A control method and device of a hydraulic drive system, and a storage medium

Abstract

The application provides a control method and device of a hydraulic driving system, and a storage medium, wherein the method comprises the following steps: inputting the system set pressure required by each actuator under a set working condition; receiving an actuator action instruction; calling the system set pressure required by the corresponding actuator according to the actuator action instruction, and generating a pressure control instruction signal according to the called system set pressure, wherein the actuator action instruction corresponds to the called system set pressure; and performing closed-loop control on the system real-time pressure required by the corresponding actuator according to the pressure control instruction signal. In the application, the initial rotating speed of the motor of different actuators can be matched with the required system set pressure respectively, the energy-saving effect of the system is optimized, the actuators can be configured according to the working condition requirements of the actuators, the required power of each actuator under each working condition can be supplied on demand, and a better energy-saving effect is achieved.

Description

Technical Field

[0001] This invention relates to the field of electrical control technology, and more specifically, to a control method and device for a hydraulic drive system, a hydraulic drive system, and a storage medium. Background Technology

[0002] In recent years, with the development of motor control technology, the application of motor-driven hydraulic pumps has been increasing. Current hydraulic systems can enter constant pressure control after reaching a set pressure to improve system efficiency. However, because this control method uses constant pressure, it cannot achieve precise matching for different actuators and applications. In other words, for multiple actuators operating under different conditions, it is impossible to achieve precise matching between the set pressure and the pressure required by all actuators, resulting in low overall energy conversion efficiency of the motor, and its energy-saving effect can still be further improved. Summary of the Invention

[0003] The problem addressed by this invention is how to further improve the energy-saving effect of hydraulic drive systems that include multiple actuators.

[0004] To address the aforementioned problems, a first aspect of the present invention provides a control method for a hydraulic drive system, the hydraulic drive system comprising multiple actuators, the method comprising:

[0005] Enter the system set pressure required for each actuator under the set operating conditions;

[0006] Receive action instructions from the actuator;

[0007] The actuator action command calls the system set pressure required by the corresponding actuator, and generates a pressure control command signal based on the called system set pressure, wherein the actuator action command corresponds to the called system set pressure;

[0008] The system real-time pressure required by the corresponding actuator is controlled in a closed loop according to the pressure control command signal.

[0009] To achieve the above objectives, a second aspect of the present invention provides a control device for a hydraulic drive system, the hydraulic drive system including a plurality of actuators, the device comprising:

[0010] The input module is used to input the system set pressure required by each of the actuators under the set operating conditions;

[0011] The receiving module is used to receive action commands from the actuator;

[0012] The calling module is used to call the system set pressure required by the corresponding actuator according to the actuator action command, and generate a pressure control command signal according to the called system set pressure, wherein the actuator action command corresponds to the called system set pressure;

[0013] The control module is used to perform closed-loop control of the real-time system pressure required by the corresponding actuator according to the pressure control command signal.

[0014] To achieve the above objectives, a third aspect of the present invention provides a hydraulic drive system including a computer-readable storage medium storing a computer program and a processor, wherein when the computer program is read and executed by the processor, the control method described in the first aspect is implemented.

[0015] To achieve the above objectives, a fourth aspect of the present invention provides a computer-readable storage medium storing a computer program that is read and executed by a processor to implement the control method described in the first aspect.

[0016] The present invention proposes a control method and device for a hydraulic drive system, a hydraulic drive system, and a storage medium. By inputting the system set pressure required by each actuator under a set operating condition, the system can generate a pressure control command signal by calling the corresponding system set pressure required by the actuator under the set operating condition upon receiving the actuator's action command. In other words, for any actuator under different operating conditions, a pressure control command signal can be generated by calling the system set pressure required by that actuator under the set operating condition. Then, the motor speed is controlled according to the pressure control command signal, so that the initial speed of the actuator's motor can be precisely matched with the required system set pressure. By analogy, the initial speed of the motors of different actuators can be precisely matched with the required system set pressure, which helps to further improve the overall energy efficiency and optimize the system's energy-saving effect. Furthermore, the system performs closed-loop control of the real-time system pressure required by the corresponding actuators based on the pressure control command signal. This allows the system to be configured according to the operating conditions of each actuator throughout the entire operation of the hydraulic drive system, enabling on-demand power supply to each actuator under different operating conditions, achieving a better energy-saving effect. Attached Figure Description

[0017] Figure 1 A schematic diagram illustrating the implementation environment of a control method for a hydraulic drive system provided in one embodiment of this application;

[0018] Figure 2 A flowchart illustrating a control method for a hydraulic drive system provided in one embodiment of this application;

[0019] Figure 3 for Figure 2 The flowchart of step S1000 in the middle;

[0020] Figure 4 for Figure 3 The flowchart of step S1100 in the middle;

[0021] Figure 5 for Figure 3 The flowchart of step S1200 in the process;

[0022] Figure 6 for Figure 2 The flowchart of step S3000 in the middle;

[0023] Figure 7 for Figure 2 The flowchart preceding step S3000;

[0024] Figure 8 for Figure 2 The flowchart of step S4000 in the middle;

[0025] Figure 9 This is a schematic diagram of a control device for a hydraulic drive system provided in one embodiment of this application. Detailed Implementation

[0026] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit the scope of this application.

[0027] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0028] Currently, one of the core aspects of energy conservation in hydraulic drive systems is energy saving in hydraulic power units. As the power source of a hydraulic drive system, its main control parameters are two: pump displacement and speed. Traditional combinations of constant-speed motors and various variable-speed pumps essentially control the pump displacement to achieve energy savings. With the development of motor control technology, improvements in high-speed control, fast-response motors, and software, the application of variable-speed motors driving hydraulic pumps is increasingly prevalent. Currently, the relevant technologies mainly include the following:

[0029] One type is load-sensitive control technology, which is a control method using a constant-speed motor and a variable-speed pump. It controls the pump's displacement to achieve energy savings. The load-sensitive valve integrated into the pump has two working chambers that collect the pump outlet pressure and load pressure respectively. The load-sensitive valve controls the swashplate angle of the pump to adjust the pump's displacement, ensuring that the pump outlet pressure is only slightly higher than the load pressure by a fixed value, which is equal to the set load-sensitive valve spring force. While load-sensitive control technology achieves energy savings to some extent, it requires pressure sampling from the load, making it unsuitable for applications with multiple actuators and pressure sampling points. Furthermore, because the difference between the output pressure and the load pressure of the actuator is always a fixed value, it cannot be modified in real time, causing the motor to run at high speed continuously, resulting in low energy conversion efficiency. It is understandable that the load-sensitive valve spring force in this control method can be replaced with a controllable variable force; the control principle is basically the same and will not be elaborated upon here.

[0030] Another type is variable speed pump drive control technology, which means that after the set pressure is reached, the motor enters pressure closed-loop control. The motor speed is adjusted according to the flow required by the system to meet the pressure control requirements, thereby improving the system efficiency. However, this control method uses constant pressure control after entering the pressure closed loop. The set pressure does not change with the operation of the actuator. It does not achieve precise matching control between the set pressure and the pressure required by the actuator, and its energy-saving effect is relatively average.

[0031] Another type is the control technology of variable speed motor driving hydraulic pump and hydraulic pump directly driving actuator. It controls the actuator's action through the four quadrants of the motor, controls the load speed through speed control, and realizes standby and pressure holding conditions through pressure control. Although this control method realizes on-demand supply, it can only be applied to the working conditions of a single actuator.

[0032] Based on this, embodiments of this application provide a control method and apparatus for a hydraulic drive system, a hydraulic drive system, and a storage medium, aiming to improve the energy-saving effect of a hydraulic drive system covering multiple actuators.

[0033] The embodiments of this application will be further described below with reference to the accompanying drawings.

[0034] like Figure 1 As shown, Figure 1 This is a schematic diagram of the implementation environment of the control method for a hydraulic drive system provided in one embodiment of this application.

[0035] Please refer to Figure 1The hydraulic drive system in this implementation environment may include, but is not limited to, a host computer, a motor driver, a variable speed motor, a hydraulic pump, a hydraulic system, and other supporting components. The host computer is used to coordinate and control the relevant components, the motor driver is used to drive the variable speed motor, and the hydraulic system may, but is not limited to, be connected to the control units of each actuator. Figure 1 The actuator 1 control unit, ..., actuator n control unit shown are used to drive and control each actuator respectively through the control unit of each actuator. The specific structure of the control unit can be various and can be set by those skilled in the art according to the actual application scenario. For example, a preset control module or a preset control loop can be used. There is no limitation here.

[0036] In one embodiment, the hydraulic system may also integrate pressure sensors to collect the real-time system pressure of each actuator under set operating conditions, and to feed back the corresponding real-time system pressure to the host computer. Figure 1 The pressure feedback value shown; the hydraulic drive system may also include, but is not limited to, a speed detection feedback device, which is connected to the variable speed motor to feed back the real-time speed of the variable speed motor to the host computer, i.e. Figure 1 The speed feedback value shown; the host computer can be connected to an external main control console, for example... Figure 1 The main control console shown can be used, but is not limited to, to indirectly send actuator control commands to the host computer and to directly send actuator control commands to the control units of each actuator.

[0037] It will be understood by those skilled in the art that Figure 1 The implementation environment shown does not constitute a limitation on the embodiments of this application, and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0038] Based on the above Figure 1 The implementation environment shown in the figure is illustrated below, and various embodiments of the control method for the hydraulic drive system of this application are presented below.

[0039] The control method for a hydraulic drive system provided in this application relates to the field of electrical control technology. This control method can be applied to a communication node, a server, or software running on either the communication node or the server. In some embodiments, the communication node can be a smartphone, tablet computer, laptop computer, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the control method for the hydraulic drive system, but is not limited to the above forms.

[0040] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via communication networks. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0041] like Figure 2 As shown, Figure 2 This is a flowchart of a control method for a hydraulic drive system provided in one embodiment of this application. This control method for the hydraulic drive system can be applied to, but is not limited to, [various applications]. Figure 1 The host computer in the implementation environment shown may include, but is not limited to, steps S1000 to S4000, the control method of the hydraulic drive system.

[0042] Step S1000: Enter the system set pressure required for each actuator under the set operating conditions;

[0043] The set operating conditions can include multiple operating conditions. For example, the system set pressure required by each actuator under different operating conditions can be entered into the host computer.

[0044] Step S2000: Receive the actuator action command;

[0045] Step S3000: The system set pressure required by the corresponding actuator is called according to the actuator action command, and a pressure control command signal is generated according to the called system set pressure, wherein the actuator action command corresponds to the called system set pressure;

[0046] For example, each actuator's action command corresponds one-to-one with the system set pressure required by each actuator under different operating conditions. Therefore, based on one actuator's action command, the corresponding actuator can be activated at the system set pressure required for that specific operating condition. Alternatively, one actuator's action command can also correspond to the system set pressure required by multiple actuators. In this case, based on the actuator's action command, the system set pressure required by multiple actuators under the corresponding operating conditions can be activated, and a pressure control command signal can be generated based on the activated system set pressure.

[0047] Step S4000: Perform closed-loop control on the real-time system pressure required by the corresponding actuator according to the pressure control command signal.

[0048] Steps S1000 to S4000, as illustrated in this embodiment, involve inputting the system set pressure required by each actuator under a set operating condition. Upon receiving an actuator action command, the system can generate a pressure control command signal by calling the corresponding actuator's required system set pressure under the set operating condition. In other words, for any actuator under different operating conditions, a pressure control command signal can be generated by calling the system set pressure required by that actuator under the set operating condition. This pressure control command signal then controls the motor speed, ensuring that the initial motor speed of the actuator is precisely matched to the required system set pressure. Similarly, this allows the initial motor speed of different actuators to be precisely matched to their respective required system set pressures. This further improves overall energy conversion efficiency and optimizes system energy-saving effects. Furthermore, closed-loop control of the real-time system pressure required by the corresponding actuator based on the pressure control command signal enables configuration according to the operating conditions of each actuator throughout the entire operation of the hydraulic drive system. This allows for on-demand power supply to each actuator under various operating conditions, achieving even better energy-saving results.

[0049] It should be noted that the execution subject of the embodiments in this application is not specifically limited. Those skilled in the art can also make corresponding settings according to specific application scenarios, such as using the control terminal corresponding to the relevant algorithm, or implementing it based on a preset control model, etc.

[0050] In step S1000 of some embodiments, the specific timing of the data entry can be before controlling each actuator. The data entered can be the system setting pressure required by different actuators under set operating conditions. That is, the pressure setting values ​​of different actuators can be converted in real time without affecting each other. There is no limit to the total number of actuators. Those skilled in the art can select and set the data according to the actual application scenario. There can be various data entry methods, such as numbering each system setting pressure according to the different actuators, or further numbering the different system setting pressures of the actuators under set operating conditions, or using other similar recording methods, etc. There are no limitations here.

[0051] In step S1000 of some embodiments, the set operating condition can be determined according to the actual situation. It can be one or more, and it is not necessarily the same for different actuators. That is to say, the set operating conditions of different actuators can be independent of each other. The set operating condition can be, but is not limited to, running condition, standby condition or pressure holding condition, etc. There is no limitation here.

[0052] In step S2000 of some embodiments, the actuator action command may be sent by an external main control console in any way, but is not limited to this.

[0053] In step S3000 of some embodiments, if there are multiple execution instructions or the execution instructions point to multiple execution mechanisms, then the system settings pressure selected for invocation may also be multiple, which is not limited here.

[0054] In step S4000 of some embodiments, the system set pressure is controlled in a closed loop to ensure that the system set pressure is well supplied during the operation of the corresponding actuator, so that the actuator can be in good operating condition under the set working conditions. In addition, the specific closed loop control method is not limited here.

[0055] Please see Figure 3 In some embodiments, when the actuator includes a control unit, step S1000 may include, but is not limited to, steps S1100 to S1200.

[0056] Step S1100: Receive the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss;

[0057] Step S1200: Based on the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss, enter the system set pressure required for each actuator under the set operating conditions.

[0058] In this step, the pressure influence factors of the actuator's control unit are considered. By receiving the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss, the pressure distribution of each actuator under the set operating conditions can be clearly obtained, so as to input the system set pressure required by each actuator under the set operating conditions.

[0059] It should be noted that the load pressure, the pressure drop of the control valve in the control unit, and the pipeline pressure loss can be obtained directly by measurement or by calculation using relevant formulas; there are no restrictions here.

[0060] Please see Figure 4 In some embodiments, step S1100 may include, but is not limited to, steps S1110 to S1130.

[0061] Step S1110: Receive the flow rate of the control unit for each actuator under the set operating conditions;

[0062] Step S1120: Calculate the pressure drop of the control valve in the control unit based on the flow rate and the predetermined pressure drop flow characteristics of the control valve;

[0063] Step S1130: Calculate the pipeline pressure loss in the control unit based on the flow rate and the predetermined pipeline pressure loss flow characteristics.

[0064] In this step, after receiving the flow rate of the control unit of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit can be calculated by using the flow rate and the pre-determined pressure drop flow characteristics of the control valve, and the pipeline pressure loss in the control unit can be calculated by using the flow rate and the pre-determined pipeline pressure loss flow characteristics. This eliminates the need to actually measure the pressure drop of the control valve and the pipeline pressure loss, making it simpler and more reliable.

[0065] It should be noted that the pressure drop flow characteristics of the control valve and the pressure loss flow characteristics of the pipeline can be predetermined. For example, those skilled in the art can analyze and derive these characteristics based on historical data of the pressure and pressure drop of the control valve and pipeline, or use other similar methods to analyze and derive them. There are no restrictions here.

[0066] Please see Figure 5 In some embodiments, step S1200 may include, but is not limited to, steps S1210 to S1220.

[0067] Step S1210: For each actuator, calculate the sum of the load pressure of the actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss to obtain the minimum system set pressure;

[0068] Step S1220: Enter the system setting pressure required by the actuator under the set operating conditions according to the minimum system setting pressure.

[0069] In this step, since the load pressure of the actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss are all the pressures required by the actuator under that operating condition, the minimum system set pressure required can be obtained by calculating the sum of the load pressure of the actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss. Then, the required system set pressure can be determined by the minimum system set pressure and entered into the system set pressure.

[0070] It should be noted that the system set pressure should not be less than the minimum system set pressure, but the specific value is not limited and can be set according to different actuators and their actual application scenarios. There is no restriction here. When the actuator's control unit, such as its control valve and pipeline, changes, the set pressure required for the actuator to operate can be adjusted accordingly at any time.

[0071] Please see Figure 6 In some embodiments, when the actuator action command corresponds to multiple actuators, step S3000 may include, but is not limited to, step S3100.

[0072] Step S3100: Based on the actuator action command, select the largest system set pressure from all the system set pressures required by the corresponding multiple actuators.

[0073] In this step, when multiple actuators are running simultaneously, the highest set pressure among the running actuators can be selected as the system set pressure to perform pressure closed-loop control. This ensures that the system set pressure can meet the operating requirements of multiple actuators. At this time, the multiple actuators can be under the current operating condition or under other set operating conditions, etc. There are no restrictions here.

[0074] It should be noted that, in addition to the case where the actuator action command corresponds to multiple actuators in the current working condition, there may also be multiple actuator action commands, but each actuator action command corresponds to only one actuator. Its control principle is similar to step S3100, and will not be elaborated here.

[0075] Please see Figure 7 In some embodiments, step S3000 may include, but is not limited to, step S5000.

[0076] Step S5000: Determine at least one actuator corresponding to the actuator action command based on the actuator action command.

[0077] In this step, since the corresponding actuator corresponds to the system setting pressure required under the set operating conditions, before calling the required system setting pressure, it is necessary to first determine at least one actuator corresponding to the actuator action instruction based on the actuator action instruction, and then filter out the system setting pressure required by the actuator from the entered system setting pressure required under the set operating conditions. This can ensure that the required system setting pressure can be called stably and reliably.

[0078] Please see Figure 8 In some embodiments, when the hydraulic drive system further includes a motor driver, a variable speed motor, a speed detection feedback device, and a pressure sensor, step S4000 may include, but is not limited to, steps S4100 to S4300.

[0079] Step S4100: Send a pressure control command signal to the motor driver so that the motor driver drives the variable speed motor at a first set speed through the pressure control command signal, wherein the first set speed is matched with the called system set pressure;

[0080] Step S4200: Obtain the real-time rotational speed fed back by the rotational speed detection feedback device, and obtain the real-time system pressure of the corresponding actuator fed back by the pressure sensor;

[0081] Step S4300: Adjust the first set speed to the second set speed according to the real-time speed and the real-time system pressure, wherein the second set speed is matched with the real-time system pressure.

[0082] In this step, the recorded pressure setting corresponding to the actuator's action command is invoked to generate a pressure control command signal, which is then sent to the motor driver. This causes the motor driver to drive the variable speed motor at a first set speed via the pressure control command signal. The first set speed is then adjusted to a second set speed based on the feedback of real-time speed and system pressure. This achieves closed-loop control of the motor speed and control pressure for the corresponding actuator, meaning that the pressure from the pressure sensor and the speed from the speed detection feedback device further influence the drive signal of the motor driver. This cycle repeats continuously, ensuring that the corresponding actuator remains in a normal state under the set operating conditions.

[0083] To better illustrate the working principle of the above embodiments, an example is given below for specific explanation.

[0084] Example 1:

[0085] Please see Figure 1 First, calculate the load pressure P of each actuator in the hydraulic drive system under a given operating condition and the pressure drop ΔP of the control valve in its control unit. v=F v (Q) and pipeline pressure loss ΔP p =F p (Q), and number them (1-n). For example, the actuator numbered 1 has a load pressure of P1 during operation, and the pressure drop ΔP of the control valve in the control unit is... v1 =F v1 (Q1) and pipeline pressure loss ΔP p1 =F p1 (Q1);

[0086] Then, calculate the minimum system set pressure P required by each actuator under a given operating condition. M For example, the system set pressure required for the operating condition of actuator number 1 is: P M1 =P1+ΔP v1+ ΔP p1 By analogy, the required system pressure setting for each actuator under a given operating condition can be obtained.

[0087] Then, the system setting pressure required for actuators with different numbers under various working conditions is entered into the host computer;

[0088] Then, when the main control console issues an actuator action command according to the equipment's process requirements, this command is also transmitted to the host computer. The host computer retrieves the pre-entered pressure setting corresponding to the actuator action, sends a control signal to the motor driver, and executes the corresponding actuator's pressure closed-loop setting value and speed setting value, thus realizing closed-loop control of motor speed and control pressure. For example, when the main control console issues an actuator action command numbered 1, this signal simultaneously enters the host computer, which retrieves the set pressure P. M1 This signal is provided to the motor driver as a command signal for the pressure closed loop. The feedback speed and real-time system pressure form a closed-loop control of the system's real-time pressure, i.e., the controlled pressure is... Figure 1 The actuator 1 control unit shown in the figure, and so on; when multiple actuators are running at the same time, for example, actuators numbered 1 to 5 are running at the same time, the host computer selects the highest set pressure among the running actuators as the system set pressure to perform pressure closed-loop control.

[0089] In summary, the hydraulic drive system described above achieves true on-demand supply to each actuator under various operating conditions, including running, standby, and pressure-holding conditions, by adjusting the speed of the hydraulic pump. Furthermore, there is no limit to the number of actuators, resulting in a more significant energy-saving effect.

[0090] In addition, such as Figure 9As shown, one embodiment of this application also discloses a control device 100 for a hydraulic drive system. The hydraulic drive system includes multiple actuators, and the device includes:

[0091] The input module 110 is used to input the system set pressure required by each actuator under the set operating conditions;

[0092] Receiver module 120 is used to receive action commands from the actuator;

[0093] The calling module 130 is used to call the system set pressure required by the corresponding actuator according to the actuator action command, and generate a pressure control command signal according to the called system set pressure, wherein the actuator action command corresponds to the called system set pressure;

[0094] The control module 140 is used to perform closed-loop control of the real-time system pressure required by the corresponding actuator according to the pressure control command signal.

[0095] In addition, one embodiment of this application discloses a hydraulic drive system, including a computer-readable storage medium storing a computer program and a processor, which implements the control method of the hydraulic drive system as described in any of the preceding embodiments when the computer program is read and run by the processor.

[0096] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A control method for a hydraulic drive system, characterized in that, The hydraulic drive system includes multiple actuators, each actuator including a control unit, and the method includes: The system set pressure required by each actuator under the set operating conditions is entered; specifically, this includes receiving the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss; Based on the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss, the system set pressure required for each actuator under the set operating conditions is entered; specifically, this includes: for each actuator, calculating the sum of the load pressure of the actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss to obtain the minimum system set pressure; Enter the system setting pressure required by the actuator under the set operating conditions according to the minimum system setting pressure; Receive action instructions from the actuator; The system set pressure required by the corresponding actuator is invoked according to the actuator action command, and a pressure control command signal is generated according to the invoked system set pressure; The system real-time pressure required by the corresponding actuator is controlled in a closed loop according to the pressure control command signal.

2. The method according to claim 1, characterized in that, The hydraulic drive system further includes a motor driver, a variable speed motor, a speed detection feedback device, and a pressure sensor. The speed detection feedback device is used to acquire the real-time speed of the variable speed motor. The pressure sensor is used to collect the real-time system pressure of each actuator under set operating conditions. The closed-loop control of the required real-time system pressure of the corresponding actuator according to the pressure control command signal includes: The pressure control command signal is sent to the motor driver so that the motor driver drives the variable speed motor at a first set speed through the pressure control command signal, wherein the first set speed is matched with the system set pressure called; The system obtains the real-time rotational speed fed back by the rotational speed detection feedback device, and the corresponding real-time system pressure of the actuator fed back by the pressure sensor. The first set rotational speed is adjusted to a second set rotational speed based on the real-time rotational speed and the real-time system pressure, wherein the second set rotational speed is matched to the real-time system pressure.

3. The method according to claim 1, characterized in that, When the actuator action command corresponds to multiple actuators, the system set pressure required to invoke the corresponding actuator according to the actuator action command includes: According to the actuator action command, the system set pressure with the largest value is selected from all the system set pressures required by the corresponding plurality of actuators.

4. The method according to claim 1, characterized in that, Before invoking the system set pressure required by the actuator according to the actuator action command, the method further includes: At least one actuator corresponding to the actuator action command is determined according to the actuator action command.

5. The method according to claim 1, characterized in that, Receiving the pressure drop of the control valve and the pipeline pressure loss in the control unit of each actuator under set operating conditions, including: Receive the flow rate of each actuator under the set operating conditions from the control unit; The pressure drop of the control valve in the control unit is calculated based on the flow rate and the predetermined pressure drop flow characteristics of the control valve. Based on the flow rate and the predetermined pipeline pressure loss flow characteristics, the pipeline pressure loss in the control unit is calculated.

6. A control device for a hydraulic drive system, characterized in that, The hydraulic drive system includes multiple actuators, each actuator including a control unit, and the device includes: The input module is used to input the system set pressure required by each of the actuators under the set operating conditions; specifically, it includes receiving the load pressure of each of the actuators under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss. Based on the load pressure of each actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss, the system set pressure required for each actuator under the set operating conditions is entered; specifically, this includes: for each actuator, calculating the sum of the load pressure of the actuator under the set operating conditions, the pressure drop of the control valve in the control unit, and the pipeline pressure loss to obtain the minimum system set pressure; Enter the system setting pressure required by the actuator under the set operating conditions according to the minimum system setting pressure; The receiving module is used to receive action commands from the actuator; The calling module is used to call the system set pressure required by the corresponding actuator according to the actuator action command, and generate a pressure control command signal according to the called system set pressure, wherein the actuator action command corresponds to the called system set pressure; The control module is used to perform closed-loop control of the real-time system pressure required by the corresponding actuator according to the pressure control command signal.

7. A hydraulic drive system, characterized in that, The method includes a computer-readable storage medium storing a computer program and a processor, which, when the computer program is read and executed by the processor, implements the control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is read and executed by a processor to implement the control method as described in any one of claims 1-5.

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