Cylinder-based servo control method, system and storage medium

Abstract

The present invention discloses a servo control method, system and storage medium based on a cylinder, and relates to the technical field of cylinder control. After all servo valves are sorted from large to small according to fitness values, the servo valve with the largest fitness value is selected as the operating valve. During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time, and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude, and the fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and a spare servo valve is replaced as the operating valve based on the servo valve switching control strategy. The control system can predict in real time whether a servo valve in operation will fail during the operation of the cylinder, so that the servo valve can be smoothly switched before the servo valve fails, thereby ensuring the stability and reliability of the cylinder.

Description

Technical Field

[0001] The present invention relates to the technical field of cylinder control, and in particular to a servo control method, system and storage medium based on a cylinder. Background Art

[0002] The cylinder is a device that converts gas energy into mechanical energy. It is widely used in industries such as industry, automobiles, aerospace, machinery manufacturing, and household appliances. The control system is an automated system used to accurately control the position, speed, and force of the cylinder. With the advancement of science and technology, the cylinder servo control system is developing towards higher precision, higher speed, and higher intelligence.

[0003] In some highly automated industrial production lines, such as semiconductor manufacturing, precision machining and automated assembly lines, high requirements are placed on the stability and reliability of cylinders, and therefore multi-servo valve cylinders are required. However, the existing control method for multi-servo valve cylinders is usually to switch to other servo valves only after the currently used servo valve fails. This control method may cause a brief fluctuation in the expansion and contraction of the cylinder when a servo valve fails during operation, thereby affecting the processing quality of the product. Second, when the servo valve fails and switches to other servo valves, it will also cause gas fluctuations inside the cylinder, thereby affecting the stable use of the cylinder.

[0004] Based on this, the present invention proposes a cylinder-based servo control method, system and storage medium, which can predict in real time whether a servo valve in operation will fail during the operation of the cylinder, so as to smoothly switch the servo valve before the servo valve fails, thereby ensuring the stability and reliability of the cylinder use. Summary of the invention

[0005] The purpose of the present invention is to provide a servo control method, system and storage medium based on a cylinder to solve the deficiencies in the background technology.

[0006] In order to achieve the above object, the present invention provides the following technical solution: a servo control method based on a cylinder, the control method comprising the following steps:

[0007] The control system obtains the number of servo valves of the cylinder and numbers each servo valve. During the processing equipment test, each servo valve is opened one by one, and the mechanical parameters and electrical parameters of the servo valve are monitored. Based on the mechanical parameters and electrical parameters, a fitness value is generated for each servo valve. The fitness values ​​of all servo valves are comprehensively analyzed to determine whether the cylinder supports operation.

[0008] If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operating valve;

[0009] During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. The fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and the spare servo valve is replaced based on the servo valve switching control strategy for use as the operating valve.

[0010] In a preferred embodiment, generating a fitness value for each servo valve based on mechanical parameters and electrical parameters comprises the following steps:

[0011] Obtain the mechanical parameters of the servo valve, including the valve core position deviation and the gas flow index, and the electrical parameters including the electromagnetic coil resistance floating value;

[0012] The valve core position deviation, gas flow index and electromagnetic coil resistance floating value are calculated comprehensively to generate the servo valve fitness value, and the expression is: , where is the fitness value, is the gas flow index, is the valve core position deviation, is the floating value of the electromagnetic coil resistance, , , are the proportional coefficients of valve core position deviation, gas flow index and electromagnetic coil resistance floating value, respectively, and , , Both are greater than 0.

[0013] In a preferred embodiment, comprehensively analyzing the fitness values ​​of all servo valves to determine whether the cylinder supports operation includes the following steps:

[0014] After obtaining the fitness values ​​of all servo valves of the cylinder, the fitness values ​​of all servo valves are weighted averaged to obtain the operation coefficient, which is expressed as: , where is the operating coefficient, is the number of servo valves, For the The weight coefficient of each servo valve, For the The fitness value of a servo valve, and If the operation coefficient is less than the coefficient threshold, it is judged that the cylinder does not support operation and a warning signal is sent to the administrator. If the operation coefficient is greater than or equal to the coefficient threshold, it is judged that the cylinder supports operation. After all servo valves are sorted from large to small according to the fitness value, the servo valve with the largest fitness value is selected as the operation valve.

[0015] In a preferred embodiment, combining the fitness value and the pressure amplitude to predict whether the operating valve will fail when continuing to operate includes the following steps:

[0016] After obtaining the fitness value and pressure amplitude of the operating valve in real time, the fitness value is divided by the pressure amplitude to obtain the health index of the operating valve. If the health index is greater than or equal to the index threshold, it is predicted that the operating valve will continue to operate without failure. If the health index is less than the index threshold, it is predicted that the operating valve will fail if it continues to operate. When it is predicted that the operating valve will fail if it continues to operate, the control system gradually opens the servo valve that is ranked second during measurement and gradually closes the operating valve at the same time, thereby ensuring the stability of the air pressure inside the cylinder to ensure the stable use of the cylinder.

[0017] In a preferred embodiment, the air pressure condition at the operating valve is processed to obtain the pressure amplitude, comprising the following steps:

[0018] The air pressure values ​​at the running valve are obtained multiple times within a monitoring period, and the average air pressure value and the standard deviation of the air pressure value are calculated based on the air pressure values ​​obtained at multiple time points. The calculation expression of the standard deviation of the air pressure value is: , where is the standard deviation of air pressure, is the number of time points, is the air pressure value obtained at the time point, is the average air pressure;

[0019] If the average air pressure value is less than or equal to the air pressure threshold, and the air pressure value standard deviation is less than or equal to the standard deviation threshold, the pressure amplitude is equal to 1.0;

[0020] If the average air pressure value is less than or equal to the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, the pressure amplitude is equal to 1.1;

[0021] If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, the pressure amplitude is equal to 1.3;

[0022] If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is less than or equal to the standard deviation threshold, the pressure amplitude is equal to 1.4.

[0023] In a preferred embodiment, the logic for obtaining the valve core position deviation is: obtaining the real-time coordinates of the valve core through a position sensor installed on the valve core, and calculating the valve core position deviation based on the real-time coordinates of the valve core and the standard coordinates, and the expression is: , where is the real-time coordinate of the valve core, is the standard coordinate of the valve core;

[0024] The logic for obtaining the floating value of the electromagnetic coil resistance is: obtain the electromagnetic coil resistance in real time through a resistance meter, and compare the real-time resistance with the resistance stability range to obtain the floating value of the electromagnetic coil resistance. The expression is: , where is the real-time resistance, is the resistance stability range.

[0025] In a preferred embodiment, the logic for obtaining the gas flow index is as follows: obtaining the real-time gas flow inside the cylinder at different openings of the servo valve, subtracting the standard gas flow from the real-time gas flow at the same valve opening to obtain the flow deviation, summing the flow deviations at different valve openings to obtain the total flow deviation, and calculating the inverse of the total flow deviation to obtain the gas flow index, the expression is: , where Indicates the number of times the opening is set. Indicates Flow deviation at the secondary opening.

[0026] A servo control system based on a cylinder, including a fitness value generation module, an operation valve selection module, and a switching control strategy generation module;

[0027] Fitness value generation module: obtain the number of servo valves of the cylinder and number each servo valve. During the processing equipment test, open each servo valve one by one, monitor the mechanical parameters and electrical parameters of the servo valve, and then generate a fitness value for each servo valve based on the mechanical parameters and electrical parameters;

[0028] Operation valve selection module: Comprehensively analyze the fitness values ​​of all servo valves to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operation valve;

[0029] Switching control strategy generation module: During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. The fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, the corresponding servo valve switching control strategy is generated, and the spare servo valve is replaced as the operating valve based on the servo valve switching control strategy.

[0030] A computer-readable storage medium stores a computer program, which implements a control method when executed by a processor.

[0031] In the above technical solution, the technical effects and advantages provided by the present invention are:

[0032] The present invention sorts all servo valves from large to small according to the fitness value, selects the servo valve with the largest fitness value as the operating valve, obtains the air pressure condition at the operating valve in real time and calculates the fitness value of the operating valve during the operation of the cylinder, processes the air pressure condition at the operating valve to obtain the pressure amplitude, and predicts whether the operating valve will fail if it continues to operate in combination with the fitness value and the pressure amplitude. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and a spare servo valve is replaced as the operating valve based on the servo valve switching control strategy. The control system can predict in real time whether the servo valve in the operating state will fail during the operation of the cylinder, so as to smoothly switch the servo valve before the servo valve fails, thereby ensuring the stability and reliability of the cylinder. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0034] Figure 1 The figure is a flow chart of the method of the present invention. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Example 1: Please refer to Figure 1 As shown, the cylinder-based servo control method described in this embodiment includes the following steps:

[0037] The control system obtains the number of servo valves of the cylinder and numbers each servo valve. During the processing equipment test, each servo valve is opened one by one, and after monitoring the mechanical parameters and electrical parameters of the servo valve, a fitness value is generated for each servo valve based on the mechanical parameters and electrical parameters. The fitness values ​​of all servo valves are comprehensively analyzed to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operating valve. During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. Combined with the fitness value and the pressure amplitude, it is predicted whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and the spare servo valve is replaced as the operating valve based on the servo valve switching control strategy.

[0038] This application sorts all servo valves from large to small according to the fitness value, selects the servo valve with the largest fitness value as the operating valve, obtains the air pressure condition at the operating valve in real time and calculates the fitness value of the operating valve during the operation of the cylinder, processes the air pressure condition at the operating valve to obtain the pressure amplitude, and predicts whether the operating valve will fail if it continues to operate in combination with the fitness value and the pressure amplitude. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and a spare servo valve is replaced as the operating valve based on the servo valve switching control strategy. The control system can predict in real time whether a servo valve in operation will fail during the operation of the cylinder, so as to smoothly switch the servo valve before the servo valve fails, thereby ensuring the stability and reliability of the cylinder.

[0039] A computer-readable storage medium stores a computer program, which implements a cylinder-based servo control method when executed by a processor.

[0040] Embodiment 2: The control system obtains the number of servo valves of the cylinder and numbers each servo valve, including the following steps:

[0041] The controller scans each connected I / O interface one by one, reads the sensor signal, records the number of servo valves detected, stores the number of servo valves detected in the memory or register of the controller for subsequent use, assigns a unique number (such as 1, 2, 3, ...) to each detected servo valve, and associates the number with the corresponding I / O interface address, stores the number and the corresponding servo valve information in the memory or database of the controller for system access and management, sends signals and receives feedback through the controller, verifies whether the number of each servo valve is correct, checks whether there are undetected servo valves or wrong numbers, and ensures that all servo valves can be accurately identified and numbered.

[0042] The code example is as follows:

[0043] #Define the maximum number of servo valves

[0044] MAX_VALVES=10

[0045] #Store the servo valve status and number

[0046] valve_status=[False]*MAX_VALVES

[0047] valve_numbers=[]

[0048] # Initialize the controller

[0049] controller=initialize_controller()

[0050] #Scan all servo valve interfaces

[0051] foriinrange(MAX_VALVES):

[0052] # Check if the servo valve exists

[0053] ifcontroller.read_sensor(i):

[0054] valve_status[i]=True

[0055] #Assign numbers

[0056] valve_numbers.append(i+1)

[0057] # Output the number and serial number of servo valves

[0058] valve_count=len(valve_numbers)

[0059] print("DetectedValveCount:",valve_count)

[0060] print("ValveNumbers:",valve_numbers).

[0061] During the test of the processing equipment, each servo valve is opened one by one, and after the mechanical parameters and electrical parameters of the servo valve are monitored, a fitness value is generated for each servo valve based on the mechanical parameters and electrical parameters, including the following steps:

[0062] Obtain the mechanical parameters of the servo valve, including the valve core position deviation and the gas flow index, and the electrical parameters including the electromagnetic coil resistance floating value;

[0063] The valve core position deviation, gas flow index and electromagnetic coil resistance floating value are calculated comprehensively to generate the servo valve fitness value, and the expression is: , where is the fitness value, is the gas flow index, is the valve core position deviation, is the floating value of the electromagnetic coil resistance, , , are the proportional coefficients of valve core position deviation, gas flow index and electromagnetic coil resistance floating value, respectively, and , , Both are greater than 0.

[0064] The logic for obtaining the valve core position deviation is: obtain the real-time coordinates of the valve core through the position sensor installed on the valve core, and calculate the valve core position deviation based on the real-time coordinates and standard coordinates of the valve core. The expression is: , where is the real-time coordinate of the valve core, is the standard coordinate of the valve core. The larger the valve core position deviation is, the more the actual position of the valve core deviates from the standard position, indicating that the valve core may have the following abnormalities that will cause the performance of the servo valve to deteriorate:

[0065] 1. Mechanical sticking: There are foreign objects, wear or poor lubrication inside the valve core or valve sleeve, which causes the valve core to move unsmoothly and the valve core cannot reach the desired position, resulting in inaccurate flow control and slow or failed system response.

[0066] 2. Wear and corrosion: Long-term use causes wear or corrosion on the surface of the valve core and valve sleeve, which increases movement resistance and makes the valve core movement unstable, resulting in inaccurate positioning and reduced control performance.

[0067] 3. The valve core is loose or improperly installed: the valve core is not installed tightly, or it is offset during the installation process, and the valve core is offset during movement, resulting in inaccurate positioning.

[0068] 4. Environmental factors: Environmental factors such as temperature, humidity or pollutants affect the physical properties of the valve core and valve body, the movement resistance of the valve core changes, and the positioning accuracy decreases.

[0069] The logic for obtaining the gas flow index is as follows: obtain the real-time gas flow inside the cylinder at different openings of the servo valve, subtract the standard gas flow from the real-time gas flow at the same valve opening to obtain the flow deviation, sum the flow deviations at different valve openings to obtain the total flow deviation, and calculate the inverse of the total flow deviation to obtain the gas flow index. The expression is: , where Indicates the number of times the opening is set. Indicates The smaller the gas flow index is, the greater the difference between the real-time gas flow rate inside the cylinder and the standard gas flow rate is under different openings of the servo valve, indicating that the valve may have the following abnormalities that will cause the performance of the servo valve to deteriorate:

[0070] 1. Valve port blockage: The valve port is blocked by foreign matter or sediment, the flow cross-sectional area is reduced, the gas flow rate is reduced, the expected value cannot be reached, and the system response is slow.

[0071] 2. Internal leakage of the valve: The internal sealing of the valve is poor, resulting in internal leakage. The actual flow rate is reduced, the expected flow rate cannot be achieved, and the efficiency is reduced.

[0072] The logic for obtaining the floating value of the electromagnetic coil resistance is: obtain the electromagnetic coil resistance in real time through the resistance meter, and compare the real-time resistance with the resistance stability range to obtain the floating value of the electromagnetic coil resistance. The expression is: , where is the real-time resistance, The larger the floating value of the electromagnetic coil resistance is, the more the actual measured electromagnetic coil resistance deviates from the resistance stable range, indicating that the electromagnetic coil may have the following abnormalities that will cause the performance of the servo valve to deteriorate:

[0073] 1. Coil short circuit: A short circuit occurs between the wires inside the electromagnetic coil, the resistance value is significantly reduced, and the magnetic field strength generated by the electromagnetic coil is insufficient, resulting in the valve core being unable to move normally and the servo valve failing.

[0074] 2. Coil circuit breakage: The internal wire of the electromagnetic coil is disconnected, the resistance value tends to infinity, the electromagnetic coil cannot generate a magnetic field, the valve core cannot move, and the servo valve completely fails.

[0075] 3. Coil aging: Long-term use of the electromagnetic coil causes aging of the insulation layer, unstable changes in resistance value, and possible instability in resistance value, resulting in degradation of electromagnetic coil performance, unstable magnetic field strength, and unreliable valve core movement.

[0076] 4. Overheating: The temperature of the electromagnetic coil is too high, which increases the resistance of the wire material, increases the resistance value, and weakens the magnetic field strength, which may cause the valve core to fail to reach the desired position or move slowly.

[0077] 5. Poor electrical connection: The electrical connection of the electromagnetic coil is poor or loose, the resistance value is unstable, and the performance of the electromagnetic coil is unstable, resulting in large deviation of the valve core position.

[0078] Comprehensively analyze the fitness values ​​of all servo valves to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, send a warning signal to the administrator. If it is determined that the cylinder supports operation, sort all servo valves from large to small according to the fitness value, and select the servo valve with the largest fitness value as the operating valve, including the following steps:

[0079] After obtaining the fitness values ​​of all servo valves of the cylinder, the fitness values ​​of all servo valves are weighted averaged to obtain the operation coefficient, which is expressed as: , where is the operating coefficient, is the number of servo valves, For the The weight coefficient of each servo valve, For the The fitness value of a servo valve, and If the operation coefficient is less than the coefficient threshold, it is judged that the cylinder does not support operation and a warning signal is sent to the administrator. If the operation coefficient is greater than or equal to the coefficient threshold, it is judged that the cylinder supports operation. After all servo valves are sorted from large to small according to the fitness value, the servo valve with the largest fitness value is selected as the operation valve.

[0080] During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time, the fitness value of the operating valve is calculated, and the air pressure condition at the operating valve is processed to obtain the pressure amplitude, including the following steps:

[0081] The air pressure values ​​at the running valve are obtained multiple times within a monitoring period, and the average air pressure value and the standard deviation of the air pressure value are calculated based on the air pressure values ​​obtained at multiple time points. The calculation expression of the standard deviation of the air pressure value is: , where is the standard deviation of air pressure, is the number of time points, is the air pressure value obtained at the time point, is the average air pressure;

[0082] If the average air pressure value is less than or equal to the air pressure threshold, and the standard deviation of the air pressure value is less than or equal to the standard deviation threshold, it is judged that the air pressure received by the operating valve as a whole during the monitoring period is small, and the pressure amplitude is equal to 1.0;

[0083] If the average air pressure value is less than or equal to the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, it is judged that the air pressure exerted on the operating valve during the monitoring period is small (but the air pressure value at some time points is greater than the air pressure threshold), and the pressure amplitude is equal to 1.1;

[0084] If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, it is judged that the air pressure exerted on the operating valve during the monitoring period is large (but the air pressure value at some time points is less than or equal to the air pressure threshold), and the pressure amplitude is equal to 1.3;

[0085] If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is less than or equal to the standard deviation threshold, it is judged that the air pressure on the operating valve as a whole during the monitoring period is large, and the pressure amplitude is equal to 1.4;

[0086] The larger the pressure amplitude, the greater the overall air pressure the operating valve is subjected to during the monitoring period. When the air pressure received by the operating valve during operation is greater, the health status of the operating valve itself needs to be better.

[0087] It is predicted whether the running valve will fail if it continues to run in combination with the fitness value and the pressure amplitude. If it is predicted that the running valve will fail if it continues to run, a corresponding servo valve switching control strategy is generated. Based on the servo valve switching control strategy, a spare servo valve is replaced as the running valve, including the following steps:

[0088] After obtaining the fitness value and pressure amplitude of the operating valve in real time, the fitness value is divided by the pressure amplitude to obtain the health index of the operating valve. If the health index is greater than or equal to the index threshold, it is predicted that the operating valve will continue to operate without failure. If the health index is less than the index threshold, it is predicted that the operating valve will continue to operate and will fail. When it is predicted that the operating valve will continue to operate and will fail, the control system gradually opens the servo valve ranked second during measurement and gradually closes the operating valve simultaneously, thereby ensuring the stability of the air pressure inside the cylinder and ensuring the stable use of the cylinder.

[0089] When the operating valve in use is completely closed, the servo valve in use is updated to the operating valve, and then the operating valve is continuously monitored according to the above steps and when it is predicted that the operating valve will continue to operate and fail, the servo valve ranked third is switched, and so on.

[0090] Embodiment 3: The cylinder-based servo control system described in this embodiment includes a fitness value generation module, an operating valve selection module, and a switching control strategy generation module;

[0091] Fitness value generation module: obtains the number of servo valves of the cylinder and numbers each servo valve. During the processing equipment test, each servo valve is opened one by one, and the mechanical parameters and electrical parameters of the servo valve are monitored. Then, a fitness value is generated for each servo valve based on the mechanical parameters and electrical parameters, and the fitness value is sent to the operation valve selection module;

[0092] Operation valve selection module: Comprehensively analyze the fitness values ​​of all servo valves to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operation valve. The operation valve selection result is sent to the switching control strategy generation module;

[0093] Switching control strategy generation module: During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. The fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, the corresponding servo valve switching control strategy is generated, and the spare servo valve is replaced as the operating valve based on the servo valve switching control strategy.

[0094] The above formulas are all dimensionless and numerical calculations. The formula is a formula for the most recent real situation obtained by collecting a large amount of data and performing software simulation. The preset parameters in the formula are set by technicians in this field according to actual conditions.

[0095] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0096] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to only specific implementation methods. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A servo control method based on a cylinder, characterized in that: The control method comprises the following steps: The control system obtains the number of servo valves of the cylinder and numbers each servo valve. During the processing equipment test, each servo valve is opened one by one, and the mechanical parameters and electrical parameters of the servo valve are monitored. Based on the mechanical parameters and electrical parameters, a fitness value is generated for each servo valve. The fitness values ​​of all servo valves are comprehensively analyzed to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operating valve; During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. The fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, a corresponding servo valve switching control strategy is generated, and a spare servo valve is replaced as the operating valve based on the servo valve switching control strategy. Generating a fitness value for each servo valve based on mechanical parameters and electrical parameters includes the following steps: Obtain the mechanical parameters of the servo valve, including the valve core position deviation and the gas flow index, and the electrical parameters including the electromagnetic coil resistance floating value; The valve core position deviation, gas flow index and electromagnetic coil resistance floating value are calculated comprehensively to generate the servo valve fitness value, and the expression is: , where is the fitness value, is the gas flow index, is the valve core position deviation, is the floating value of the electromagnetic coil resistance, , , are the proportional coefficients of valve core position deviation, gas flow index and electromagnetic coil resistance floating value, respectively, and , , All are greater than 0; Comprehensively analyze the fitness values ​​of all servo valves to determine whether the cylinder supports operation, including the following steps: After obtaining the fitness values ​​of all servo valves of the cylinder, the fitness values ​​of all servo valves are weighted averaged to obtain the operation coefficient, which is expressed as: , where is the operating coefficient, is the number of servo valves, For the The weight coefficient of each servo valve, For the The fitness value of a servo valve, and If the operation coefficient is less than the coefficient threshold, it is judged that the cylinder does not support operation, and a warning signal is sent to the administrator. If the operation coefficient is greater than or equal to the coefficient threshold, it is judged that the cylinder supports operation. After all servo valves are sorted from large to small according to the fitness value, the servo valve with the largest fitness value is selected as the operation valve; Processing the air pressure condition at the operating valve to obtain the pressure amplitude includes the following steps: The air pressure values ​​at the running valve are obtained multiple times within a monitoring period, and the average air pressure value and the standard deviation of the air pressure value are calculated based on the air pressure values ​​obtained at multiple time points. The calculation expression of the standard deviation of the air pressure value is: , where is the standard deviation of air pressure, is the number of time points, is the air pressure value obtained at the time point, is the average air pressure; If the average air pressure value is less than or equal to the air pressure threshold, and the air pressure value standard deviation is less than or equal to the standard deviation threshold, the pressure amplitude is equal to 1.0; If the average air pressure value is less than or equal to the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, the pressure amplitude is equal to 1.1; If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is greater than the standard deviation threshold, the pressure amplitude is equal to 1.3; If the average air pressure value is greater than the air pressure threshold, and the standard deviation of the air pressure value is less than or equal to the standard deviation threshold, the pressure amplitude is equal to 1.

4.

2. The cylinder-based servo control method according to claim 1, characterized in that: Combining the fitness value and the pressure amplitude to predict whether the running valve will fail if it continues to run includes the following steps: After obtaining the fitness value and pressure amplitude of the operating valve in real time, the fitness value is divided by the pressure amplitude to obtain the health index of the operating valve. If the health index is greater than or equal to the index threshold, it is predicted that the operating valve will continue to operate without failure. If the health index is less than the index threshold, it is predicted that the operating valve will fail if it continues to operate. When it is predicted that the operating valve will fail if it continues to operate, the control system gradually opens the servo valve that is ranked second during measurement and gradually closes the operating valve at the same time, thereby ensuring the stability of the air pressure inside the cylinder to ensure the stable use of the cylinder.

3. The cylinder-based servo control method according to claim 2, characterized in that: The logic for obtaining the valve core position deviation is: obtain the real-time coordinates of the valve core through the position sensor installed on the valve core, and calculate the valve core position deviation based on the real-time coordinates and standard coordinates of the valve core. The expression is: , where is the real-time coordinate of the valve core, is the standard coordinate of the valve core; The logic for obtaining the floating value of the electromagnetic coil resistance is: obtain the electromagnetic coil resistance in real time through a resistance meter, and compare the real-time resistance with the resistance stability range to obtain the floating value of the electromagnetic coil resistance. The expression is: , where is the real-time resistance, is the resistance stability range.

4. The cylinder-based servo control method according to claim 3, characterized in that: The logic for obtaining the gas flow index is as follows: obtain the real-time gas flow inside the cylinder at different openings of the servo valve, subtract the standard gas flow from the real-time gas flow at the same valve opening to obtain the flow deviation, sum the flow deviations at different valve openings to obtain the total flow deviation, and calculate the inverse of the total flow deviation to obtain the gas flow index. The expression is: , where Indicates the number of times the opening is set. Indicates Flow deviation at secondary opening.

5. A servo control system based on a cylinder, used to implement the control method according to any one of claims 1 to 4, characterized in that: It includes a fitness value generation module, an operation valve selection module, and a switching control strategy generation module; Fitness value generation module: obtain the number of servo valves of the cylinder and number each servo valve. During the processing equipment test, open each servo valve one by one, monitor the mechanical parameters and electrical parameters of the servo valve, and then generate a fitness value for each servo valve based on the mechanical parameters and electrical parameters; Operation valve selection module: Comprehensively analyze the fitness values ​​of all servo valves to determine whether the cylinder supports operation. If it is determined that the cylinder does not support operation, a warning signal is sent to the administrator. If it is determined that the cylinder supports operation, all servo valves are sorted from large to small according to the fitness value, and the servo valve with the largest fitness value is selected as the operation valve; Switching control strategy generation module: During the operation of the cylinder, the air pressure condition at the operating valve is obtained in real time and the fitness value of the operating valve is calculated. The air pressure condition at the operating valve is processed to obtain the pressure amplitude. The fitness value and the pressure amplitude are combined to predict whether the operating valve will fail if it continues to operate. If it is predicted that the operating valve will fail if it continues to operate, the corresponding servo valve switching control strategy is generated, and the spare servo valve is replaced as the operating valve based on the servo valve switching control strategy.

6. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method according to any one of claims 1 to 4 is implemented.

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