A pump-valve dual-source driving hydraulic cylinder speed and position composite control system

Abstract

The application belongs to the technical field of hydraulic control and relates to a pump-valve dual-source driving hydraulic cylinder speed and position composite control system for engineering machinery, which comprises a first power source, a first hydraulic pump, a second power source, a second hydraulic pump, a safety valve, a proportional directional valve, a hydraulic control check valve, a hydraulic cylinder, a handle, an oil tank, a rotating speed sensor, a first pressure sensor, a second pressure sensor, a third pressure sensor, a temperature sensor, a position signaling device, a magnetic induction marker, a counting correction module, an integration module, a calculation control module, a signal acquisition module, a data storage module, a cloud storage, a communication protocol module, a fault diagnosis module and a process monitoring module. Compared with the prior art, the application can realize flow detection, speed and displacement detection and control and fault diagnosis.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hydraulic control, and relates to a pump-valve dual-source driving hydraulic cylinder speed and position composite control system for engineering machinery. BACKGROUND

[0002] Engineering machinery generally adopts a hydraulic system to drive each actuator to act, and a driver operates a handle to control the hydraulic actuator in an open loop. Due to the harsh working environment of engineering machinery and the wide range of changes in external load force, the hydraulic cylinder is difficult to operate at the expected speed and displacement due to the influence of system leakage and oil compression. Although an external speed-displacement sensor is installed on the hydraulic cylinder, accurate control of the hydraulic cylinder can be realized through speed and position closed loop. In the disclosed invention patent CN201611252976.3, a high-precision displacement control hydraulic cylinder system and a control method thereof are proposed, and two external displacement sensors are used to improve the displacement control precision. However, the external displacement sensor is easily contaminated by oil stains, solution and dust, has poor reliability, and increases the difficulty of system maintenance. Integrating an internal displacement sensor in the hydraulic cylinder can effectively avoid the influence of the harsh environment, but also greatly increases the processing difficulty and cost of the hydraulic cylinder. In addition, the cost of the sensor for continuously collecting the speed and displacement of the hydraulic cylinder is high, and it is not suitable for the field of engineering machinery with low control precision requirement and high cost control requirement.

[0003] Moreover, the existing engineering machinery hydraulic system has low intelligence, does not have self-learning and self-adaptive ability to cope with load, environment and changes of itself, and cannot perform fault diagnosis and life prediction. After an accident, maintenance is required, which leads to safety accidents and economic losses. Historical fusion data cannot be used for analysis, calculation, comparison and decision-making, resulting in serious energy waste.

[0004] In order to further improve the prior art, the application proposes a speed and displacement detection control method suitable for the hydraulic cylinder of engineering machinery, and can master the whole life cycle operation data of the system. SUMMARY

[0005] The application proposes a pump-valve dual-source driving hydraulic cylinder speed and position integrated control system and method, which can realize speed and displacement detection and control, and also has the function of fault diagnosis.

[0006] To achieve the above object, the application adopts the following technical scheme:

[0007] A pump valve dual source driving hydraulic cylinder speed and position composite control system, comprising a first power source, a first hydraulic pump, a second power source, a second hydraulic pump, a safety valve, a proportional directional valve, a hydraulic control check valve, a hydraulic cylinder, a handle, an oil tank, a rotational speed sensor, a first pressure sensor, a second pressure sensor, a third pressure sensor, a temperature sensor, a position signaling device, a magnetic induction marker, a counting correction module, an integral module, a calculation control module, a signal acquisition module, a data storage module, a cloud storage, a communication protocol module, a fault diagnosis module and a process monitoring module;

[0008] The P port of the proportional directional valve is connected with the first pressure sensor, the temperature sensor and the oil outlet of the first hydraulic pump; the A port of the proportional directional valve is connected with the rodless cavity of the hydraulic cylinder and the second pressure sensor; the B port of the proportional directional valve is connected with the rod cavity of the hydraulic cylinder and the third pressure sensor; the inlet and outlet of the hydraulic control check valve are connected with the oil outlet of the proportional directional valve and the oil tank respectively; the inlet and outlet of the second hydraulic pump are connected with the rodless cavity and the rod cavity of the hydraulic cylinder respectively, and the second power source is provided with a rotational speed sensor;

[0009] The signal acquisition module receives the rotational speed of the second power source n 2, oil temperature T , the outlet pressure of the first hydraulic pump p s , the pressure of the rodless cavity of the hydraulic cylinder p A , the pressure of the rod cavity of the hydraulic cylinder p B and the handle output signal u The output ends are connected with the calculation control module and the data storage module respectively; the output ends of the calculation control module are connected with the integral module and the data storage module respectively, and control signals are transmitted to the second power source, the proportional directional valve, the hydraulic control check valve and the first hydraulic pump; the output ends of the integral module are connected with the counting correction module and the data storage module respectively; the counting correction module receives the output signal of the position signaling device, and the output signal is connected with the calculation control module; the data storage module is connected with the communication protocol module, the fault diagnosis module and the process monitoring module; the communication protocol module is connected with the cloud storage.

[0010] The pump valve dual source driving hydraulic cylinder speed and position composite control system has the characteristics that the piston rod axis direction of the hydraulic cylinder is processed with a magnetic induction marker with a known interval as a position monitoring point, wherein the magnetic induction markers are arranged at equal intervals.

[0011] The pump-valve dual-source driving hydraulic cylinder speed and position composite control system is characterized in that the position signaling device is installed at the end of the single-out-rod hydraulic cylinder, and the position signaling device is a magneto-resistance sensor, a Hall sensor or an eddy current sensor.

[0012] The pump-valve dual-source driving hydraulic cylinder speed and position composite control system is characterized in that the calculation control module outputs the following parameters according to the signal processing module:

[0013] System total power: System useful power: System throttling loss: ;

[0014] In the formula, Q A Hydraulic cylinder A cavity flow, Q B Hydraulic cylinder B cavity flow, Q v Proportional directional valve passing flow, p s First hydraulic pump outlet pressure, p v = p A - p B .

[0015] The pump-valve dual-source driving hydraulic cylinder speed and position composite control system is characterized in that the integral module outputs the following parameters:

[0016] Hydraulic cylinder theoretical position System input total energy: System useful function amount: System throttling loss: System efficiency: ;

[0017] In the formula, x 0 is the initial position of the hydraulic cylinder, v t is the set speed of the single-out-rod hydraulic cylinder.

[0018] The pump-valve dual-source driving hydraulic cylinder speed and position composite control system is characterized in that the magnetic induction mark sends a pulse to the counting correction module once through the position signaling device, and if the total passing number is k The actual position of the hydraulic cylinder is determined according to the formula x a The position deviation is calculated as ∆x = x ​t - x a , the interval of two position detection points is λ , the speed correction coefficient is calculated according to formula γ , and γ is transmitted to the calculation control module.

[0019] The pump-valve dual-source driving hydraulic cylinder speed and position composite control system is characterized in that the data storage module is used for storing the full life cycle operation data of the hydraulic cylinder driving system.

[0020] The process monitoring module displays the dynamic curve of the parameters in the data storage module.

[0021] The communication protocol module is Ethernet, industrial internet or Bluetooth, and the data storage module data is transmitted to the cloud storage, and the data information stored in the cloud storage is received.

[0022] The fault diagnosis module analyzes and actively maintains the hydraulic system according to the system parameters received by the data storage module.

[0023] Compared with the prior art, the present application has the following beneficial effects:

[0024] 1. The present application drives the second hydraulic pump to control the running speed and displacement of the hydraulic cylinder through the second power source, and adopts a valve group unit to compensate the asymmetric flow of the single-out-rod hydraulic cylinder. By collecting the system pressure and oil temperature, the leakage of the theoretical output flow of the second hydraulic pump and the oil compressibility are compensated, so that the flow can be detected and controlled with high precision without the need for a flow sensor, solving the problems of the existing flow sensor, such as unable to close-loop control flow, high cost, complex installation and large pressure loss.

[0025] 2. The present application calculates the running speed and displacement of the hydraulic cylinder by the flow of the second hydraulic pump, and corrects it through the integral module and correction link, so that the speed and position of the hydraulic cylinder can be controlled with low cost and high reliability without the need for expensive high-precision displacement sensors.

[0026] 3. The present application collects the information such as pressure, flow, power and energy during the system operation process in real time, and through intelligent algorithm, the running state and health state of the key components in the whole life cycle can be analyzed and mastered, fault prediction is realized, and the whole hydraulic system is intelligentized, which is a function that the traditional hydraulic system does not have. BRIEF DESCRIPTION OF DRAWINGS

[0027] ​In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0028] Figure 1 Figure is a schematic diagram of the pump valve dual-source driving hydraulic cylinder speed and position compound control system of the present application.

[0029] Figure 2 Figure is a structural diagram of the single-out-rod hydraulic cylinder of the present application.

[0030] Figure 3 Figure is a flow chart of the control method of the present application.

[0031] In the figure: 1 - first power source, 2 - first hydraulic pump, 3 - overflow valve, 4 - first pressure sensor, 5 - temperature sensor, 6 - hydraulic control check valve, 7 - proportional directional valve, 8 - second power source, 9 - second pressure sensor, 10 - second hydraulic pump, 11 - third pressure sensor, 12 - single-out-rod hydraulic cylinder, 13 - count correction module, 14 - integral module, 15 - calculation control module, 16 - signal acquisition module, 17 - data storage module, 18 - communication protocol module, 19 - fault diagnosis module, 20 - process monitoring module, 21 - handle, 22 - cloud storage, 23 - speed sensor; 12-1 - position signaling device, 12-2 - magnetic induction marker, 12-3 - zero position reference point, 12-4 - piston rod. Specific implementation method

[0032] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0033] The meanings of the parameters in the specification are as follows:

[0034] A A - hydraulic cylinder A cavity area, A B - hydraulic cylinder B cavity area, Q A - hydraulic cylinder A cavity flow, Q B - hydraulic cylinder B cavity flow, v - hydraulic cylinder speed, α - hydraulic cylinder two cavity area ratio,p s — outlet pressure of the first hydraulic pump, p A — pressure of the A chamber of the hydraulic cylinder, p B — pressure of the B chamber of the hydraulic cylinder, x t — theoretical position of the hydraulic cylinder, x 0— initial position of the hydraulic cylinder, λ — distance between two adjacent magnetic induction marks, x a — actual position of the hydraulic cylinder, k — pulse number, ∆x — position deviation, P s — total power of the system, P CY — useful power of the system, P LS — throttling loss power of the system, E s — total energy input of the system, E CY — useful energy of the system, E LS — throttling loss energy, η — system efficiency, γ — correction coefficient, V 1 is the displacement of the first hydraulic pump, n 1 is the rotating speed of the first power source, V 2 is the displacement of the second hydraulic pump, n 2 is the rotating speed of the second power source, T — oil temperature, C d — flow coefficient of the proportional directional valve, w — area gradient of the proportional directional valve, x v — control signal of the proportional directional valve, Q v — flow passing through the proportional directional valve, ρ — density of hydraulic oil, p v — differential pressure of the proportional directional valve.

[0035] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] As Figure 1As shown, a pump valve dual source drive hydraulic cylinder speed and position composite control system, including the second power source 8, the second hydraulic pump 10, the safety valve 3, the proportional directional valve 7, the hydraulic control check valve 6, the single rod hydraulic cylinder 12, the second power source 8 drives the second hydraulic pump 10, controls the running speed and displacement of the single rod hydraulic cylinder 12, and the rotating speed sensor 23 detects the rotating speed of the second power source 8. The first power source 1 drives the first hydraulic pump 2 to output flow through the proportional directional valve 7, and compensates the asymmetric flow required by the single rod hydraulic cylinder 12.

[0037] The system is additionally provided with the first pressure sensor 4, the second pressure sensor 9, the third pressure sensor 11, the temperature sensor 5, the position signaling device 12-1, the counting correction module 13, the integral module 14, the calculation control module 15, the signal acquisition module 16, the data storage module 17, the cloud storage 22, the communication protocol module 18, the fault diagnosis module 19 and the process monitoring module 20.

[0038] The P port of the proportional directional valve 7 is connected with the first pressure sensor 4 and the oil outlet of the first hydraulic pump 2; the A port of the proportional directional valve 7 is connected with the rodless cavity of the single rod hydraulic cylinder 12 and the second pressure sensor 9; the B port of the proportional directional valve 7 is connected with the rod cavity of the single rod hydraulic cylinder 12 and the third pressure sensor 11; the inlet and outlet of the hydraulic control check valve 6 are connected with the oil outlet T of the proportional directional valve 7 and the oil tank respectively; the inlet and outlet of the second hydraulic pump 10 are connected with the rodless cavity and the rod cavity of the single rod hydraulic cylinder 12 respectively; the signal acquisition module 16 receives the rotating speed of the second power source 8 n 2, the temperature signal of the temperature sensor 5 T , the outlet pressure of the first hydraulic pump 2 p s , the pressure of the rodless cavity of the single rod hydraulic cylinder 12 p A , the pressure of the rod cavity of the single rod hydraulic cylinder 12 p B and the output signal of the handle 21 u The output ends of the temperature sensor 5, the first pressure sensor 4, the second pressure sensor 9, the third pressure sensor 11, the temperature sensor 5, the position signaling device 12-1, the single rod hydraulic cylinder 12 and the handle 21 are connected with the calculation control module 15 and the data storage module 17 respectively; the output ends of the calculation control module 15 are connected with the integral module 14 and the data storage module 17 respectively, and the control signals are transmitted to the second power source 8, the proportional directional valve 7, the hydraulic control check valve 6 and the first hydraulic pump 2; the output end of the integral module 14 is connected with the counting correction module 13 and the data storage module 17 respectively; the counting correction module 13 receives the output signal of the position signaling device 12-1, and the output signal is connected with the calculation control module 15; the data storage module 17 is connected with the communication protocol module 18, the fault diagnosis module 19 and the process monitoring module 20 respectively; the communication protocol module 18 is connected with the cloud storage 22.

[0039] As shown in the figure Figure 2As shown, before assembling the single-rod hydraulic cylinder 12, grooves are engraved on the piston rod 12-4 using a CNC machine tool at intervals of... λ A 50 mm annular groove is machined, with the annular groove when the piston rod is fully retracted serving as the zero position reference point 12-3. The annular groove is filled with magnetic material to create a magnetic induction mark, and the surface roughness of the piston rod 12-4 is uniformly treated. Simultaneously, a position signaling device 12-1 is installed at the end of the hydraulic cylinder body to sense the magnetic induction mark. The position signaling device can be a magnetoresistive sensor, a Hall effect sensor, or an eddy current sensor.

[0040] The working principle of the hydraulic cylinder speed and position composite control system in this embodiment Figure 3 As shown, the steps are as follows:

[0041] Step 1: The system is powered on and initialized. The calculation and control module 15 reads the position of the single-rod hydraulic cylinder 12 at the end of its last operation from the data storage module 17, and uses it as the initial position for the current operation of the single-rod hydraulic cylinder 12. x 0.

[0042] Step 2: The signal output from handle 21 is received by signal acquisition module 16, processed by calculation and control module 15, and converted into the set speed of single-rod hydraulic cylinder 12. v t The speed control signal of the second power source 8 is obtained. n 20 = v t • A B / V 2. When the single-rod hydraulic cylinder 12 extends, the proportional directional valve 7 operates in the left position, according to... Determine the displacement setting signal of proportional directional valve 7 x v0 The proportional directional valve 7 compensates for the asymmetrical flow of the single-rod hydraulic cylinder 12 and controls the hydraulic check valve 6 to close to prevent oil in the rod chamber from returning to the oil tank; when the single-rod hydraulic cylinder 12 retracts, the proportional directional valve 7 operates in the right position, according to... Determine the control valve displacement setting signal x v0 It also controls the hydraulic check valve 6 to open, so that excess oil in the rodless chamber of the single-rod hydraulic cylinder 12 returns to the oil tank.

[0043] Step 3: Set the speed of the single-rod hydraulic cylinder 12. v t The data is input to the integration module and integrated over the running time, compared with the initial position of the hydraulic cylinder. x Summing 0 yields the theoretical position of the hydraulic cylinder. Meanwhile, the position signaling device 12-1 sends a pulse to the counting correction module 13 every time the magnetic induction mark 12-2 is passed during the operation of the single-rod hydraulic cylinder 12, and the counting correction module 13 counts the number of pulses k , in combination with the interval of the magnetic induction mark 12-2 λ , the actual position of the hydraulic cylinder can be determined x a = k ∙ λ+x 0。

[0044] The fourth step is to compare the theoretical position of the single-rod hydraulic cylinder 12 x t with the actual position transmitted by the position signaling device x a , specifically, the position signaling device sends a pulse to the counting correction module every time the magnetic induction mark passes it, and if the total number of passes is k , the actual position of the hydraulic cylinder can be determined according to the formula x a , and the position deviation is calculated as ∆x = x t - x a and the correction coefficient γ =Δ x / λ+ 1, and the speed control signal of the second power source 8 is corrected based on the correction coefficient γ n 20 , and the corrected speed control signal is calculated as n 21 = γ ∙ n 20 , the set signal of the proportional directional valve 7 is x v1 , and the actual operating speed of the single-rod hydraulic cylinder 12 is corrected v a .

[0045] The fifth step is to correct the speed and displacement of the single-rod hydraulic cylinder 12 according to steps two to four every time the magnetic induction mark 12-2 passes the position signaling device 12-1. After multiple iterations and corrections, the actual operating speed v a and the position x a of the hydraulic cylinder are respectively v t and x t ​​to the allowable error range. And during the system operation, by inputting the pressure p s 、 p A 、 p B and temperature T to the calculation control module 15, the leakage and oil compressibility compensation of the second hydraulic pump output flow can be calculated to obtain the flow of the two chambers of the hydraulic cylinder. Finally, the position information of the single-out-rod hydraulic cylinder 12 is stored in the data storage module for next initialization.

[0046] The calculation control module 15 applies the following formula to calculate the total power, useful power, and control valve throttling loss power of the system, respectively:

[0047] System total power:

[0048]

[0049] System useful power:

[0050]

[0051] System throttling loss:

[0052] ,

[0053] Δ p v = p A - p B .

[0054] The integral module 14 applies the following formula to calculate the total input energy, useful energy, and system throttling loss energy of the system:

[0055] System total input energy:

[0056]

[0057] System useful energy:

[0058]

[0059] System throttling loss:

[0060]

[0061] System efficiency:

[0062] .

[0063] The data storage module 17 stores the speed of the first power source 1n 1, first hydraulic pump 2 displacement V 1, second power source 8 rotation speed n 2, second hydraulic pump 10 displacement V 2, proportional directional valve 7 opening x v , temperature sensor 5 temperature signal T , first hydraulic pump 2 outlet pressure p s , single rod hydraulic cylinder 12 A cavity pressure p A , single rod hydraulic cylinder 12 B cavity pressure p B , single rod hydraulic cylinder 12 A cavity flow Q A , single rod hydraulic cylinder 12 B cavity flow Q B , system total power P s , system useful power P cy , single rod hydraulic cylinder 12 speed v , single rod hydraulic cylinder 12 initial position x 0, system input total energy E s , system useful energy E CY , system throttling loss E LS , system efficiency η Storage is carried out.

[0064] The fault diagnosis module 19 can detect and preprocess the hydraulic system fault signal by using the system pressure, flow, power, energy consumption and system efficiency information recorded by the data storage module 17. Assuming that the system efficiency threshold λ η , energy consumption threshold λ E , if the system efficiency η < λ η The hydraulic system will shut down, compare the pressure, flow, power information with the curve under the health state, find out its fault characteristics, use the expert library, complete the identification work from fault characteristics to fault cause, and can accurately locate the fault. If the energy E 2> λ E Theoretically, it can be considered that the hydraulic system has reached a fatigue state, and the system will actively shut down for maintenance.

[0065] The process monitoring module 20 can display the data curves of pressure, flow, position, system power and system energy consumption in the data storage module 14 in real time, realizing the visualization of the hydraulic system parameters.

[0066] The communication protocol module 18 can upload the data in the data storage module 17 to the cloud storage 22. The cloud storage 22 has a perfect data automatic backup mechanism and can store the full life cycle operation data of the system, laying a foundation for realizing active operation and maintenance and optimizing system energy efficiency.

Claims

1. A combined speed and position control system for a pump-valve dual-source driven hydraulic cylinder, characterized in that: It includes a primary power source, a primary hydraulic pump, a secondary power source, a secondary hydraulic pump, a safety valve, a proportional directional valve, a hydraulically controlled check valve, a hydraulic cylinder, a handle, an oil tank, a speed sensor, a primary pressure sensor, a secondary pressure sensor, a tertiary pressure sensor, a temperature sensor, a position signaling device, a magnetic induction marker, a counting correction module, an integration module, a calculation and control module, a signal acquisition module, a data storage module, a cloud storage, a communication protocol module, a fault diagnosis module, and a process monitoring module; The P port of the proportional directional valve is simultaneously connected to the first pressure sensor, the temperature sensor, and the oil outlet of the first hydraulic pump; the A port of the proportional directional valve is simultaneously connected to the rodless chamber of the hydraulic cylinder and the second pressure sensor; the B port of the proportional directional valve is simultaneously connected to the rod chamber of the hydraulic cylinder and the third pressure sensor; the inlet and outlet ports of the hydraulic control check valve are respectively connected to the oil outlet of the proportional directional valve and the oil tank; the inlet and outlet ports of the second hydraulic pump are respectively connected to the rodless chamber and the rod chamber of the hydraulic cylinder; and the second power source is equipped with a speed sensor. The signal acquisition module receives the rotational speed of the second power source. n 2. Oil temperature T The outlet pressure of the first hydraulic pump p s Hydraulic cylinder rodless chamber pressure p A Hydraulic cylinder rod chamber pressure p B and handle output signal u Its output terminals are connected to the calculation and control module and the data storage module, respectively; the output terminals of the calculation and control module are connected to the integration module and the data storage module, respectively, and transmit control signals to the second power source, the proportional directional valve, the hydraulic check valve, and the first hydraulic pump; the output terminals of the integration module are connected to the counting correction module and the data storage module, respectively; the counting correction module receives the output signal of the position signaling device, and its output signal is connected to the calculation and control module; the data storage module is connected to the communication protocol module, the fault diagnosis module, and the process monitoring module, respectively; the communication protocol module is connected to the cloud storage.

2. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 1, characterized in that: The piston rod of the hydraulic cylinder is machined with magnetic induction marks at known intervals along its axial direction as position monitoring points, wherein the magnetic induction marks are arranged at equal intervals.

3. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 1, characterized in that: The position signaling device is installed at the end of the single-rod hydraulic cylinder. The position signaling device is a magnetoresistive sensor, a Hall effect sensor, or an eddy current sensor.

4. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 1, characterized in that: The calculation control module outputs the following parameters based on the signal processing module: Total system power: System useful power: System throttling loss: ; In the formula, Q A —Flow rate of hydraulic cylinder A chamber Q B —Flow rate of hydraulic cylinder B chamber Q v —The proportional directional valve controls the flow rate, p s —Outlet pressure of hydraulic pump I, Δ p v = p A - p B .

5. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 4, characterized in that: The integration module outputs the following parameters: Theoretical position of hydraulic cylinder Total system input energy: The system's useful functionalities are: System throttling loss: System efficiency: ; In the formula, x 0 represents the initial position of the hydraulic cylinder. v t Set the speed for the single-rod hydraulic cylinder.

6. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 1, characterized in that: Each time the magnetic induction marker passes the position transmitting device, it sends a pulse to the counting correction module. If the total number of passes is... k According to the formula Determine the actual position of the hydraulic cylinder x a The positional deviation was calculated as follows: ∆x = x t - x a The distance between the two detection points is λ According to the formula Calculate the speed correction factor γ and will γ Transmitted to the computing control module; in, x t —Theoretical position of hydraulic cylinder x 0—Initial position of the hydraulic cylinder.

7. The pump and valve dual-source drive hydraulic cylinder speed and position composite control system according to claim 1, characterized in that: The data storage module is used to store the operational data of the hydraulic cylinder drive system throughout its entire lifecycle. The process monitoring module displays dynamic curves of the parameters in the data storage module; The communication protocol module is Ethernet, Industrial Internet or Bluetooth, which transmits data from the data storage module to the cloud storage and receives data information stored in the cloud storage. The fault diagnosis module performs fault analysis and proactive maintenance on the hydraulic system based on the system parameters received by the data storage module.

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