A hydraulic electro-hydraulic proportional control system and method for a pre-bending machine

Abstract

The present invention relates to the technical field of pre-bending machines, and discloses a hydraulic electro-hydraulic proportional control system for pre-bending machines and a method thereof, wherein the control system is composed of a scanning and identification unit, a data comparison unit, a hydraulic drive unit, a data collection and feedback unit, and an electro-hydraulic proportion optimization unit, and each unit of the control system is controlled using a local area network. The present invention records the pressure value and electro-hydraulic proportion data of the hydraulic drive unit in real time through the data collection and feedback unit. Even when processing unknown steel plates, these data can provide real-time feedback, and the electro-hydraulic proportion optimization unit dynamically adjusts the minimum driving pressure value according to the feedback data to ensure that the predetermined pre-bending target can still be achieved under different working conditions. This dynamic optimization ensures that even when processing unknown steel plates, the system can adaptively adjust parameters, achieving the beneficial effect that the system can perform insurance pre-bending without damaging the equipment when encountering unknown steel plates.

Description

Technical Field

[0001] The invention relates to the technical field of pre-bending machines, and in particular to a hydraulic electro-hydraulic proportional control system and a method thereof for a pre-bending machine. Background Art

[0002] Steel rolling machinery and equipment, especially the steel plate pre-bending machine on the stainless steel straight seam submerged arc welded pipe production line, pre-bends the edges of the steel plates at both ends simultaneously by the left and right pre-bending machines. When the pre-bent steel plate passes through the conveying roller on the inlet side, it is conveyed section by section to between the upper and lower molds of the pre-bending machine. The lower mold is moved closer to the upper mold to close the mold, and the longitudinal edges of the steel plates at both ends are pressed and formed by the mold step by step, and bent into a certain uniform curvature to achieve the nominal curvature of the formed steel pipe. The roundness of the pre-bent edge of the steel plate is within the required range of the weld, thereby ensuring the geometric shape and dimensional accuracy of the weld area of ​​the steel pipe.

[0003] At present, the electro-hydraulic ratio of the pre-bending machine for hydraulic steel plates relies on manual operation, and the value also relies on manual adjustment. Even with the assistance of an operating manual or data set, it is necessary to determine different electro-hydraulic ratios according to the size of the steel plate to drive the pre-bending machine. The operation process is cumbersome, and manual operation may result in data misreporting or omissions, resulting in excessive pressure values ​​of the pre-bending machine, which may damage the mold or steel plate. Summary of the invention

[0004] Technical issues solved

[0005] In view of the deficiencies in the prior art, the present invention provides a hydraulic electro-hydraulic proportional control system and method for a pre-bending machine, which has the advantages of automatically analyzing the required pressure value and electro-hydraulic ratio according to the steel plates to be pre-bent according to the feeding, and being able to perform safety pre-bending without damaging the equipment when encountering unknown steel plates, thereby solving the problems of the above-mentioned technologies.

[0006] Technical Solution

[0007] To achieve the above object, the present invention provides the following technical solutions: a hydraulic electro-hydraulic proportional control system for a pre-bending machine, comprising a control system body built into the pre-bending machine, the control system consisting of a scanning and recognition unit, a data comparison unit, a hydraulic drive unit, a data collection and feedback unit, and an electro-hydraulic proportional optimization unit, and each unit of the control system is controlled by a local area network;

[0008] The scanning and identifying unit is used to scan the data of the steel plate to be sent to the pre-bending machine for pre-bending, and the identification data are: steel plate model, thickness and area;

[0009] The data comparison unit is used to receive the steel plate data of the scanning identification unit, and compare the required pressure for pre-bending of the existing steel plates of the same model, thickness and area in the database according to the identification data. The priority of the steel plate model, thickness and area meeting the conditions is: steel plate model>thickness>area. If the data comparison unit fails to identify the steel plate of the same model, it will not send information to the hydraulic drive unit and directly enter the hydraulic drive unit;

[0010] The hydraulic drive unit is directly driven by the control system, and the hydraulic drive unit pre-bends the steel plate according to the pressure value obtained by the data comparison unit in comparison with the database. The hydraulic drive unit also sets a minimum drive value, and the minimum drive pressure value is 20 MPa. The minimum drive value is triggered when the hydraulic drive unit does not receive information from the data comparison unit;

[0011] The data collection and feedback unit is used to collect the pressure value and hydraulic-electric-hydraulic ratio data of the hydraulic drive unit when pre-bending the steel plate, and feed it back to the electro-hydraulic ratio optimization unit;

[0012] The electro-hydraulic ratio optimization unit receives data from the data collection feedback unit and increases the minimum driving pressure value of the hydraulic driving unit until the pre-bending target is achieved, and records the electro-hydraulic ratio during the target pre-bending and stores it in the database to which the scanning and identification unit belongs.

[0013] Preferably, the scanning and identifying unit comprises the following specific steps:

[0014] S1.1. Scanning steel plate data: Place the steel plate in the scanning area and use the optical sensor to obtain relevant information of the steel plate;

[0015] S1.2. Identification data: The data acquired by the optical sensor includes the model, thickness and area of ​​the steel plate. The scanned image data is analyzed and processed through image processing algorithms and recognition technology to extract the model, thickness and area information of the steel plate.

[0016] S1.3, Data transmission: The identified steel plate data will be transmitted to the data comparison unit for subsequent processing and comparison.

[0017] Preferably, the scanning identification unit expression is:

[0018] Steel plate model identification expression: The model of the steel plate is represented by M, and the model identification process is represented by a function:

[0019] M=f model (I)

[0020] Where I is the steel plate image data input to the scanning and recognition unit, f model It is a function used to identify the model;

[0021] The steel plate thickness recognition expression is: the thickness of the steel plate is Y, then the scanning recognition unit obtains the thickness information by measuring the edge of the steel plate in the image, and the thickness recognition is expressed as:

[0022] Y=f thickness (I)

[0023] Among them, f thickness is the function used to identify thickness;

[0024] Steel plate area calculation: Assuming the area of ​​the steel plate is A, the area is determined by measuring the size of the steel plate and applying geometric calculation methods. The area calculation is expressed as:

[0025] A=f area (I)

[0026] Among them, f area is the function used to calculate the area.

[0027] Preferably, the data comparison unit specifically comprises the following steps:

[0028] S2.1. The data comparison unit receives the steel plate data from the scanning and identification unit, including the steel plate model M, thickness Y and area A;

[0029] S2.2, query database: according to the received steel plate data, the data comparison unit queries the pre-established database to find the records matching the input data. The query priority is: first query according to model M, then according to thickness Y, and finally according to area A;

[0030] S2.3, database matching: if a record that completely matches the model M is found, the pre-bending pressure P in the record is extracted. If no record of the same model is found, the thickness Y is queried for matching; if a record of the same thickness is found, the pre-bending pressure of the record is used. If there is still no match, the area A is queried; if a record of the same area is found, the pre-bending pressure of the record is used. If no matching record is found under all conditions, proceed to the next step;

[0031] S2.4, no matching processing: If the same type of steel plate is not identified, the data comparison unit will directly transmit the control signal to the hydraulic drive unit and use the default pre-bending pressure value;

[0032] S2.5. Output result: According to the query result, the data comparison unit outputs the required pre-bending pressure P to the hydraulic drive unit to complete the pre-bending preparation work.

[0033] Preferably, the data comparison unit expression is:

[0034] Model matching priority expression:

[0035] P=PDB (M'), if M' exists in DB

[0036] P=P default ,otherwise

[0037] Where P DB (M') means obtaining the pre-bending pressure value matching the model M' from the database DB, P default It is the default pre-bending pressure value, used when no matching model is found;

[0038] The thickness matching expression when the model does not match is:

[0039] P=P DB (Y'), if M' is not found and Y' exists in DB

[0040] P=P default ,otherwise

[0041] Among them, P DB (Y') indicates the pre-bending pressure value matching the thickness Y' obtained from the database DB, P default It is the default pre-bending pressure value, used when no matching thickness is found;

[0042] The area matching expression when neither the model nor the thickness matches is:

[0043] P=P DB (A'), if both M' and Y' are not found and A' exists in DB

[0044] P=P default ,otherwise

[0045] Wherein, the model M' and thickness Y' are not matched in the database DB, but the area A' exists in the database DB, then the pre-bending pressure P is set to P = P DB (A'), that is, obtaining the pre-bending pressure value matching the area A' from the database;

[0046] The database DB contains pre-stored steel plate information and its corresponding pre-bending pressure P. Each record includes the model M, thickness Y, area A and pre-bending pressure P of the steel plate. The received steel plate data is (M', Y', A'), which represents the model, thickness and area of ​​the steel plate identified by the scanning and recognition unit.

[0047] Preferably, the hydraulic drive unit is expressed as:

[0048] P drive =P

[0049] in:

[0050] P driveIndicates the driving pressure value actually used by the hydraulic drive unit;

[0051] P is the pre-bending pressure value obtained by the data comparison unit according to database matching.

[0052] Preferably, the hydraulic drive unit is expressed as follows after adding the minimum drive pressure value:

[0053] P drive =max(P,P min )

[0054] in

[0055] P drive Indicates the driving pressure value actually used by the hydraulic drive unit;

[0056] P is the pre-bending pressure value obtained by the data comparison unit according to database matching;

[0057] P min =20MPa is the set minimum driving pressure value.

[0058] Preferably, the data collection feedback unit expression is:

[0059] P feedbdck =(P drive , proportional data)

[0060] in:

[0061] P feedbdck Indicates the data collected by the feedback unit, including the pressure value P of the hydraulic drive unit. drive and hydraulic electro-hydraulic proportional data;

[0062] P drive is the driving pressure value actually used by the hydraulic drive unit. According to the previous formula P drive =P to define;

[0063] Hydraulic electro-hydraulic ratio data is used to optimize the relevant information of hydraulic system parameters.

[0064] Preferably, the electro-hydraulic ratio optimization unit expression is:

[0065]

[0066] in:

[0067] The optimized minimum driving pressure value ensures the achievement of the pre-bending target;

[0068] P min =20MPa is the minimum driving pressure value initially set;

[0069] is the target drive pressure value received from the data collection feedback unit, usually associated with the pre-bend target.

[0070] A hydraulic electro-hydraulic proportional control method for a pre-bending machine, the specific steps are:

[0071] Step 1: Scan and identify steel plate data: place the steel plate to be pre-bent in the scanning area, obtain the image data of the steel plate through the optical sensor, and transmit the identified steel plate data to the data comparison unit;

[0072] Step 2: Data comparison and pre-pressure calculation: The data comparison unit receives the steel plate data from the scanning and recognition unit;

[0073] Step 3: Hydraulic drive and minimum pressure control: The hydraulic drive unit receives the pre-bending pressure value P from the data comparison unit and sets the minimum drive pressure value to P min =20MPa;

[0074] Step 4: Data collection and feedback: The data collection and feedback unit collects the pressure value P of the hydraulic drive unit in real time during the pre-bending process. drive and electro-hydraulic ratio data;

[0075] Step 5: Electro-hydraulic ratio optimization and recording: The electro-hydraulic ratio optimization unit dynamically adjusts the minimum driving pressure value according to the collected data.

[0076] Compared with the prior art, the present invention provides a pre-bending machine hydraulic electro-hydraulic proportional control system and method thereof, which has the following beneficial effects:

[0077] 1. The present invention determines the most suitable pre-bending pressure value by matching the steel plate data according to a pre-established database through a data comparison unit, and sets the priority as: model>thickness>area, so as to ensure that the most matching pre-bending parameters are selected when possible. The hydraulic drive unit performs actual driving according to the pre-bending pressure value provided by the data comparison unit, and at the same time adds a control mechanism for the minimum driving pressure to ensure that the pre-bending process is carried out stably, and uses a safe default pressure value when no valid data is received. The data collection and feedback unit records the pressure value and electro-hydraulic ratio data of the hydraulic drive unit in real time for system optimization and future analysis, thereby achieving the beneficial effect of the system automatically analyzing the required pressure value and electro-hydraulic ratio according to the pre-bent steel plate being fed.

[0078] 2. The present invention records the pressure value and electro-hydraulic ratio data of the hydraulic drive unit in real time through the data collection feedback unit. Even when processing unknown steel plates, these data can provide real-time feedback. The electro-hydraulic ratio optimization unit dynamically adjusts the minimum driving pressure value according to the feedback data to ensure that the predetermined pre-bending target can still be achieved under different working conditions. This dynamic optimization ensures that even when processing unknown steel plates, the system can adaptively adjust the parameters, achieving the beneficial effect that the system can perform insurance pre-bending without damaging the equipment when encountering unknown steel plates. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 It is a schematic diagram of the steps of the present invention. DETAILED DESCRIPTION

[0080] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0081] See also Figure 1 A hydraulic electro-hydraulic proportional control system for a pre-bending machine, comprising a control system body built into the pre-bending machine, the control system comprising a scanning and recognition unit, a data comparison unit, a hydraulic drive unit, a data collection and feedback unit and an electro-hydraulic proportional optimization unit, and each unit of the control system is controlled by a local area network;

[0082] The scanning and identifying unit is used to scan the data of the steel plate to be sent to the pre-bending machine for pre-bending, and the identification data are: steel plate model, thickness and area;

[0083] The data comparison unit is used to receive the steel plate data of the scanning identification unit, and compare the required pressure for pre-bending of the existing steel plates of the same model, thickness and area in the database according to the identification data. The priority of the steel plate model, thickness and area meeting the conditions is: steel plate model>thickness>area. If the data comparison unit fails to identify the same model steel plate, it directly enters the hydraulic drive unit;

[0084] The hydraulic drive unit is directly driven by the control system, and the hydraulic drive unit pre-bends the steel plate according to the pressure value obtained by the data comparison unit in comparison with the database. The hydraulic drive unit also sets a minimum drive value, and the minimum drive pressure value is 20 MPa. The minimum drive value is triggered when the hydraulic drive unit does not receive information from the data comparison unit;

[0085] The data collection and feedback unit is used to collect the pressure value and hydraulic-electric-hydraulic ratio data of the hydraulic drive unit when pre-bending the steel plate, and feed it back to the electro-hydraulic ratio optimization unit;

[0086] The electro-hydraulic ratio optimization unit receives data from the data collection feedback unit and increases the minimum driving pressure value of the hydraulic drive unit until the pre-bending target is achieved, and records the electro-hydraulic ratio during the target pre-bending and stores it in the database to which the scanning and recognition unit belongs.

[0087] Scanning and recognition unit expression By expressing the steel plate data in the form of function, the scanning and recognition unit can more accurately extract the information of the steel plate model, thickness and area. The use of function-form data processing can ensure the standardization and consistency of data processing, and improve the accuracy and efficiency of data processing. The expression in function form allows the use of different algorithms and complex logic to handle recognition tasks, so that the system can adapt to and accurately recognize different types of steel plates. By defining the recognition process of the steel plate model as a function, the specific recognition algorithm can be updated or replaced when necessary to adapt to new steel plate types or improve recognition accuracy without affecting other parts of the entire system.

[0088] The data comparison unit expression adopts the logic of step-by-step priority matching: model>thickness>area, ensuring that the system can quickly and accurately match the most suitable pre-bending pressure value P according to the input steel plate data: model M', thickness T', area A'. This priority matching method effectively reduces the error and delay of the system in the case of unknown steel plates. DB M',P DB T',P DB A' represents the pre-bending pressure value matching the model, thickness and area obtained from the database, and P default is the default pre-bending pressure value. The system dynamically selects the most appropriate pre-bending parameters according to the specific situation, thereby improving the accuracy and efficiency of the pre-bending process. The database DB pre-stores the steel plate model M, thickness T, area A and the corresponding pre-bending pressure P. The structured data storage method enables the system to quickly index and access data, speeds up the matching process and simplifies the management and maintenance of the system.

[0089] The data comparison unit table is:

[0090]

[0091] The hydraulic drive unit expression directly uses the pre-bending pressure value P obtained by the data comparison unit as the actual driving pressure value P of the hydraulic drive unit. drive , simplifies the control mechanism, direct mapping reduces the intermediate links, reduces the complexity of the system and the possibility of calculation errors.

[0092] The data collection feedback unit feeds back the actual pressure value P of the hydraulic drive unit. driveThe comprehensive feedback data helps operators to fully understand the system operation status, adjust parameters in time and make optimization decisions.

[0093] The electro-hydraulic proportional optimization unit expression is obtained by comparing the initially set minimum driving pressure P min and the target driving pressure obtained from the data collection feedback unit Select the larger value as the optimized minimum driving pressure It ensures that the hydraulic system can reach the preset pre-bending target pressure, thereby ensuring the quality and precision of steel plate processing.

[0094] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic electro-hydraulic proportional control system for a pre-bending machine, comprising a control system body built into the pre-bending machine, characterized in that: The control system is composed of a scanning and recognition unit, a data comparison unit, a hydraulic drive unit, a data collection and feedback unit, and an electro-hydraulic ratio optimization unit. Each unit of the control system is controlled by a local area network. The scanning and identifying unit is used to scan the data of the steel plate to be sent to the pre-bending machine for pre-bending, and the identification data are: steel plate model, thickness and area; The data comparison unit is used to receive the steel plate data of the scanning identification unit, and compare the required pressure for pre-bending of the existing steel plates of the same model, thickness and area in the database according to the identification data. The priority of the steel plate model, thickness and area meeting the conditions is: steel plate model>thickness>area. If the data comparison unit fails to identify the steel plate of the same model, it will not send information to the hydraulic drive unit and directly enter the hydraulic drive unit; The hydraulic drive unit is directly driven by the control system, and the hydraulic drive unit pre-bends the steel plate according to the pressure value obtained by the data comparison unit in comparison with the database. The hydraulic drive unit also sets a minimum drive value, which is 20 MPa. The minimum drive value is triggered when the hydraulic drive unit does not receive information from the data comparison unit; The data collection and feedback unit is used to collect the pressure value and hydraulic-electric-hydraulic ratio data of the hydraulic drive unit when pre-bending the steel plate, and feed it back to the electro-hydraulic ratio optimization unit; The electro-hydraulic ratio optimization unit receives data from the data collection feedback unit and increases the minimum drive value of the hydraulic drive unit until the pre-bending target is achieved, and records the electro-hydraulic ratio at the target pre-bending, and stores it in the database to which the scanning and recognition unit belongs; the scanning and recognition unit specifically comprises the following steps: S1.

1. Scanning steel plate data: Place the steel plate in the scanning area and use the optical sensor to obtain relevant information of the steel plate; S1.2, Identification data: The data acquired by the optical sensor includes the model, thickness and area of ​​the steel plate. The scanned image data is analyzed and processed through image processing algorithms and recognition technology to extract the model, thickness and area information of the steel plate; S1.3, data transmission: the identified steel plate data will be transmitted to the data comparison unit for subsequent processing and comparison; the scanning and recognition unit expression is: Steel plate model identification expression: The model of the steel plate is represented by M, and the model identification process is represented by a function: M=f model (I) Where I is the steel plate image data input to the scanning and recognition unit, f model It is a function used to identify the model; The expression for steel plate thickness recognition is: the thickness of the steel plate is T, then the scanning recognition unit obtains the thickness information by measuring the edge of the steel plate in the image, and the thickness recognition is expressed as: T=f thickness (I) Among them, f thickness is the function used to identify thickness; Steel plate area calculation: Assuming the area of ​​the steel plate is A, the area is determined by measuring the size of the steel plate and applying geometric calculation methods. The area calculation is expressed as: A=f area (I) Among them, f area is a function used to calculate the area; the specific steps of the data comparison unit are: S2.

1. The data comparison unit receives the steel plate data from the scanning and identification unit, including the steel plate model M, thickness T and area A; S2.2, query database: according to the received steel plate data, the data comparison unit queries the pre-established database to find the records matching the input data. The query priority is: first query according to model M, then according to thickness T, and finally according to area A; S2.3, database matching: if a record that completely matches the model M is found, the pre-bending pressure P in the record is extracted. If no record of the same model is found, the thickness T is queried for matching; if a record of the same thickness is found, the pre-bending pressure of the record is used. If there is still no match, the area A is queried; if a record of the same area is found, the pre-bending pressure of the record is used. If no matching record is found under all conditions, proceed to the next step; S2.4, no matching processing: If the same type of steel plate is not identified, the data comparison unit will directly transmit the control signal to the hydraulic drive unit and use the default pre-bending pressure value; S2.

5. Output result: According to the query result, the data comparison unit outputs the required pre-bending pressure P to the hydraulic drive unit to complete the pre-bending preparation work.

2. A hydraulic electro-hydraulic proportional control system for a pre-bending machine according to claim 1, characterized in that: The data comparison unit expression is: Model matching priority expression: P=P DB (M'), if M' exists in DB P=P default ,otherwise Where P DB (M') means obtaining the pre-bending pressure value matching the model M' from the database DB, P default It is the default pre-bending pressure value, used when no matching model is found; The thickness matching expression when the model does not match is: P=PD B (T'), if M' is not found and T' exists in DB P=P default ,otherwise Among them, PD B (T') indicates the pre-bending pressure value matching the thickness T' obtained from the database DB, P default It is the default pre-bending pressure value, used when no matching thickness is found; The area matching expression when neither the model nor the thickness matches is: P=P DB (A'), if both M' and T' are not found and A' exists in DB P=P default ,otherwise Wherein, the model M' and thickness T' are not matched in the database DB, but the area A' exists in the database DB, then the pre-bending pressure P is set to P = P DB (A'), that is, obtaining the pre-bending pressure value matching the area A' from the database; The database DB contains pre-stored steel plate information and its corresponding pre-bending pressure P. Each record includes the model M, thickness T, area A and pre-bending pressure P of the steel plate. The received steel plate data is (M', T', A'), which represents the model, thickness and area of ​​the steel plate identified by the scanning and recognition unit.

3. A hydraulic electro-hydraulic proportional control system for a pre-bending machine according to claim 2, characterized in that: The hydraulic drive unit expression is: P drive =P in: P drive Indicates the driving pressure value actually used by the hydraulic drive unit; P is the pre-bending pressure value obtained by the data comparison unit according to database matching.

4. A hydraulic electro-hydraulic proportional control system for a pre-bending machine according to claim 3, characterized in that: The hydraulic drive unit is expressed as follows after adding the minimum drive pressure value: P drive =max(P,P min ) in P drive Indicates the driving pressure value actually used by the hydraulic drive unit; P is the pre-bending pressure value obtained by the data comparison unit according to database matching; P min =20MPa is the set minimum driving pressure value.

5. The hydraulic electro-hydraulic proportional control system of a pre-bending machine according to claim 4, characterized in that: The data collection feedback unit expression is: P feedback =(P drive , proportional data) in: P feedback Indicates the data collected by the feedback unit, including the pressure value P of the hydraulic drive unit. drive and hydraulic electro-hydraulic proportional data; P drive is the driving pressure value actually used by the hydraulic drive unit. According to the previous formula P drive =P to define; Hydraulic electro-hydraulic ratio data is used to optimize the relevant information of hydraulic system parameters.

6. The hydraulic electro-hydraulic proportional control system of a pre-bending machine according to claim 1, characterized in that: The electro-hydraulic ratio optimization unit expression is: in. The optimized minimum driving pressure value ensures the achievement of the pre-bending target; P mm =20MPa is the minimum driving pressure value initially set; is a target actuation pressure value received from a data collection feedback unit, typically associated with a pre-bend target; After being obtained, the function is stored in the database to which the scanning and recognition unit belongs.

7. The method for using the hydraulic electro-hydraulic proportional control system of the pre-bending machine according to claim 6 is characterized in that: The specific steps are: Step 1: Scan and identify steel plate data: place the steel plate to be pre-bent in the scanning area, obtain the image data of the steel plate through the optical sensor, and transmit the identified steel plate data to the data comparison unit; Step 2: Data comparison and pre-pressure calculation: The data comparison unit receives the steel plate data from the scanning and recognition unit; Step 3: Hydraulic drive and minimum pressure control: The hydraulic drive unit receives the pre-bending pressure value P from the data comparison unit and sets the minimum drive pressure value to P min =20MPa; Step 4: Data collection and feedback: The data collection and feedback unit collects the pressure value P of the hydraulic drive unit in real time during the pre-bending process. drive and electro-hydraulic ratio data; Step 5: Electro-hydraulic ratio optimization and recording: The electro-hydraulic ratio optimization unit dynamically adjusts the minimum driving pressure value according to the collected data.

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