A hydraulic cylinder control method, system and electronic device

Abstract

The present invention discloses a hydraulic cylinder control method, system and electronic device, relating to the technical field of control engineering. The hydraulic cylinder control method provided by the present invention obtains displacement deviation signals at different sampling times based on the command signal and displacement signal acquired within the sampling period, and on this basis, obtains the displacement deviation change rate after obtaining the displacement deviation change amount. Then, after obtaining the pressure difference based on the pressure signal of the rodless cavity and the pressure signal of the rod cavity, the fuzzy control algorithm is used to perform fuzzy processing on the displacement deviation change rate and the pressure difference to obtain a fuzzy output value. Then, an adaptive dead zone compensation value is obtained based on the fuzzy output value, and an adaptive dynamic compensation is performed on the dead zone change caused by the load change based on the sliding mode control rate obtained by performing sliding mode control on the current displacement signal and the adaptive dead zone compensation value to obtain a control output quantity, thereby achieving the purpose of accurately controlling the position of the hydraulic cylinder.

Description

Technical Field

[0001] The present invention relates to the technical field of control engineering, and particularly to a control method, system and electronic device for a hydraulic cylinder. Background Art

[0002] The proportional valve-controlled hydraulic cylinder control system is a type of motion control system and an important automation device for intelligent manufacturing, metallurgical equipment, power equipment, weapon equipment, etc.

[0003] At present, the proportional valve-controlled hydraulic cylinder control system has outstanding advantages such as convenient linear motion, large power-to-mass ratio, and fast dynamic response compared with the electrical control system. Compared with the electro-hydraulic servo valve control method, it also has the advantages of low cost, high reliability, and simple maintenance. Therefore, it has been widely used in intelligent manufacturing, metallurgical equipment, power equipment, weapon equipment, etc. However, in practical applications mainly with gravity loads, due to the large dead zones generated by the gravity load and the proportional valve, the control accuracy is affected. At present, there are relatively few control methods for dead zone compensation, mainly static compensation, with low compensation accuracy, and the dead zone changes due to load changes, further reducing the control accuracy. Summary of the Invention

[0004] To solve the above problems existing in the prior art, the present invention provides a control method, system and electronic device for a hydraulic cylinder.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] A control method for a hydraulic cylinder, comprising:

[0007] Obtaining an instruction signal and a displacement signal respectively within a sampling period;

[0008] Obtaining displacement deviation signals at different sampling times based on the instruction signal and the displacement signal;

[0009] Obtaining a displacement deviation change amount based on the displacement deviation signals at different sampling times;

[0010] Obtaining a displacement deviation change rate based on the displacement deviation change amount and the sampling period;

[0011] Obtaining a rodless cavity pressure signal and a rod cavity pressure signal;

[0012] Obtaining a pressure difference based on the rodless cavity pressure signal and the rod cavity pressure signal;

[0013] Using a fuzzy control algorithm to fuzzify the displacement deviation change rate and the pressure difference into multiple fuzzy values;

[0014] Obtaining a fuzzy output value based on the multiple fuzzy values;

[0015] Fuzzify the fuzzy output value to obtain an adaptive dead zone compensation value;

[0016] Perform sliding mode control on the current displacement signal to obtain a sliding mode control rate;

[0017] Obtain a control output based on the sliding mode control rate and the adaptive dead zone compensation value;

[0018] Control the position of the hydraulic cylinder based on the control output.

[0019] Optionally, obtain an instruction signal and a displacement signal respectively within a sampling period, specifically including:

[0020] At a first sampling time, obtain a first instruction signal and a first displacement signal;

[0021] At a second sampling time, obtain a second instruction signal and a second displacement signal.

[0022] Optionally, specifically including:

[0023] Obtain a first displacement deviation signal based on the first instruction signal and the first displacement signal;

[0024] Obtain a second displacement deviation signal based on the second instruction signal and the second displacement signal;

[0025] Obtain a displacement deviation change based on the first displacement deviation signal and the second displacement deviation signal.

[0026] Optionally, obtain a fuzzy output value based on multiple fuzzy values, specifically including:

[0027] Perform fuzzy calculation on multiple fuzzy values according to a preset fuzzy rule table to obtain the fuzzy output value.

[0028] Optionally, the sliding mode control rate is u SMC :

[0029]

[0030] Wherein, is the third derivative of the desired displacement of the hydraulic cylinder, ω h is the natural frequency, ξ h is the damping ratio, s is the sliding mode surface, c1 is the sliding mode surface constant, k is the adjustment time, sat(s / Φ) is the boundary layer function, Φ is the boundary layer width, ε is the approaching speed, e2 is the speed error of the hydraulic cylinder, e3 is the acceleration error of the hydraulic cylinder, is the desired acceleration of the hydraulic cylinder, is the desired speed of the hydraulic cylinder, K is the open-loop gain.

[0031] According to the specific embodiments provided by the present invention, the following technical effects of the present invention are disclosed:

[0032] The hydraulic cylinder control method provided by the present invention obtains displacement deviation signals at different sampling times based on the command signal and displacement signal acquired within the sampling period, obtains the displacement deviation change rate after obtaining the displacement deviation change amount based on this, and then, after obtaining the pressure difference based on the pressure signal of the rodless cavity and the pressure signal of the rod cavity, uses a fuzzy control algorithm to perform fuzzy processing on the displacement deviation change rate and the pressure difference to obtain a fuzzy output value. Then, based on the fuzzy output value, an adaptive dead zone compensation value is obtained, and an adaptive dynamic compensation is performed on the dead zone change caused by the load change based on the sliding mode control rate obtained by performing sliding mode control on the current displacement signal and the adaptive dead zone compensation value to obtain a control output quantity, thereby achieving the purpose of precisely controlling the position of the hydraulic cylinder.

[0033] The present invention also provides a hydraulic cylinder control system for implementing the above-provided hydraulic cylinder control method; the system includes: an oil tank, a hydraulic pump, a relief valve, a proportional valve, a hydraulic cylinder, a rodless cavity pressure sensor, a rod cavity pressure sensor, a displacement sensor, a controller, and an amplifier;

[0034] The inlet of the hydraulic pump is connected to the oil tank through a pipeline; the outlet of the hydraulic pump is connected to the P port of the proportional valve through a pipeline; the A port of the proportional valve is connected to the rodless cavity of the hydraulic cylinder through a pipeline; the B port of the proportional valve is connected to the rod cavity of the hydraulic cylinder through a pipeline; the T port of the proportional valve is connected to the oil tank through a pipeline;

[0035] The inlet of the relief valve is connected to the connecting pipeline between the outlet of the hydraulic pump and the P port of the proportional valve; the relief valve is connected to the oil tank through a pipeline;

[0036] The relief valve, the rodless cavity pressure sensor, the rod cavity pressure sensor, the displacement sensor, and the amplifier are all electrically connected to the controller; the amplifier is electrically connected to the proportional valve;

[0037] The rodless cavity pressure sensor is used to acquire the rodless cavity pressure signal; the rod cavity pressure sensor is used to acquire the rod cavity pressure signal; the displacement sensor is used to acquire the displacement signal of the hydraulic cylinder; the fuzzy control algorithm is implanted in the controller, and the control output quantity is obtained based on the rodless cavity pressure signal, the rod cavity pressure signal, and the displacement signal, and a control command signal is generated based on the control output quantity; the amplifier is used to amplify the control command signal; the proportional valve realizes proportional adjustment based on the amplified control command signal.

[0038] Optionally, a gravity load is further included;

[0039] The gravity load is connected to the output shaft of the hydraulic cylinder.

[0040] In addition, the present invention also provides an electronic device, which includes:

[0041] a memory for storing computer software programs;

[0042] a processor connected to the memory for retrieving and executing the computer software programs to implement the above-provided hydraulic cylinder control method.

[0043] Since the technical effects achieved by the system and the electronic device provided by the present invention are the same as those achieved by the hydraulic cylinder control method provided by the present invention, they will not be elaborated herein. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0045] Figure 1 is a flowchart of the hydraulic cylinder control method provided by the present invention;

[0046] Figure 2 is a schematic structural diagram of the adaptive dead zone compensation proportional valve controlled hydraulic cylinder control system provided by the present invention.

[0047] Symbol description: 1 - oil tank, 2 - hydraulic pump, 3 - overflow valve, 4 - proportional valve, 5 - hydraulic cylinder, 6 - pressure sensor for the rodless cavity, 7 - pressure sensor for the rod cavity, 8 - displacement sensor, 9 - controller, 10 - amplifier, 11 - gravity load. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0049] The object of the present invention is to provide a hydraulic cylinder control method, system and electronic device, which can adaptively dynamically compensate for the dead zone change caused by the load change, thereby improving the control accuracy of the hydraulic cylinder.

[0050] In order to make the above objects, features and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the drawings and specific embodiments.

[0051] Embodiment 1

[0052] In this embodiment, a hydraulic cylinder control method is mainly provided. As Figure 1 shown, the control method includes:

[0053] Step 100: Obtain the command signal and the displacement signal respectively within the sampling period. For example, at the first sampling time, obtain the first command signal and the first displacement signal. At the second sampling time, obtain the second command signal and the second displacement signal.

[0054] Step 101: Obtain the displacement deviation signal at different sampling times based on the command signal and the displacement signal.

[0055] Step 102: Obtain the change amount of the displacement deviation based on the displacement deviation signals at different sampling times. Based on the command signal and the displacement signal obtained at the above different sampling times, the implementation process of this step can be:

[0056] Obtain the first displacement deviation signal based on the first command signal and the first displacement signal.

[0057] Obtain the second displacement deviation signal based on the second command signal and the second displacement signal.

[0058] Obtain the change amount of the displacement deviation based on the first displacement deviation signal and the second displacement deviation signal.

[0059] Step 103: Obtain the displacement deviation change rate based on the change amount of the displacement deviation and the sampling period.

[0060] Step 104: Obtain the pressure signal of the rodless cavity and the pressure signal of the rod cavity.

[0061] Step 105: Obtain the pressure difference based on the pressure signal of the rodless cavity and the pressure signal of the rod cavity.

[0062] Step 106: Use the fuzzy control algorithm to fuzzify the displacement deviation change rate and the pressure difference into multiple fuzzy values.

[0063] Step 107: Obtain the fuzzy output value based on the multiple fuzzy values. For example, obtain the fuzzy output value through fuzzy calculation based on the multiple fuzzy values according to the preset fuzzy rule table. Among them, the preset fuzzy rule table is shown in Table 1.

[0064] Table 1 Preset Fuzzy Rule Table

[0065]

[0066] In Table 1, P A is the pressure signal of the rodless cavity, P B is the pressure signal of the rod cavity, Δe is the displacement deviation change rate, PA -P B where ΔP is the pressure difference, and NB, NM, NS, ZO, PS, PM, PB are the seven fuzzy values obtained by fuzzification, representing Negative Big, Negative Medium, Negative Small, Zero, Positive Small, Positive Medium, and Positive Big respectively.

[0067] Step 108: Perform fuzzy processing on the fuzzy output value to obtain an adaptive dead zone compensation value.

[0068] Step 109: Perform sliding mode control on the current displacement signal to obtain a sliding mode control rate.

[0069] Step 110: Obtain a control output quantity based on the sliding mode control rate and the adaptive dead zone compensation value.

[0070] Step 111: Control the position of the hydraulic cylinder based on the control output quantity.

[0071] Embodiment 2

[0072] This embodiment provides a control system for a hydraulic cylinder 5, which is used to implement the hydraulic cylinder 5 control method provided in the above Embodiment 1. As Figure 2 shown, the system includes: an oil tank 1, a hydraulic pump 2, a relief valve 3, a proportional valve 4, a hydraulic cylinder 5, a pressure sensor 6 for the rodless cavity, a pressure sensor 7 for the rod cavity, a displacement sensor 8, a controller 9, and an amplifier 10. Figure 2 Among them, Controller represents the control center in the controller.

[0073] The inlet of the hydraulic pump 2 is connected to the oil tank 1 through a pipeline. The outlet of the hydraulic pump 2 is connected to the P port of the proportional valve 4 through a pipeline. The A port of the proportional valve 4 is connected to the rodless cavity of the hydraulic cylinder 5 through a pipeline. The B port of the proportional valve 4 is connected to the rod cavity of the hydraulic cylinder 5 through a pipeline. The T port of the proportional valve 4 is connected to the oil tank 1 through a pipeline.

[0074] The inlet of the relief valve 3 is connected to the connecting pipeline between the outlet of the hydraulic pump 2 and the P port of the proportional valve 4. The relief valve 3 is connected to the oil tank 1 through a pipeline.

[0075] The relief valve 3, the pressure sensor 6 for the rodless cavity, the pressure sensor 7 for the rod cavity, the displacement sensor 8, and the amplifier 10 are all electrically connected to the controller 9. The amplifier 10 is electrically connected to the proportional valve 4.

[0076] The pressure sensor 6 for the rodless cavity is used to obtain the pressure signal of the rodless cavity. The pressure sensor 7 for the rod cavity is used to obtain the pressure signal of the rod cavity. The displacement sensor 8 is used to obtain the displacement signal of the hydraulic cylinder 5. The fuzzy control algorithm is implanted in the controller 9, and the control output quantity is obtained based on the pressure signal of the rodless cavity, the pressure signal of the rod cavity, and the displacement signal, and the control instruction signal is generated based on the control output quantity. The amplifier 10 is used to amplify the control instruction signal. The proportional valve 4 realizes proportional regulation based on the amplified control instruction signal.

[0077] Further, to facilitate gravity adjustment, the hydraulic cylinder 5 control system provided in this embodiment further includes a gravity load 11. The gravity load 11 is connected to the output shaft of the hydraulic cylinder 5.

[0078] Embodiment III

[0079] This embodiment mainly provides the specific implementation process of the hydraulic cylinder control method, which applies the hydraulic cylinder control method provided in Embodiment I to the system structure provided in Embodiment II, specifically as follows:

[0080] Step 301: Build a proportional valve-controlled hydraulic cylinder control system and install a gravity load 11 on the output shaft of the hydraulic cylinder 5.

[0081] Step 302: Start the hydraulic pump 2 and the overflow valve 3 to make the output pressure value of the hydraulic pump 2 reach the set experimental value.

[0082] Step 303: At the T1 sampling time, the controller 9 generates a command signal and reads the signal of the displacement sensor 8. The command signal of the controller 9 is subtracted from the signal of the displacement sensor 8 to obtain a displacement deviation signal e1. At the next consecutive T2 sampling time, the controller 9 generates a command signal and reads the signal of the displacement sensor 8. The command signal of the controller 9 is subtracted from the signal of the displacement sensor 8 to obtain a displacement deviation signal e2.

[0083] Step 304: Subtract the displacement deviation signal e1 from the displacement deviation signal e2 to obtain the change amount e1 - e2 of the displacement deviation. Divide the change amount e1 - e2 of the displacement deviation by the sampling period T of the control system to obtain the displacement deviation change rate Δe.

[0084] Step 305: The controller 9 reads the pressure signal P of the rodless cavity pressure sensor 6 A and the pressure signal P of the rod cavity pressure sensor 7 B , the pressure signal P A and the pressure signal P B are subtracted to obtain a pressure difference P A -P B .

[0085] Step 306: Use the displacement deviation change rate Δe and the pressure difference P A -P B as the inputs of the fuzzy controller. The displacement deviation change rate Δe and the pressure difference P A -P B are respectively fuzzified into 7 fuzzy values (NB, NM, NS, ZO, PS, PM, PB), and fuzzy calculation is performed according to the fuzzy rule table in Table 1 to obtain a fuzzy output value u. The fuzzy output value u is defuzzified to obtain an accurate output value Δu1, that is, the adaptive dead zone compensation value Δu1.

[0086] In step 307, the signal of displacement sensor 8 is calculated by sliding mode control in controller 9 to obtain the sliding mode control rate. The specific process can be as follows:

[0087] Let the state variable The output y = x1, and the input u = x V , and the deviation of the system is denoted as: e1 = x r -x1 (1)

[0088] In the formula, x r is the expected displacement of hydraulic cylinder 5, and x1 is the actual measured value of the displacement of hydraulic cylinder 5. is the speed of hydraulic cylinder 5. is the acceleration of hydraulic cylinder 5. The error state equation can be obtained as:

[0089]

[0090] where E is the system error matrix, and there is is the derivative matrix of the error matrix, is the third derivative of the expected displacement of the hydraulic cylinder, ω h is the natural frequency of the control system, ξ h is the damping ratio of the control system, and K is the open-loop gain of the hydraulic cylinder control system.

[0091] The control quantity of sliding mode control can be expressed as: u SMC = u eq + u sw (3)

[0092] where u eq is the equivalent control of sliding mode control, and u sw is the switching control of sliding mode control.

[0093] The sliding mode surface can be designed as:

[0094] where c1 and c2 are both sliding mode surface constants, are the first and second derivatives of the error e respectively.

[0095] Let The equivalent control is obtained as:

[0096]

[0097] For the switching control part, the exponential reaching law is selected, that is:

[0098] u sw = -ε·sgn(s) - ks (6)

[0099] Among them, the parameter ε characterizes the approaching speed, and the parameter k characterizes the adjustment time.

[0100] The existence of the sign function will cause chattering of the system. Therefore, the boundary layer function sat(s / Φ) is used to replace the sign function to weaken the chattering of the system, that is:

[0101]

[0102] Among them, Φ is the boundary layer width.

[0103] According to equations (2), (3), (4) and equation (5), the sliding mode control law can be obtained as:

[0104]

[0105] Step 308, add the output value Δu2 (Δu2 = u SMC ) of the sliding mode control law to the adaptive dead zone compensation value Δu1 to obtain the output Δu of controller 9. The output Δu of controller 9 is input to amplifier 11. The output of amplifier 11 is connected to proportional valve 4. Proportional valve 4 controls hydraulic cylinder 5 to achieve displacement movement, and the command signal generated by controller 9 of hydraulic cylinder 5, thereby realizing the position closed-loop control of the hydraulic cylinder.

[0106] Embodiment 4

[0107] This embodiment provides an electronic device, which includes:

[0108] A memory for storing computer software programs.

[0109] A processor, connected to the memory, for retrieving and executing the computer software program to implement the hydraulic cylinder control method provided in the above Embodiment 1.

[0110] In addition, when the computer program in the above-mentioned memory is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories, random access memories, magnetic disks or optical discs that can store program codes.

[0111] Based on the descriptions of the above Embodiments 1 to 4, the present invention has the following advantages compared with the prior art:

[0112] 1. In the present invention, the control system device is simple and realizes closed-loop control of the linear motion position.

[0113] 2. In the present invention, the load change can be adaptively and dynamically compensated, and the control accuracy is high.

[0114] 3. The present invention provides a control method based on the system, which can realize closed-loop control of the linear motion position. The method is simple, easy to operate, and has good practicality and reliability.

[0115] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. For the same or similar parts among the embodiments, reference can be made to each other.

[0116] In this article, specific examples are used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. At the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A hydraulic cylinder control method, characterized in that, Including: Obtaining an instruction signal and a displacement signal respectively within a sampling period; Obtaining displacement deviation signals at different sampling times based on the instruction signal and the displacement signal; Obtaining a displacement deviation change amount based on the displacement deviation signals at different sampling times; Obtaining a displacement deviation change rate based on the displacement deviation change amount and the sampling period; Obtaining a rodless cavity pressure signal and a rod cavity pressure signal; Subtracting the rodless cavity pressure signal from the rod cavity pressure signal to obtain a pressure difference; Using a fuzzy control algorithm to fuzzify the displacement deviation change rate and the pressure difference into multiple fuzzy values; Obtaining a fuzzy output value based on the multiple fuzzy values; Performing defuzzification operation on the fuzzy output value to obtain an adaptive dead zone compensation value; Performing sliding mode control on the current displacement signal to obtain a sliding mode control rate; Obtaining a control output quantity based on the sliding mode control rate and the adaptive dead zone compensation value; Controlling the position of the hydraulic cylinder based on the control output quantity.

2. The hydraulic cylinder control method according to claim 1, characterized in that, Obtaining an instruction signal and a displacement signal respectively within a sampling period, specifically including: At a first sampling time, obtaining a first instruction signal and a first displacement signal; At a second sampling time, obtaining a second instruction signal and a second displacement signal.

3. The hydraulic cylinder control method according to claim 2, characterized in that, Obtaining a displacement deviation change amount based on the displacement deviation signals at different sampling times, specifically including: Obtaining a first displacement deviation signal based on the first instruction signal and the first displacement signal; Obtaining a second displacement deviation signal based on the second instruction signal and the second displacement signal; Obtaining a displacement deviation change amount based on the first displacement deviation signal and the second displacement deviation signal.

4. The hydraulic cylinder control method according to claim 1, characterized in that, Obtaining a fuzzy output value based on the multiple fuzzy values, specifically including: Performing fuzzy calculation based on the multiple fuzzy values according to a preset fuzzy rule table to obtain the fuzzy output value.

5. The hydraulic cylinder control method according to claim 1, characterized in that, The sliding mode control law is u SMC : In the formula, is the third derivative of the expected displacement of the hydraulic cylinder, ω h is the natural frequency, ξ h is the damping ratio, s is the sliding mode surface, c1 is the sliding mode surface constant, k is the adjustment time, sat(s / Φ) is the boundary layer function, sgn(s / Φ) is the sign function, Φ is the boundary layer width, ε is the approaching speed, e2 is the speed error of the hydraulic cylinder, e3 is the acceleration error of the hydraulic cylinder, is the expected acceleration of the hydraulic cylinder, is the expected speed of the hydraulic cylinder, and K is the open-loop gain.

6. A hydraulic cylinder control system, characterized in that, For implementing the hydraulic cylinder control method according to any one of claims 1-5; the system includes: an oil tank, a hydraulic pump, a relief valve, a proportional valve, a hydraulic cylinder, a rodless cavity pressure sensor, a rod cavity pressure sensor, a displacement sensor, a controller, and an amplifier; The inlet of the hydraulic pump is connected to the oil tank through a pipeline; the outlet of the hydraulic pump is connected to the P port of the proportional valve through a pipeline; the A port of the proportional valve is connected to the rodless cavity of the hydraulic cylinder through a pipeline; the B port of the proportional valve is connected to the rod cavity of the hydraulic cylinder through a pipeline; the T port of the proportional valve is connected to the oil tank through a pipeline; The inlet of the relief valve is connected to the connecting pipeline between the outlet of the hydraulic pump and the P port of the proportional valve; the relief valve is connected to the oil tank through a pipeline; The relief valve, the rodless cavity pressure sensor, the rod cavity pressure sensor, the displacement sensor, and the amplifier are all electrically connected to the controller; the amplifier is electrically connected to the proportional valve; The rodless cavity pressure sensor is used to obtain the rodless cavity pressure signal; the rod cavity pressure sensor is used to obtain the rod cavity pressure signal; the displacement sensor is used to obtain the displacement signal of the hydraulic cylinder; a fuzzy control algorithm is implanted in the controller, and the control output quantity is obtained based on the rodless cavity pressure signal, the rod cavity pressure signal and the displacement signal, and a control instruction signal is generated based on the control output quantity; the amplifier is used to amplify the control instruction signal; the proportional valve realizes proportional regulation based on the amplified control instruction signal.

7. The hydraulic cylinder control system according to claim 6, characterized in that, It further includes a gravity load; The gravity load is connected to the output shaft of the hydraulic cylinder.

8. An electronic device, characterized in that, It includes: A memory for storing computer software programs; A processor, connected to the memory, for retrieving and executing the computer software program to implement the hydraulic cylinder control method according to any one of claims 1-5.

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