mode; Track direction switch button: Short press to switch track forward / reverse, double press to activate low speed fine adjustment mode; Emergency reset button: One-click to stop all actuators and reset to the initial state;

[0031] Interrupt priority design: Manual operation signals override automatic mode instructions in real time to ensure rapid response in case of emergencies; operation instructions are transmitted through a queue buffer mechanism to avoid signal loss or conflict;

[0032] Collaborative control mechanism: In automatic mode, you can force a switch to manual mode by pressing a button. The system will automatically save the current state and resume the automatic process after manual adjustment is completed. In manual mode, if the weight reaches the target value, the system will prompt you to switch back to automatic mode.

[0033] Preferably, the control module further includes state transition logic and dynamic event response, wherein,

[0034] State transition logic, including:

[0035] Initialization phase: Establishing the initial state through multi-sensor self-test;

[0036] State transition table: Adopting a configurable design, it defines a state table, transition table, interface table, and condition table, and supports dynamic expansion. In dynamic expansion, the transition trigger conditions include: event trigger → query the transition table → execute action; the fault tolerance mechanism includes: fault state triggering redundant switching, automatic rollback to safe mode, and rehearsing the fault recovery path through a digital twin model.

[0037] Dynamic event response, including:

[0038] Event Priority: Priorities are assigned based on event type. High-priority events interrupt the current state flow. Emergency events will directly jump to the fault handling state, while low-priority events will be ignored.

[0039] Fuzzy logic transfer: During the PID parameter adjustment stage, a PID rule base is constructed based on the material viscosity and change rate, and the actuator is controlled according to the PID rule base.

[0040] Preferably, the control module incorporates a fuzzy PID control algorithm for discretized control and performs fuzzy PID switching based on a PID rule base. Simultaneously, the rotating arm angle, conveyor belt speed, and hydraulic pressure are incorporated into the PID closed loop. A decoupling algorithm eliminates cross-interference, achieving coordinated control. Specifically, the continuous PID formula is converted into a difference equation.

[0041]

[0042] Where T is the sampling period, and stability is optimized through anti-integral saturation and differential limiting; u(k) is the control output; K p It is the proportional gain; e(k) is the current error; K i It is the integral gain; K d It is the differential gain; e(k-1) is the previous error.

[0043] The present invention discloses the following technical effects:

[0044] This invention features dual-mode collaborative control: breaking through the limitations of single control logic and balancing efficiency and flexibility; it also features dynamic weight feedback: optimizing unloading accuracy through real-time data and reducing material loss; and its control module and actuator adopt standardized interfaces, making it easy to adapt to different bucket models.

[0045] This invention is applicable to material loading and unloading equipment such as loaders. Through automatic and manual dual-mode coordinated control, it can achieve efficient and precise side unloading of materials. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the overall architecture of the control system described in this invention;

[0048] Figure 2 This is the automatic control logic flowchart described in this invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0050] like Figures 1-2 As shown, the present invention provides an intelligent control logic system for a side-discharge bucket, including the following:

[0051] Sensor Module: The weight detection unit employs a high-precision strain gauge weight sensor, installed in key stress areas of the bucket floor. It collects material weight signals in real time and transmits them to the control module via a 4-20mA analog signal or RS485 digital communication protocol. The detection accuracy reaches ±0.5%FS, and the measuring range covers 0.5T to 10T, adapting to different working conditions. Extended Sensing Unit (Optional): Depending on the application scenario, this includes temperature sensors (monitoring changes in material viscosity), position sensors (detecting the rotating arm angle), and vibration sensors (preventing abnormal equipment operation), forming a multi-dimensional data acquisition network.

[0052] Control Module: The core controller uses an embedded microprocessor (ARM Cortex-M7 architecture) with multi-channel input / output interfaces, supporting real-time data processing and complex logic operations. The input interface receives analog / digital signals from the sensor module and integrates signal conditioning circuits (such as filtering and amplification) to eliminate interference; it also receives command signals from the human-machine interface (target value, mode selection, button input), employing optocoupler isolation technology to enhance anti-interference capabilities. The output interface is designed to output PWM signals or 0-10V analog signals to drive the actuator motor; it supports inverter control (such as the ABB ACS880 series) to achieve stepless motor speed adjustment with an accuracy of ±1%.

[0053] The actuator includes a rotating arm drive unit, which uses a three-phase asynchronous motor (rated power 5.5kW, rated speed 1440r / min) paired with a planetary gear reducer (reduction ratio 20:1) to drive the bucket to rotate laterally from 0° to 90° around the axis. The maximum torque output reaches 1200N·m, and it supports dual-mode switching between forward rotation (unloading direction) and reverse rotation (reset direction). This unit is equipped with an electromagnetic brake to ensure that the rotating arm automatically locks after power failure, preventing accidental displacement.

[0054] The material conveying and mixing unit is used to drive the material conveying device and the mixing device to start and stop synchronously. It is driven by a permanent magnet synchronous motor (rated power 3kW, efficiency class IE4) to drive the conveying device track. The forward rotation speed is 0.5-2m / s (adjustable), and the reverse rotation speed is fixed at 0.3m / s, which is used for emergency return or fine adjustment in narrow spaces. This unit also integrates an automatic tension adjustment mechanism, which compensates for track slack in real time through a tensioning wheel to prevent slippage.

[0055] The conveying device uses a high-strength rubber conveyor belt (10mm thick, 18MPa tensile strength) and a stainless steel roller (200mm diameter) to achieve continuous material conveying with a maximum load capacity of 1.5T / min. The stirring device is driven by an independent servo motor (rated power 1.5kW) to drive a double spiral stirring rod (speed adjustable from 30-60r / min), which starts and stops synchronously with the conveying device to effectively prevent viscous materials from clumping.

[0056] Human-Machine Interface: Hardware configuration includes a 7-inch industrial-grade touchscreen (800×480 resolution, IP65 protection rating), a built-in real-time operating system (such as FreeRTOS), and a physical button panel (silicone-sealed design) with 4 function buttons (start / stop, direction switching), an emergency stop button, and status indicator lights. The software supports setting target unloading values ​​(accuracy 0.1kg), mode switching (automatic / manual), and real-time data display (weight, unloading progress, alarm information); it provides parameter storage and recall functions, and can pre-store 10 sets of commonly used operating condition configurations.

[0057] The control logic of this system:

[0058] This system achieves high-precision unloading in automatic mode and flexible operation in manual mode through a hierarchical control strategy. The specific logic is as follows:

[0059] Automatic mode control process:

[0060] 1) Initialization phase: The user inputs the target unloading value (e.g., 500kg) through the human-machine interface. The system self-checks the status of the sensors and actuators. After confirming that there are no faults, it enters the operation preparation phase.

[0061] 2) Weight Detection and Judgment: The control module reads the weight sensor data at a sampling frequency of 10Hz. If the real-time weight is lower than the target value (e.g., the detected value is 480kg), an audible and visual alarm is triggered (buzzer frequency 2kHz, LED flashing red light) and the actuator is locked to prevent no-load operation; if the real-time weight reaches or exceeds the target value, a multi-level execution sequence is initiated:

[0062] 3) Rotating arm movement: The control module outputs a PWM signal to drive the rotating arm motor to rotate forward, using a PID algorithm (proportional coefficient K). p =0.8, integration time Ti =2s) Dynamically adjust the rotation speed to ensure that a 90° flip positioning is completed within 30 seconds (error ±1°);

[0063] 4) Track and material conveying start: After the rotating arm is in position, it outputs an analog signal to the frequency converter to drive the track motor to rotate forward at a preset speed, and at the same time starts the material conveying device;

[0064] 5) Synchronous mixing operation: After the material conveying device is started, the mixing motor immediately runs at a speed of 50r / min to prevent materials from sticking together.

[0065] Dynamic unloading monitoring: The system calculates the unloading difference in real time (ΔW = initial weight - real-time weight). When ΔW ≥ target value, the track speed is gradually reduced to a stop (3-second slow stop time) to avoid inertial impact.

[0066] 6) After unloading is completed, the touch screen displays the "Unloading Complete" status and automatically resets the rotating arm to the initial position.

[0067] Manual mode control logic:

[0068] Key function mapping:

[0069] 1) Rotary arm start / stop control button: Short press to start / stop the rotary arm, long press for 2 seconds to switch between forward and reverse rotation modes;

[0070] 2) Track direction switching button: Short press to switch track forward and reverse, double press to activate low speed fine adjustment mode (0.2m / s);

[0071] 3) Emergency Reset Button: Stops all actuators with one click and resets them to their initial state.

[0072] Interrupt priority design:

[0073] 1) Manual operation signals have the highest interrupt priority and can override automatic mode commands in real time, ensuring rapid response in case of emergencies;

[0074] 2) Operation instructions are transmitted through a queue buffering mechanism to avoid signal loss or collision.

[0075] Collaborative control mechanism:

[0076] Seamless mode switching:

[0077] 1) During automatic mode operation, users can force switch to manual mode by pressing a button. The system will automatically save the current state (such as the amount of material unloaded) and resume the automatic process after manual adjustment is completed.

[0078] 2) In manual mode, if the detected weight reaches the target value, the system will prompt whether to switch back to automatic mode.

[0079] Safety interlock design:

[0080] 1) An electrical interlock is installed between the rotating arm and the track motor to ensure that the track cannot start when the rotating arm is not in position;

[0081] 2) The mixing device and the conveying device are interlocked by a hard wire. After the conveying stops, the mixing will be turned off after a 5-second delay to completely clear the residual material.

[0082] The control logic and execution process of the core algorithm of this system:

[0083] State machine model (core control logic):

[0084] 1) State transition logic:

[0085] Initialization phase: The initial state is established through multi-sensor self-test (weight, position, communication). For example, the weight sensor needs to complete three zero-point calibrations (with an interval of 5 seconds). If the deviation is >0.1%FS, an E003 fault is triggered.

[0086] State transition tables: Employing a configurable design, they define a State table, a Transition table, an Interface table, and a Condition table, supporting dynamic expansion. For example:

[0087] Migration trigger conditions: Event trigger (such as abnormal sensor data, user command) → query migration table → execute action (such as switching control mode).

[0088] Fault tolerance mechanism: A fault state (such as communication interruption) triggers redundancy switching, automatically rolls back to a safe mode (such as manual control), and simulates the fault recovery path through a digital twin model.

[0089] 2) Dynamic event response:

[0090] Event Priority: Priorities are assigned based on event type (e.g., emergency stop, mode switch). Higher-priority events interrupt the current state flow. For example:

[0091] Emergency events (such as sensor failure) → directly jump to the fault handling state, ignoring low-priority events.

[0092] Fuzzy logic migration: During the PID parameter adjustment phase, the PID rule base is dynamically switched based on the material viscosity (high / medium / low) and the rate of change (fast / stable / slow).

[0093] Enhanced Dynamic PID Control (Core Algorithm Execution Flow):

[0094] 1) Core Algorithm Flow: Discretization Control: Converting the continuous PID formula into a difference equation:

[0095]

[0096] Where T is the sampling period, and stability is optimized through anti-integral saturation and differential limiting; u(k) is the control output; K p It is the proportional gain; e(k) is the current error; K i It is the integral gain; K d It is the differential gain; e(k-1) is the previous error;

[0097] Fuzzy PID switching: Rule table: Adjust parameters based on material characteristics, as shown in Table 1:

[0098] Table 1

[0099]

[0100]

[0101] Execution logic: Real-time monitoring of the rate of change of weight sensor data → matching of fuzzy rules → dynamic loading of PID parameter library.

[0102] 2) Collaborative control strategy:

[0103] Multi-parameter coupling: Parameters such as the rotating arm angle, conveyor belt speed, and hydraulic pressure are incorporated into the PID closed loop, and cross-interference is eliminated through decoupling algorithms. For example:

[0104] Master-slave control: Weight control is the master loop, and conveyor belt speed is the slave loop. Feedforward compensation is used to reduce overshoot.

[0105] Torque compensation: The PWM signal is corrected in real time according to the motor torque curve to compensate for the delay caused by mechanical inertia.

[0106] Software architecture and algorithm optimization of this system:

[0107] 1) Real-time operating system (RTOS) integration: The control module software is developed based on the μC / OS-III real-time kernel with a task scheduling cycle of 1ms, ensuring that multiple tasks such as weight detection, motor control, and human-machine interaction are executed in parallel without blocking.

[0108] 2) Adaptive PID Algorithm: To address differences in material properties (such as density and viscosity), a fuzzy PID control algorithm is introduced to dynamically adjust parameters (K). p K i K d This improves the stability of the unloading process and adapts to load fluctuations.

[0109] 3) Fault diagnosis and fault tolerance mechanism: Built-in fault code library (such as E001: sensor disconnection, E002: motor overload), real-time monitoring of system status, automatic entry into safe mode (stop output, save log) after triggering a fault, and prompting maintenance solutions through human-machine interface.

[0110] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0111] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0112] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. An intelligent control logic system for a side-discharge bucket, the system comprising: include: The sensor module is used to collect multi-dimensional data from the side discharge bucket; The actuator is used to drive the side discharge bucket to rotate 0° to 90° around the rotating shaft to pour the material onto the conveying device, and at the same time start the stirring device to stir the material to prevent sticky material from clumping. The control module is used to detect the initial state of the sensor module and the actuator, and after reading the multi-dimensional data, determine whether the weight of the material is overweight. Based on the differences in material characteristics, a fuzzy PID control algorithm is introduced to control the actuator. The control module achieves high-precision unloading in automatic mode and flexible operation in manual mode through a hierarchical control strategy. The automatic mode control process includes: Initialization phase: The system acquires the target unloading value input by the user, and performs a self-check of the status of the sensors and actuators. After confirming that there are no faults, it enters the operation preparation phase. Weight detection and judgment: Read the weight sensor data. If the real-time weight is lower than the target unloading value, trigger an audible and visual alarm and lock the actuator to prevent no-load operation. If the real-time weight reaches or exceeds the target value, initiate a multi-level execution sequence. Rotating arm movement: The control module outputs a PWM signal to drive the rotating arm motor to rotate forward, and the speed is dynamically adjusted by the PID algorithm to ensure that a 90° flip positioning is completed within 30 seconds. Track and material conveying start: After the rotating arm is in position, it outputs an analog signal to the frequency converter to drive the track motor to rotate forward at a preset speed, and at the same time starts the material conveying device; Synchronous mixing operation: After the material conveying device is started, the mixing motor immediately runs at a speed of 50 r / min to prevent materials from sticking together; Dynamic unloading monitoring: The system calculates the unloading difference ΔW = initial weight - real-time weight in real time. When ΔW ≥ target value, the track speed is gradually reduced to a stop to avoid inertial impact. After unloading is completed, the system displays the "Discharge Complete" status and automatically resets the rotating arm to its initial position; Manual mode control logic, including: Button function mapping: Rotary arm start / stop control button: Short press to start / stop the rotary arm, long press for 2 seconds to switch forward / reverse mode; Track direction switch button: Short press to switch track forward / reverse, double press to activate low speed fine adjustment mode; Emergency reset button: One-click to stop all actuators and reset to the initial state; Interrupt priority design: Manual operation signals override automatic mode instructions in real time to ensure rapid response in case of emergencies; operation instructions are transmitted through a queue buffer mechanism to avoid signal loss or conflict; Collaborative control mechanism: In automatic mode, you can force a switch to manual mode by pressing a button. The system will automatically save the current state and resume the automatic process after manual adjustment is completed. In manual mode, if the weight reaches the target value, the system will prompt you to switch back to automatic mode.

2. The intelligent control logic system for a side-discharge bucket according to claim 1, characterized in that: The sensor module includes: A strain gauge weight sensor is installed in a critical stress area of ​​the bucket floor to collect material weight signals. Temperature sensors are used to monitor changes in the viscosity of materials; A position sensor is used to detect the angle of the rotating arm that drives the side discharge bucket; Vibration sensors are used to detect equipment vibration data and thus identify abnormal operating conditions of the equipment.

3. The intelligent control logic system for a side-discharge bucket according to claim 2, characterized in that: The executing mechanism includes: The rotating arm drive unit uses a three-phase asynchronous motor and a planetary gear reducer to drive the bucket to rotate around the axis to complete lateral tilting from 0° to 90°, while supporting dual-mode switching between forward and reverse rotation. The material conveying and mixing unit is used to control the synchronous start and stop of the material conveying device and the mixing device. The mixing device consists of a double helical mixing rod driven by an independent servo motor.

4. The intelligent control logic system for a side-discharge bucket according to claim 3, characterized in that: The rotating arm drive unit is equipped with an electromagnetic brake to ensure that the rotating arm automatically locks after power failure.

5. The intelligent control logic system for a side-discharge bucket according to claim 4, characterized in that: The control module achieves stepless adjustment of motor speed through frequency converter control.

6. The intelligent control logic system for a side-discharge bucket according to claim 5, characterized in that: The conveying device consists of a high-strength rubber conveyor belt and a stainless steel roller. The high-strength rubber conveyor belt is driven by a permanent magnet synchronous motor, and the tension adjustment mechanism of the conveying and mixing unit compensates for the slack of the track in real time through the tensioning wheel.

7. The intelligent control logic system for a side-discharge bucket according to claim 6, characterized in that: The control module employs optical isolation technology to enhance its anti-interference capability.

8. The intelligent control logic system for a side-discharge bucket according to claim 1, characterized in that: The control module further includes state transition logic and dynamic event response, wherein, The state transition logic includes: Initialization phase: Establishing the initial state through multi-sensor self-test; State transition table: Adopting a configurable design, it defines a state table, transition table, interface table, and condition table, and supports dynamic expansion. In dynamic expansion, the transition trigger conditions include: event trigger → query the transition table → execute action; the fault tolerance mechanism includes: fault state triggering redundant switching, automatic rollback to safe mode, and rehearsing the fault recovery path through a digital twin model. The dynamic event response includes: Event Priority: Priorities are assigned based on event type. High-priority events interrupt the current state flow. Emergency events will directly jump to the fault handling state, while low-priority events will be ignored. Fuzzy logic transfer: During the PID parameter adjustment stage, a PID rule base is constructed based on the material viscosity and change rate, and the actuator is controlled according to the PID rule base.

9. The intelligent control logic system for a side-discharge bucket according to claim 8, characterized in that: The control module incorporates a fuzzy PID control algorithm for discretized control and performs fuzzy PID switching based on the PID rule base. Simultaneously, it integrates the rotating arm angle, conveyor belt speed, and hydraulic pressure into the PID closed loop, eliminating cross-interference through a decoupling algorithm to achieve coordinated control. Specifically, the continuous PID formula is converted into a difference equation. where T is the sampling period, stability is optimized by anti-windup and derivative clipping; u(k) is the control output; K p is the proportional gain; e(k) is the current error; K i is the integral gain; K d is the derivative gain; e(k-1) is the previous error.

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