Intelligent hydraulic control system and method

Abstract

The present invention discloses an intelligent hydraulic control system and method, wherein the intelligent hydraulic control system includes: a first controller and a second controller; the first controller and the second controller are electrically connected; the first controller is electrically connected to a hydraulic valve; the first controller is configured to adjust hydraulic valve parameters according to the current performance of the hydraulic valve and send the adjusted hydraulic valve parameters to the second controller; the second controller is configured to generate an adjustment instruction based on the adjusted hydraulic valve parameters and send the adjustment instruction to the first controller to trigger the first controller to adjust the state of the hydraulic valve according to the adjustment instruction. The present invention uses two controllers to adjust the hydraulic valve parameters according to the current performance of the hydraulic valve and regulate the state of the hydraulic valve according to the adjusted hydraulic valve parameters, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of the intelligent hydraulic control system.

Description

Technical Field

[0001] The present invention relates to the field of hydraulic control technology, and in particular to an intelligent hydraulic control system and method. Background Art

[0002] Hydraulic control systems are now widely applicable in various fields. Hydraulic valves are a core component of hydraulic control systems, and their performance directly impacts their operational status. However, due to the generally harsh operating conditions of hydraulic control systems and the complex structure of the hydraulic valves themselves, hydraulic control systems are often prone to performance degradation and even failure, leading to adverse consequences for the entire system. Prior art hydraulic control systems often incorporate a large number of sensors of varying types, but this does not improve the efficiency and accuracy of data collection. This inability to adjust the performance of the hydraulic valves and the collected hydraulic data in real time further increases the failure rate of the hydraulic control system. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the defect in the prior art that hydraulic data cannot be adjusted in real time according to the performance of the hydraulic valve, and to provide an intelligent hydraulic control system and method.

[0004] The present invention solves the above technical problems through the following technical solutions:

[0005] In a first aspect, the present invention provides an intelligent hydraulic control system, comprising: a first controller and a second controller; the first controller and the second controller are electrically connected; the first controller is electrically connected to a hydraulic valve;

[0006] The first controller is used to adjust the hydraulic valve parameters according to the current performance of the hydraulic valve and send the adjusted hydraulic valve parameters to the second controller; the hydraulic valve parameters are parameter data of the hydraulic valve during operation;

[0007] The second controller is used to generate an adjustment instruction according to the adjusted hydraulic valve parameters, and send the adjustment instruction to the first controller to trigger the first controller to adjust the state of the hydraulic valve according to the adjustment instruction.

[0008] Preferably, the first controller includes: a valve control performance evaluation module and a PID parameter calculation module;

[0009] The valve control performance evaluation module is electrically connected to the PID parameter calculation module; the PID parameter calculation module is electrically connected to the second controller;

[0010] The valve control performance evaluation module is used to evaluate the wear of the hydraulic valve based on the spool data of the hydraulic valve, and the wear is used to characterize the current performance of the hydraulic valve; the valve control performance evaluation module is also used to send the wear to the PID parameter calculation module; the PID parameter calculation module is used to adjust the PID parameters according to the wear, and the PID parameters are used to determine the spool displacement of the hydraulic valve; the PID parameter calculation module is also used to send the adjusted PID parameters to the second controller to generate the adjustment instruction.

[0011] Preferably, the valve control performance evaluation module is used to input the valve core data of the hydraulic valve into a decision tree algorithm or a support vector machine algorithm to obtain the wear amount of the hydraulic valve.

[0012] Preferably, the second controller includes a logic statistics module, and the logic statistics module is electrically connected to the PID parameter calculation module;

[0013] The PID parameter calculation module is further configured to send the adjusted PID parameters to the logic statistics module; the logic statistics module is configured to generate the adjustment instruction according to the adjusted PID parameters and determine the effective time of the adjustment instruction.

[0014] Preferably, the first controller includes a signal output module; the signal output module is electrically connected to the second controller;

[0015] The signal output module is used to convert the adjustment instruction into an electromagnetic signal and send the electromagnetic signal to the hydraulic valve to adjust the state of the hydraulic valve.

[0016] Preferably, the intelligent hydraulic control system further comprises a third controller; the third controller comprises a pre-processing module, and the pre-processing module is electrically connected to the first controller;

[0017] Before adjusting the hydraulic valve parameters according to the current performance of the hydraulic valve, the preprocessing module is used to perform preprocessing operations on the hydraulic valve parameters and send the preprocessed hydraulic valve parameters to the first controller; the preprocessing operation includes at least one of noise reduction, feature extraction and averaging.

[0018] Preferably, the intelligent hydraulic control system further includes a third controller; the third controller further includes an edge-cloud interaction module, and the edge-cloud interaction module is electrically connected to the second controller;

[0019] The edge-cloud interaction module is used to receive configuration information sent from the cloud or edge side, and send the configuration information to the second controller; when the intelligent hydraulic control system is started, the second controller is also used to initialize the adjustment instructions according to the configuration information, and send the initialization adjustment instructions to the first controller to trigger the first controller to initialize the state of the hydraulic valve according to the initialization adjustment instructions; the configuration information is the initialization information of each module of the intelligent hydraulic control system.

[0020] In a second aspect, the present invention provides an intelligent hydraulic control method, which is applied to an intelligent hydraulic control system. The intelligent hydraulic control method includes:

[0021] Determine the current performance of hydraulic valves;

[0022] adjusting hydraulic valve parameters according to the current performance;

[0023] An adjustment instruction is generated according to the adjusted hydraulic valve parameter, and the adjustment instruction is sent to the hydraulic valve to adjust the state of the hydraulic valve.

[0024] Preferably, the step of adjusting the hydraulic valve parameters according to the current performance includes:

[0025] Get the spool data of the hydraulic valve;

[0026] determining a wear amount of the hydraulic valve according to the valve core data, wherein the wear amount is used to characterize a current performance of the hydraulic valve;

[0027] The PID parameters are adjusted according to the wear amount, and the valve core displacement of the hydraulic valve is re-determined according to the adjusted PID parameters; the hydraulic valve parameters include the PID parameters.

[0028] Preferably, the step of adjusting the hydraulic valve parameters according to the current performance includes:

[0029] Obtaining configuration information sent from the cloud or edge side; the configuration information is initialization information of each module of the intelligent hydraulic control system;

[0030] An initialization adjustment instruction is generated according to the configuration information, and the initialization adjustment instruction is sent to the hydraulic valve to initialize the state of the hydraulic valve according to the initialization adjustment instruction.

[0031] The positive progress effect of the present invention is:

[0032] The present invention uses two controllers to adjust the hydraulic valve parameters according to the current performance of the hydraulic valve, and regulates the state of the hydraulic valve according to the adjusted hydraulic valve parameters, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of using the intelligent hydraulic control system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 A first structural diagram of an intelligent hydraulic control system provided in Example 1 of the present invention;

[0034] Figure 2 A second structural diagram of an intelligent hydraulic control system provided in Example 1 of the present invention;

[0035] Figure 3 A complete structural diagram of an example diagram of an intelligent hydraulic control system provided in Example 1 of the present invention;

[0036] Figure 4 A first flow chart of an intelligent hydraulic control method provided in embodiment 2 of the present invention;

[0037] Figure 5 This is a second flow chart of an intelligent hydraulic control method provided in embodiment 2 of the present invention. DETAILED DESCRIPTION

[0038] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0039] Example 1

[0040] This embodiment provides an intelligent hydraulic control system. Figure 1 The intelligent hydraulic control system includes: a first controller 1 and a second controller 2.

[0041] The first controller 1 can be an FPGA (Field Programmable Gate Array), a digital integrated circuit chip; the second controller 2 can be a single-chip microcomputer. This allows different tasks to be assigned to each controller based on their characteristics, achieving precise control of the state of the hydraulic valve 4.

[0042] The first controller 1 is electrically connected to the second controller 2 ; the first controller 1 is electrically connected to the hydraulic valve 4 .

[0043] The first controller 1 is configured to adjust hydraulic valve parameters based on the current performance of the hydraulic valve 4 and transmit the adjusted hydraulic valve parameters to the second controller 2. Hydraulic valve parameters are parameter data during the operation of the hydraulic valve. For example, the hydraulic valve parameters include collected data such as the spool displacement and opening of the hydraulic valve 4.

[0044] The second controller 2 is used to generate an adjustment instruction according to the adjusted hydraulic valve parameters, and send the adjustment instruction to the first controller 1 to trigger the first controller 1 to adjust the state of the hydraulic valve 4 according to the adjustment instruction.

[0045] In this embodiment, two controllers are used to adjust the hydraulic valve parameters according to the current performance of the hydraulic valve 4, and the state of the hydraulic valve 4 is adjusted according to the adjusted hydraulic valve parameters, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of using the intelligent hydraulic control system.

[0046] In an alternative embodiment, see Figure 2 The first controller 1 includes: a valve control performance evaluation module 11 and a PID (Process Identifier) parameter calculation module 12.

[0047] The valve control performance evaluation module 11 is electrically connected to the PID parameter calculation module 12 ; the PID parameter calculation module 12 is electrically connected to the second controller 2 .

[0048] The valve control performance evaluation module 11 is used to evaluate the wear of the hydraulic valve 4 based on the spool data of the hydraulic valve 4. The wear is used to characterize the current performance of the hydraulic valve 4. The spool data of the hydraulic valve 4 is obtained from bus data, digital signals, and analog signals transmitted to the intelligent hydraulic control system by various high-precision sensors. Analog signals include current signals, voltage signals, and frequency input signals. The valve control performance evaluation module 11 is also used to transmit the wear, which characterizes the current performance of the hydraulic valve 4, to the PID parameter calculation module 12.

[0049] In an optional embodiment, the valve control performance evaluation module 11 is used to input the valve core data of the hydraulic valve 4 into a decision tree algorithm or a support vector machine algorithm to obtain the wear amount of the hydraulic valve 4. The wear amount is used to characterize the current performance of the hydraulic valve 4.

[0050] The PID parameter calculation module 12 is used to adjust the PID parameters (i.e., hydraulic valve parameters) according to the wear amount used to characterize the current performance of the hydraulic valve 4, and to redetermine the valve core displacement of the hydraulic valve 4 according to the adjusted PID parameters; the PID parameter calculation module 12 is also used to send the redetermined valve core displacement of the hydraulic valve 4 to the second controller 2 to generate an adjustment instruction to trigger the adjustment state of the hydraulic valve 4.

[0051] In this embodiment, because the spool is the core component of the hydraulic valve 4, the wear level of the hydraulic valve 4 can be assessed based on the collected spool data. The current performance of the hydraulic valve 4 is visualized as the amount of wear of the hydraulic valve 4. The PID parameters (hydraulic valve parameters include PID parameters) are then re-determined based on the wear of the hydraulic valve 4. The PID parameters are used to characterize the spool displacement of the hydraulic valve 4. Adjustment instructions are generated based on the adjusted PID parameters to adjust the state of the hydraulic valve 4, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of the intelligent hydraulic control system.

[0052] In an alternative embodiment, see Figure 2 The second controller 2 includes a logic statistics module 21 , which is electrically connected to the PID parameter calculation module 12 .

[0053] The PID parameter calculation module 12 is further configured to send the re-determined valve core displacement of the hydraulic valve 4 to the logic statistics module 21 .

[0054] The logic statistics module 21 is used to generate an adjustment instruction according to the adjusted PID parameters and determine the effective time of the adjustment instruction.

[0055] For example: the intelligent hydraulic control system needs to control a total of three hydraulic valves 4 (hydraulic valve A, hydraulic valve B, hydraulic valve C). The three PID parameter calculation modules 12 will respectively re-determine the PID parameters characterizing the valve core displacement of hydraulic valve A, the PID parameters characterizing the valve core displacement of hydraulic valve B, and the PID parameters characterizing the valve core displacement of hydraulic valve C and send them to the logic statistics module 21. The logic statistics module 21 determines the adjustment instructions for adjusting the state of hydraulic valve A, the adjustment instructions for adjusting the state of hydraulic valve B, and the adjustment instructions for adjusting the state of hydraulic valve C based on the PID parameters of hydraulic valve A, the PID parameters of hydraulic valve B, and the PID parameters of hydraulic valve C, and determines the execution order of the three adjustment instructions.

[0056] In this embodiment, the logic statistics module 21 of the second controller 2 counts the PID parameters of all hydraulic valves 4 and determines the effective time of the state adjustment instruction of each hydraulic valve 4, which plays a role in determining the overall scheduling of the entire control logic of the entire intelligent hydraulic control system, saving system resources and improving the efficiency of adjusting the state of the hydraulic valve 4.

[0057] In an alternative embodiment, see Figure 2 The first controller 1 includes a signal output module 13 ; the signal output module 13 is electrically connected to the second controller 2 .

[0058] The signal output module 13 is used to convert the adjustment instruction into an electromagnetic signal and send the electromagnetic signal to the hydraulic valve 4 to adjust the state of the hydraulic valve 4. The electromagnetic signal can be in the form of a digital signal and a PWM wave (Pulse Width Modulation wave).

[0059] In this embodiment, the signal output module 13 converts the corresponding adjustment instructions of each hydraulic valve 4 into an electromagnetic signal, and adjusts the state of the hydraulic valve 4 through the electromagnetic signal, further optimizing the method of adjusting the state of the hydraulic valve 4, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of using the intelligent hydraulic control system.

[0060] In an alternative embodiment, see Figure 2 The intelligent hydraulic control system also includes a third controller 3. This controller can optionally be based on an ARM (Advanced RISC Machines, a 32-bit reduced instruction set (RISC) processor architecture), enabling precise control of the hydraulic valve 4 by assigning different tasks to each of the three controllers based on their characteristics. The third controller 3 includes a preprocessing module 31, which is electrically connected to the first controller 1.

[0061] Before adjusting the hydraulic valve parameters according to the current performance of the hydraulic valve 4, the preprocessing module 31 is used to perform preprocessing operations on the hydraulic valve parameters and send the preprocessed hydraulic valve parameters to the first controller 1; the preprocessing operations include noise reduction, feature extraction and averaging operations.

[0062] In this embodiment, the preprocessing module 31 performs preprocessing operations on the hydraulic valve parameters to further improve the accuracy of the adjusted hydraulic valve parameters, thereby achieving precise control of the hydraulic valve 4 .

[0063] In an alternative embodiment, see Figure 2 The intelligent hydraulic control system also includes a third controller 3 ; the third controller 3 also includes an edge-cloud interaction module 32 , and the edge-cloud interaction module 32 is electrically connected to the second controller 2 .

[0064] The edge-cloud interaction module 32 is used to receive configuration information sent from the cloud or edge side, and send the configuration information to the second controller 2; when the intelligent hydraulic control system is started, the second controller 2 is also used to initialize the adjustment instructions according to the configuration information, and send the initialization adjustment instructions to the first controller 1 to trigger the first controller 1 to initialize the state of the hydraulic valve 4 according to the initialization adjustment instructions; the configuration information is the initialization information of each module of the intelligent hydraulic control system, and the configuration information will no longer change after the intelligent hydraulic control system starts working.

[0065] In this embodiment, by obtaining the configuration information sent from the cloud or edge side, the state of the hydraulic valve 4 can be initialized remotely, thereby reducing operation and maintenance costs and improving the working flexibility of the intelligent hydraulic control system.

[0066] Figure 3 This is a block diagram of an example intelligent hydraulic control system. The FPGA serves as the first controller 1; the microcontroller serves as the second controller 2; and the ARM serves as the third controller 3. The first controller 1 also includes a data acquisition module 14 for collecting valve spool data and other performance data for evaluating the hydraulic valve 4. The third controller 3 also includes a parsing module 33 for parsing and converting the entire control program, which initializes configuration information and adjusts the state of the hydraulic valve 4, into data executable by the microcontroller. The third controller 3 also includes a performance configuration module 34 for sending received hydraulic valve parameters to the data storage module C or the preprocessing module 31.

[0067] FPGA, microcontroller and ARM each have a data storage module (data storage module A, data storage module B, data storage module C) and a data communication module (data communication module A, data communication module B, data communication module C). The data storage module is used to store the cache data in each controller, and the data communication module is used to transmit the data in the data storage module to other controllers to realize the interaction between the three controllers.

[0068] The cloud or edge side and the edge-cloud interaction module 32 can realize the interaction of data of the entire control program for initializing configuration information and adjusting the state of the hydraulic valve 4.

[0069] Example 2

[0070] This embodiment provides an intelligent hydraulic control method, which is applied to an intelligent hydraulic control system. Figure 4 , the intelligent hydraulic control method includes:

[0071] S41. Determine the current performance of the hydraulic valve.

[0072] Among them, the current performance of hydraulics includes the wear of the hydraulic valve, the opening of the hydraulic valve, etc.

[0073] S42. Adjust the hydraulic valve parameters according to the current performance.

[0074] The hydraulic valve parameters include PID parameters that characterize the valve core displacement of the hydraulic valve.

[0075] S43 . Generate an adjustment instruction according to the adjusted hydraulic valve parameters, and send the adjustment instruction to the hydraulic valve to adjust the state of the hydraulic valve.

[0076] In this embodiment, the hydraulic valve parameters are adjusted according to the current performance of the hydraulic valve, and the state of the hydraulic valve is adjusted according to the adjusted hydraulic valve parameters, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of using the intelligent hydraulic control system.

[0077] In an alternative embodiment, see Figure 5 , step S42 includes:

[0078] S421. Acquire valve core data of the hydraulic valve.

[0079] The spool data of the hydraulic valve is obtained from bus data, digital signals, and analog signals transmitted to the intelligent hydraulic control system by various high-precision sensors. Analog signals include current signals, voltage signals, and frequency input signals.

[0080] S422: Determine the wear amount of the hydraulic valve according to the valve core data.

[0081] The wear amount of the hydraulic valve is used to characterize the current performance of the hydraulic valve.

[0082] S423: Adjust the PID parameters according to the wear amount, and re-determine the valve core displacement of the hydraulic valve according to the adjusted PID parameters.

[0083] Among them, the PID parameters are hydraulic valve parameters, which are used to determine the valve core displacement of the hydraulic valve.

[0084] In this embodiment, because the valve core is the core component of the hydraulic valve, the degree of wear of the hydraulic valve can be assessed based on the collected valve core data. The current performance of the hydraulic valve is visualized as the amount of wear of the hydraulic valve. The PID parameters (i.e., hydraulic valve parameters) are then re-determined based on the wear of the hydraulic valve. Adjustment instructions are then generated based on the re-determined PID parameters to adjust the state of the hydraulic valve, thereby maintaining the performance of the intelligent hydraulic control system, reducing the failure rate of the intelligent hydraulic control system, and improving the user experience of the intelligent hydraulic control system.

[0085] In an alternative embodiment, see Figure 5 , before step S42, including:

[0086] S424. Obtain configuration information sent by the cloud or edge side.

[0087] The configuration information is the initialization information of each module of the intelligent hydraulic control system.

[0088] S425 . Initialize an adjustment instruction according to the configuration information, and send the initialization adjustment instruction to the hydraulic valve to initialize the state of the hydraulic valve according to the initialization adjustment instruction.

[0089] In this embodiment, the configuration information sent from the cloud or edge side is obtained, and the hydraulic valve status can be initialized remotely, thereby reducing operation and maintenance costs and improving the flexibility of the intelligent hydraulic control system.

[0090] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. An intelligent hydraulic control system, characterized in that: The intelligent hydraulic control system includes: a first controller and a second controller; the first controller and the second controller are electrically connected; the first controller is electrically connected to the hydraulic valve; The first controller is used to adjust the hydraulic valve parameters according to the current performance of the hydraulic valve and send the adjusted hydraulic valve parameters to the second controller; the hydraulic valve parameters are parameter data of the hydraulic valve during operation; The second controller is configured to generate an adjustment instruction according to the adjusted hydraulic valve parameter, and send the adjustment instruction to the first controller to trigger the first controller to adjust the state of the hydraulic valve according to the adjustment instruction; The first controller includes: a valve control performance evaluation module and a PID parameter calculation module; The valve control performance evaluation module is electrically connected to the PID parameter calculation module; the PID parameter calculation module is electrically connected to the second controller; The valve control performance evaluation module is used to evaluate the wear of the hydraulic valve based on the spool data of the hydraulic valve, and the wear is used to characterize the current performance of the hydraulic valve; the valve control performance evaluation module is also used to send the wear to the PID parameter calculation module; the PID parameter calculation module is used to adjust the PID parameters according to the wear, and the PID parameters are used to determine the spool displacement of the hydraulic valve; the PID parameter calculation module is also used to send the adjusted PID parameters to the second controller to generate the adjustment instruction.

2. The intelligent hydraulic control system according to claim 1, characterized in that: The valve control performance evaluation module is used to input the valve core data of the hydraulic valve into a decision tree algorithm or a support vector machine algorithm to obtain the wear amount of the hydraulic valve.

3. The intelligent hydraulic control system according to claim 1, characterized in that: The second controller includes a logic statistics module, and the logic statistics module is electrically connected to the PID parameter calculation module; The PID parameter calculation module is further configured to send the adjusted PID parameters to the logic statistics module; the logic statistics module is configured to generate the adjustment instruction according to the adjusted PID parameters and determine the effective time of the adjustment instruction.

4. The intelligent hydraulic control system according to claim 1, characterized in that: The first controller includes a signal output module; the signal output module is electrically connected to the second controller; The signal output module is used to convert the adjustment instruction into an electromagnetic signal and send the electromagnetic signal to the hydraulic valve to adjust the state of the hydraulic valve.

5. The intelligent hydraulic control system according to claim 1, characterized in that: The intelligent hydraulic control system further includes a third controller; the third controller includes a pre-processing module, and the pre-processing module is electrically connected to the first controller; Before adjusting the hydraulic valve parameters according to the current performance of the hydraulic valve, the preprocessing module is used to perform preprocessing operations on the hydraulic valve parameters and send the preprocessed hydraulic valve parameters to the first controller; the preprocessing operation includes at least one of noise reduction, feature extraction and averaging.

6. The intelligent hydraulic control system according to claim 1, characterized in that: The intelligent hydraulic control system further includes a third controller; the third controller further includes an edge-cloud interaction module, and the edge-cloud interaction module is electrically connected to the second controller; The edge-cloud interaction module is used to receive configuration information sent from the cloud or edge side, and send the configuration information to the second controller; when the intelligent hydraulic control system is started, the second controller is also used to initialize the adjustment instructions according to the configuration information, and send the initialization adjustment instructions to the first controller to trigger the first controller to initialize the state of the hydraulic valve according to the initialization adjustment instructions; the configuration information is the initialization information of each module of the intelligent hydraulic control system.

7. An intelligent hydraulic control method, characterized in that: Applied to an intelligent hydraulic control system, the intelligent hydraulic control method includes: Determine the current performance of hydraulic valves; adjusting hydraulic valve parameters according to the current performance; generating an adjustment instruction according to the adjusted hydraulic valve parameters, and sending the adjustment instruction to the hydraulic valve to adjust the state of the hydraulic valve; The step of adjusting the hydraulic valve parameters according to the current performance comprises: Get the spool data of the hydraulic valve; determining a wear amount of the hydraulic valve according to the valve core data, wherein the wear amount is used to characterize a current performance of the hydraulic valve; The PID parameters are adjusted according to the wear amount, and the valve core displacement of the hydraulic valve is re-determined according to the adjusted PID parameters; the hydraulic valve parameters include the PID parameters.

8. The intelligent hydraulic control method according to claim 7, characterized in that: The step of adjusting the hydraulic valve parameters according to the current performance includes: Obtaining configuration information sent from the cloud or edge side; the configuration information is initialization information of each module of the intelligent hydraulic control system; An initialization adjustment instruction is generated according to the configuration information, and the initialization adjustment instruction is sent to the hydraulic valve to initialize the state of the hydraulic valve according to the initialization adjustment instruction.

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