A die forging equipment hydraulic drive system scheduling control method

Abstract

The application provides a die forging equipment hydraulic driving system scheduling control method, comprising the following steps: 1) constructing a network topology structure diagram of the die forging equipment hydraulic driving system; 2) representing the topological information contained in the network topology structure diagram through an incidence matrix and an adjacency matrix; 3) performing corresponding energy consumption analysis on different energy conversion units; 4) establishing an energy loss function model corresponding to the different energy conversion units; 5) constructing different driving units meeting the energy supply demand as corresponding different driving paths; 6) determining the energy consumption shortest path in the different driving paths based on the shortest path Dijkstra algorithm; and 7) based on the determined energy consumption shortest path, scheduling the driving units in the corresponding driving paths to realize energy supply under corresponding working conditions, scheduling and controlling the energy consumption optimal driving path by using the Dijkstra shortest path algorithm, improving the selection efficiency, and effectively reducing the energy consumed in the working process of the die forging equipment.

Description

Technical Field

[0001] This invention belongs to the technical field of energy saving and consumption reduction of hydraulic drive system for large-scale die forging equipment, and specifically relates to a scheduling and control method for hydraulic drive system of die forging equipment. Background Technology

[0002] With the increasing severity of the greenhouse effect and energy crisis, countries around the world are paying more and more attention to the concept of green and environmentally friendly development. As a key strategic equipment widely used in my country's aerospace, defense and military industries and transportation, forging equipment often suffers from significant energy loss due to its structural characteristics. The energy supplied by the drive system and the energy required for forming are often difficult to match precisely. The most significant energy loss occurs during the operation of the hydraulic system. For large forging equipment, the drive system has many components and a complex composition. The optimal drive scheme for different forming processes is often difficult to determine efficiently due to the complexity of the system. Therefore, proposing a reasonable drive system scheduling and control strategy to adapt to the system function under different processing scenarios is crucial for reducing the energy consumption of forging equipment.

[0003] Existing drive system scheduling and control strategies often involve designers manually selecting matching drive units from existing drive systems to power the system based on different processing parameters. While this approach can ensure the accuracy of energy supply to a certain extent, its design efficiency decreases as processing scenarios become more diverse and drive systems become more complex. Due to the strong topological structure of hydraulic systems, based on graph theory, different drive units in the forging equipment drive system can be considered as different energy transmission paths. By using the shortest path algorithm to find the path with the lowest energy consumption and completing the scheduling and control of the drive units, the adaptability of forging equipment under different processing scenarios can be greatly improved. This can improve the efficiency of drive system scheduling and control while ensuring the minimum energy consumption of the system. Summary of the Invention

[0004] To address the issues of adaptability and energy efficiency improvement in the scheduling and control of drive systems for forging equipment in existing technologies, this invention provides a scheduling and control method for hydraulic drive systems of forging equipment.

[0005] The technical solution provided by this invention is as follows:

[0006] A scheduling and control method for a hydraulic drive system of forging equipment, characterized in that the method includes the following steps:

[0007] 1) Construct the network topology diagram of the hydraulic drive system for forging equipment;

[0008] 2) The topological information contained in the network topology diagram is represented by the incidence matrix and the adjacency matrix;

[0009] 3) Perform corresponding energy consumption analysis for different energy conversion units;

[0010] 4) Establish energy loss function models corresponding to different energy conversion units;

[0011] 5) Taking the output energy consumption of the hydraulic drive system of die forging equipment as the research object and the energy supply demand as the constraint, different drive units that meet the energy supply demand are constructed as corresponding different drive paths.

[0012] 6) Determine the shortest energy path among different driving paths based on the Dijkstra algorithm;

[0013] 7) Based on the determined shortest energy consumption path, schedule the drive units in the corresponding drive path to achieve energy supply under the corresponding operating conditions.

[0014] As a further preferred embodiment of the present invention, in step 1), the network topology diagram includes multiple energy conversion units that are different from each other. Each energy conversion unit is represented as a node, and the connecting pipelines between energy conversion units are represented by edges, the direction of which represents the direction of energy flow in the system.

[0015] As a further preferred embodiment of the present invention, in step 2), the relationship between different energy conversion units and connecting pipelines is represented by an association matrix of a directed graph, and the matrix expression is as follows:

[0016]

[0017] Among them, a ij The elements of the directed graph correlation matrix represent the direction of energy flow between two hydraulic energy conversion units.

[0018] As a further preferred embodiment of the present invention, in step 2), the adjacency relationship between different energy conversion units is represented by an adjacency matrix of a directed graph, and its matrix expression is as follows:

[0019]

[0020] Where, x ij This represents the number of directed edges between two hydraulic energy conversion units in a directed graph.

[0021] As a further preferred embodiment of the present invention, in step 3),

[0022] 3.1) The energy loss of the mechanical-hydraulic energy conversion unit satisfies:

[0023]

[0024] in:

[0025] P Ploss This refers to the power loss of the pump;

[0026] P Pin This refers to the pump's input power.

[0027] P Pout This refers to the pump's output power;

[0028] p s This refers to the pump outlet pressure value.

[0029] V is the pump's displacement;

[0030] n is the rotational speed supplied by the motor;

[0031] η pm The mechanical efficiency of the pump;

[0032] η pv This refers to the pump's volumetric efficiency.

[0033] 3.2) The energy loss of the liquid-liquid energy conversion unit satisfies:

[0034] P Vloss =ΔpQ

[0035] in:

[0036] P Vloss This refers to the power loss of the valve.

[0037] Δp is the pressure difference between the valve inlet and outlet;

[0038] Q represents the valve's flow rate;

[0039] The energy loss Δp of the valve is expressed by the following formula:

[0040]

[0041] in,

[0042] C q The flow coefficient of the valve orifice is related to the opening degree and shape of the valve orifice;

[0043] ρ is the density of the oil;

[0044] A is the flow area of ​​the valve port;

[0045] m is the valve orifice resistance index, which is related to the shape of the valve orifice;

[0046] 3.3) The energy loss of the hydraulic energy conversion unit satisfies:

[0047] P Closs =p c-in qc-in -p c-out q c-out -F c v c

[0048] in:

[0049] P Closs Power loss of the cylinder;

[0050] p c-in The oil inlet pressure of the cylinder;

[0051] q c-in This refers to the oil inlet flow rate of the cylinder;

[0052] p c-out The return oil pressure of the cylinder;

[0053] q c-out The return oil flow rate of the cylinder;

[0054] F c The force exerted by the plunger;

[0055] v c The velocity of the piston movement.

[0056] As a further preferred embodiment of the present invention, in step 4),

[0057] The energy loss function of the mechanical-hydraulic energy conversion unit is:

[0058] E Ploss =∫P Ploss dt

[0059] in,

[0060] in,

[0061] E Ploss This represents the energy loss value of the pump.

[0062] t represents time;

[0063] The energy loss function of the liquid-liquid energy conversion unit is:

[0064] E Vloss =∫P Vloss dt

[0065] in:

[0066] E Vloss This represents the energy loss value of the valve.

[0067] The energy loss function of the hydraulic energy conversion unit is:

[0068] E Closs =∫PCloss dt

[0069] in:

[0070] E Closs This represents the energy loss value of the cylinder.

[0071] As a further preferred embodiment of the present invention, in step 5),

[0072] The selection constraints of the driving path satisfy the following conditions:

[0073] 7.1) The pump in the energy conversion unit needs to meet the output flow requirements of the drive system, as shown below:

[0074]

[0075] in:

[0076] z represents the number of centralized pumps in the drive system;

[0077] x k This indicates the selection status of pump k; a value of 0 means it is not selected.

[0078] p r The pump inlet pressure when the hydraulic drive system of the forging equipment is operating at stage r;

[0079] q k (p r Pump k operates at pressure p r The system's output flow rate;

[0080] q r The required flow rate for the working phase r;

[0081] The pump's output power is expressed as:

[0082] P k (p r )=q k (p r )×p r

[0083] in:

[0084] P k (p r Pump k operates at pressure p r The system's output power at that time;

[0085] 7.2) The load rate of the motor in the energy conversion unit is expressed as:

[0086] β k (p r ) = P k (p r) / (η pumpk (p r )×P Nk )

[0087] in:

[0088] β k (p r The work pressure is p. r The load rate of motor k at that time;

[0089] η pumpk (p r The work pressure is p. r The efficiency of pump k;

[0090] P Nk The rated power of the selected motor k.

[0091] As a further preferred embodiment of the present invention, in step 5), a motor whose load rate always operates within the optimal load rate range is selected.

[0092] As a further preferred embodiment of the present invention, in step 6), the energy consumption value of each energy conversion unit under a specific load is used as a weight to establish a temporary label T and a fixed label P for each vertex, wherein...

[0093] The T label indicates the upper limit of the current shortest path length in the path;

[0094] The label P indicates the length of the final shortest path;

[0095] The algorithm iteratively solves for the required shortest energy-consuming path, and its minimum energy consumption value is expressed as:

[0096] E w-loss =E Ploss +E Vloss +E Closs

[0097] min{E w-loss}(w=1,2,…,n)

[0098] in:

[0099] w represents the sequence number of the alternative energy consumption path;

[0100] n represents the number of alternative energy consumption paths;

[0101] E w-loss Let w be the total energy consumption generated by the path.

[0102] As a further preferred embodiment of the present invention, step 6) includes the following steps:

[0103] 1) Label the initial vertex v1 with P, d(v1) = 0, and assign P labels to the remaining nodes v1 and v2. j (j = 2, 3, ..., n) are labeled with T, d(v j )=l 1j ;

[0104] in,

[0105] d is the distance between nodes;

[0106] l represents the energy consumption value;

[0107] 2) Select the minimum value among all T labels, such as Then Change the T label to the P label and recalculate the T labels of all other nodes containing the T label: Select vertex v j The T label d(v) j )and The smaller value v in j The new T designation is:

[0108] Let P = {v} j |v j With label P}, T = {v j |v j With label T} = V\P. If:

[0109]

[0110] Then d(v) k Rename it as node v k The P label, therefore v k ∈P, let T\{v k node v in} j The T designation is changed to:

[0111] min{d(v j ),d(v j )+l kj}

[0112] 3) Regarding v k Adjacent nodes with the T label are relabeled with the T label;

[0113] 4) By continuously repeating step 2), until v n ∈P, at this time the obtained d(v) n The value of ) is the distance from node v1 to node v. n The shortest path length, i.e. the minimum energy consumption value, is the node and edge that this path length passes through, forming the shortest energy consumption path.

[0114] Compared with the prior art, the beneficial effects achieved by the present invention include:

[0115] 1) This invention provides a scheduling and control method for a hydraulic drive system of forging equipment. By using the shortest path Dijkstra algorithm to select the shortest energy conversion unit, and by identifying the topology information of the corresponding system, the lowest energy consumption path in different processing stages is selected. This allows the drive system to select the energy conversion unit by relying on the shortest energy consumption path output in different working stages. This ensures that the drive system minimizes energy loss while meeting the energy supply requirements of each processing stage of the forging press, thereby improving the selection efficiency of energy conversion units in different processing scenarios. Attached Figure Description

[0116] Figure 1 This is a flowchart of the steps of the drive system scheduling and control method provided by the present invention;

[0117] Figure 2 This is a network topology diagram of the hydraulic drive system for forging equipment provided by the present invention;

[0118] Figure 3 This is a schematic diagram of the energy flow in the hydraulic drive system for forging equipment provided by the present invention;

[0119] Figure 4 This is a schematic diagram illustrating the selection principles of the motor and pump for the hydraulic drive system of forging equipment provided by the present invention;

[0120] Figure 5 This is a flowchart illustrating the implementation of the Dijkstra algorithm provided by this invention. Detailed Implementation

[0121] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0122] In the description of this invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0123] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0124] [First Embodiment]

[0125] like Figure 1 The figure shows a scheduling and control method for a hydraulic drive system of forging equipment based on Dijkstra's algorithm according to the first embodiment of the present invention, which includes the following steps:

[0126] 1) Construct the network topology diagram of the hydraulic drive system for forging equipment;

[0127] like Figure 2 As shown, the constructed network topology diagram includes multiple distinct energy conversion units, each represented as a node. The connections between these units are represented by edges, with the direction of the edges indicating the direction of energy flow within the system. For example, as... Figure 2 As shown, the motor, hydraulic pump, hydraulic valve, and hydraulic cylinder in the hydraulic drive system of forging equipment can be constructed as nodes of a graph network model, and the connecting pipes between components can be constructed as edges of the graph network model, thereby representing the connection relationship of the hydraulic system in the form of a graph network model.

[0128] 2) The topological information contained in the network topology graph is represented by the correlation matrix and the adjacency matrix, so that the computer can identify the topological correlation information in the network topology graph. The constructed network topology graph is a directed graph.

[0129] like Figure 2 As shown, the relationships between different energy conversion units and connecting pipelines can be represented by the incidence matrix of a directed graph, and its matrix representation is as follows:

[0130]

[0131] Among them, a ij The elements of the directed graph correlation matrix represent the direction of energy flow between two hydraulic energy conversion units.

[0132] Correspondingly, the adjacency relationship between different energy conversion units is represented by an adjacency matrix of a directed graph, and its matrix representation is as follows:

[0133]

[0134] Where, x i j represents the number of directed edges between two hydraulic energy conversion units in the directed graph.

[0135] 3) Perform corresponding energy consumption analysis for different energy conversion units;

[0136] The energy loss function of each node, composed of various energy conversion units, is modeled and represented for subsequent energy consumption calculations. Figure 3 Taking the energy flow situation in a given environment as an example, we will analyze the energy consumption loss function of different energy conversion units. For example... Figure 3 As shown, the energy conversion unit in this embodiment includes at least an organic liquid energy conversion unit, a liquid-liquid energy conversion unit, and a liquid-mechanical energy conversion unit.

[0137] The mechanical-hydraulic energy conversion unit is mainly implemented through a hydraulic pump, and its energy loss function is:

[0138] 3.1) The energy loss of the mechanical-hydraulic energy conversion unit satisfies:

[0139]

[0140] in:

[0141] P Ploss This refers to the power loss of the pump;

[0142] P Pin This refers to the pump's input power.

[0143] P Pout This refers to the pump's output power;

[0144] p s This refers to the pump outlet pressure value.

[0145] V is the pump's displacement;

[0146] n is the rotational speed supplied by the motor;

[0147] η pm The mechanical efficiency of the pump;

[0148] η pv This refers to the pump's volumetric efficiency.

[0149] 3.2) Liquid-liquid energy conversion is mainly accomplished by hydraulic valves. Although there are many types of valve components, their energy loss functions can all be represented by the following functions;

[0150] The energy loss of the liquid-liquid energy conversion unit satisfies:

[0151] P Vloss =ΔpQ

[0152] in:

[0153] P Vloss This refers to the power loss of the valve.

[0154] Δp is the pressure difference between the valve inlet and outlet;

[0155] Q represents the valve's flow rate;

[0156] For different valves, energy loss is mainly related to pressure loss, and its pressure loss characteristics vary with changes in its internal structure. Therefore, the energy loss Δp of a valve is expressed by the following formula:

[0157]

[0158] in:

[0159] C q The flow coefficient of the valve orifice is related to the opening degree and shape of the valve orifice;

[0160] ρ is the density of the oil;

[0161] A is the flow area of ​​the valve port;

[0162] m is the valve orifice resistance index, which is related to the shape of the valve orifice;

[0163] 3.3) The corresponding component of the hydraulic energy conversion unit is a hydraulic cylinder, and its energy loss satisfies:

[0164] P Closs =p c-in q c-in -p c-out q c-out -F c v c

[0165] in:

[0166] P Closs Power loss of the cylinder;

[0167] p c-in The oil inlet pressure of the cylinder;

[0168] q c-in This refers to the oil inlet flow rate of the cylinder;

[0169] p c-out The return oil pressure of the cylinder;

[0170] q c-out The return oil flow rate of the cylinder;

[0171] F c The force exerted by the plunger;

[0172] v cThe speed of the piston movement.

[0173] 4) Establish energy loss function models corresponding to different energy conversion units; corresponding to step 3),

[0174] The energy loss function of the mechanical-hydraulic energy conversion unit is:

[0175] E Ploss =∫P Ploss dt

[0176] in,

[0177] E Ploss This represents the energy loss value of the pump.

[0178] t represents time;

[0179] The energy loss function of the liquid-liquid energy conversion unit is:

[0180] E Vloss =∫P Vloss dt

[0181] in:

[0182] E Vloss This represents the energy loss value of the valve.

[0183] The energy loss function of the hydraulic energy conversion unit is:

[0184] E Closs =∫P Closs dt

[0185] in:

[0186] E Closs This represents the energy loss value of the cylinder.

[0187] 5) Taking the output energy consumption of the hydraulic drive system of die forging equipment as the research object and the energy supply demand as the constraint, different drive units that meet the energy supply demand are constructed as different drive paths; the drive units under specific processing scenarios are initially selected, and the selection results are used as different drive paths.

[0188] like Figure 4 As shown, the selection constraints for the drive path must satisfy:

[0189] 7.1) The pump in the energy conversion unit needs to meet the output flow requirements of the drive system, as shown below:

[0190]

[0191] in:

[0192] z represents the number of centralized pumps in the drive system;

[0193] x k This indicates the selection status of pump k; a value of 0 means it is not selected.

[0194] p r The pump inlet pressure when the hydraulic drive system of the forging equipment is operating at stage r;

[0195] q k (p r Pump k operates at pressure p r The system's output flow rate;

[0196] q r The required flow rate for the working phase r;

[0197] The pump's output power is expressed as:

[0198] P k (p r )=q k (p r )×p r

[0199] in:

[0200] P k (p r Pump k operates at pressure p r The system's output power at that time;

[0201] 7.2) The selection of motors in the motor set constituting the drive path is similar to that of pumps, and an appropriate selection range needs to be set.

[0202] The load rate of the motor in the energy conversion unit is expressed as:

[0203] β k (p r ) = P k (p r ) / (η pumpk (p r )×P Nk )

[0204] in:

[0205] β k (p r The work pressure is p. r The load rate of motor k at that time;

[0206] η pumpk (p r The work pressure is p. r The efficiency of pump k;

[0207] P Nk The rated power of the selected motor k.

[0208] For each motor in the motor set, there is an optimal load rate operating range that maximizes the motor's efficiency. In this embodiment, the motor that always operates within the optimal load rate range is selected.

[0209] 6) Determine the shortest energy path among different driving paths based on the Dijkstra algorithm;

[0210] Dijkstra's algorithm is a shortest path algorithm that finds the shortest path from one vertex to all other vertices in a weighted graph. The main characteristic of Dijkstra's algorithm is that it starts from the starting vertex and uses a greedy algorithm strategy, iterating through the nearest unvisited vertex's adjacent nodes until it reaches the destination vertex.

[0211] like Figure 5 As shown, in this embodiment, Dijkstra's algorithm is a labeling method that uses the energy consumption value of each energy conversion unit under a specific load as weights to establish a temporary label T and a fixed label P for each vertex.

[0212] The T label indicates the upper limit of the current shortest path length in the path;

[0213] The label P indicates the length of the final shortest path;

[0214] The algorithm iteratively solves for the required shortest energy-consuming path, and its minimum energy consumption value is expressed as:

[0215] E w-loss =E Ploss +E Vloss +E Closs

[0216] min{E w-loss}(w=1,2,…,n)

[0217] in:

[0218] w represents the sequence number of the alternative energy consumption path;

[0219] n represents the number of alternative energy consumption paths;

[0220] E w-loss The total energy consumption generated by path w;

[0221] like Figure 5 As shown, the calculation steps of Dijkstra's algorithm provided in this embodiment are as follows: Taking motor energy consumption as an example:

[0222] 1) Label the nodes with P, starting with the motor unit as the initial vertex v1, and set d(v1) = 0. Assign the remaining nodes v1 to P. j (j = 2, 3, ..., n) are labeled with T, d(v j )=l 1j In the formula, d is the distance between nodes, and l is the energy consumption value.

[0223] 2) Select the minimum value among all T labels, such as Then Change the T label to the P label and recalculate the T labels of all other nodes containing the T label: Select vertex v j The T label d(v) j )and The smaller value v in j The new T designation is:

[0224] Let P = {v} j |v j With label P}, T = {v j |v j With label T} = V\P. If:

[0225]

[0226] Then d(v) k Rename it as node v k The P label, therefore v k ∈P, let T\{v k node v in} j The T designation is changed to:

[0227] min{d(v j ),d(v j )+l kj}

[0228] 3) Next, we only need to work on v k Adjacent nodes with the T label are relabeled with the T label.

[0229] 4) By continuously repeating step 2), until v n ∈P. The d(v) obtained at this time n The value of ) is the distance from node v1 to node v. n The shortest path length, i.e. the minimum energy consumption value, is the node and edge that this path length passes through, forming the shortest energy consumption path.

[0230] 7) Based on the determined shortest energy consumption path, schedule the drive units in the corresponding drive path to achieve power supply under the corresponding working conditions; specifically: according to the determined shortest energy consumption path, determine the corresponding parameters of the energy conversion unit that supplies power to the hydraulic drive system of the die forging equipment, and the corresponding parameters include at least the models of the motor and the pump.

[0231] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A scheduling and control method for a hydraulic drive system of forging equipment, characterized in that: The method includes the following steps: 1) Construct the network topology diagram of the hydraulic drive system for die forging equipment; 2) The topological information contained in the network topology diagram is represented by the incidence matrix and the adjacency matrix; 3) Conduct corresponding energy consumption analysis for different energy conversion units; 4) Establish energy loss function models corresponding to different energy conversion units; 5) Taking the output energy consumption of the hydraulic drive system of die forging equipment as the research object and the energy supply demand as the constraint, different drive units that meet the energy supply demand are constructed as corresponding different drive paths. 6) Determine the shortest energy path among different driving paths based on the Dijkstra algorithm; 7) Based on the determined shortest energy consumption path, schedule the drive units in the corresponding drive path to achieve energy supply under the corresponding operating conditions; In step 1), the network topology diagram includes multiple energy conversion units that are different from each other. Each energy conversion unit is represented as a node. The connection between energy conversion units is represented by edges, and the direction of the edges represents the direction of energy flow in the system. In step 5), The selection constraints of the driving path satisfy the following conditions: 7.1) The pump in the energy conversion unit needs to meet the output flow requirements of the drive system, as shown below: ； in: The number of centralized pumps in the drive system; For pumps The selection status; a value of 0 indicates that it is not selected. For the hydraulic drive system of die forging equipment to work in stage Pump inlet pressure at that time; For pumps Working under pressure The system's output flow rate; For the work phase The demand for traffic; The pump's output power is expressed as: ； in: For pumps Working under pressure The system's output power at that time; 7.2) The load rate of the motor in the energy conversion unit is expressed as: ； For work pressure For time motor Load rate; ； 。 2. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 1, characterized in that: In step 2), the relationship between different energy conversion units and connecting pipelines is represented by an association matrix of a directed graph. The matrix representation is as follows: ； in, The elements of the directed graph correlation matrix represent the direction of energy flow between two hydraulic energy conversion units.

3. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 1, characterized in that: In step 2), the adjacency relationship between different energy conversion units is represented by an adjacency matrix of a directed graph, and its matrix representation is as follows: ； in, This represents the number of directed edges between two hydraulic energy conversion units in a directed graph.

4. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 1, characterized in that: In step 3), 3.1) The energy loss of the mechanical-hydraulic energy conversion unit satisfies: ； in: This refers to the power loss of the pump; This refers to the pump's input power. This refers to the pump's output power; This refers to the pump outlet pressure value. This refers to the pump's displacement. The rotational speed supplied to the motor; The mechanical efficiency of the pump; The volumetric efficiency of the pump; 3.2) The energy loss of the liquid-liquid energy conversion unit satisfies: ； in: This refers to the power loss of the valve. The pressure difference between the valve inlet and outlet; This refers to the valve's flow rate. Energy loss of the valve It can be expressed by the following formula: ； in, The flow coefficient of the valve orifice is related to the opening degree and shape of the valve orifice; The density of the oil; The flow area of ​​the valve port; This is the valve orifice resistance index, which is related to the shape of the valve orifice; 3.3) The energy loss of the hydraulic energy conversion unit satisfies: ； in: Power loss of the cylinder; The oil inlet pressure of the cylinder; This refers to the oil inlet flow rate of the cylinder; The return oil pressure of the cylinder; The return oil flow rate of the cylinder; The force exerted by the plunger; The velocity of the piston movement.

5. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 4, characterized in that: In step 4), The energy loss function of the mechanical-hydraulic energy conversion unit is: ； in, This represents the energy loss value of the pump. For time; The energy loss function of the liquid-liquid energy conversion unit is: ； in: This represents the energy loss value of the valve. The energy loss function of the hydraulic energy conversion unit is: ； in: This represents the energy loss value of the cylinder.

6. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 1, characterized in that: In step 5), select a motor whose load rate always operates within the optimal load rate range.

7. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 5, characterized in that: In step 6), the energy consumption value of each energy conversion unit under a specific load is used as a weight to establish a temporary label T and a fixed label P for each vertex, wherein... The T label indicates the upper limit of the current shortest path length in the path; The label P indicates the length of the final shortest path; The algorithm iteratively solves for the required shortest energy-consuming path, and its minimum energy consumption value is expressed as: ； ； in: The sequence number of the alternative energy consumption path; The number of alternative energy consumption paths; for The total energy consumption generated by the road.

8. The scheduling and control method for a hydraulic drive system of forging equipment according to claim 7, characterized in that: Step 6) includes the following steps: 1) Starting with the initial vertex Label it with P. , for the rest of the sections Point to T label ; in, The distance between nodes; Energy consumption value; 2) Select the minimum value among all T labels, such as Then Change the T label to the P label and recalculate the T labels of all other nodes containing the T label: Select the vertex. T label and The smaller value in the equation is the new T label, that is: set up, ; like: ; but Rewrite as a node The P label, therefore ,Bundle Nodes in The T designation is changed to: ； 3) Regarding Adjacent nodes with the T label are relabeled with the T label; 4) By continuously repeating step 2), until... At this point, we get The value is from the node To the node The shortest path length, i.e. the minimum energy consumption value, is the node and edge that this path length passes through, forming the shortest energy consumption path.

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